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tesseract-robotics · Aug 1, 2024 · 97a647a · 97a647a
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commit 97a647a
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/tesseract_command_language/src/poly/cartesian_waypoint_poly.cpp b/tesseract_command_language/src/poly/cartesian_waypoint_poly.cpp
@@ -97,7 +97,8 @@ void tesseract_planning::CartesianWaypointPoly::print(const std::string& prefix)
 bool tesseract_planning::CartesianWaypointPoly::hasSeed() const
 {
   const auto& seed = getInterface().getSeed();
-  return (seed.position.size() != 0 && !seed.joint_names.empty() && static_cast<std::size_t>(seed.position.size()) == seed.joint_names.size());
+  return (seed.position.size() != 0 && !seed.joint_names.empty() &&
+          static_cast<std::size_t>(seed.position.size()) == seed.joint_names.size());
 }
 
 void tesseract_planning::CartesianWaypointPoly::clearSeed() { getInterface().setSeed(tesseract_common::JointState()); }

diff --git a/tesseract_time_parameterization/ruckig/src/ruckig_trajectory_smoothing.cpp b/tesseract_time_parameterization/ruckig/src/ruckig_trajectory_smoothing.cpp
@@ -310,7 +310,8 @@ bool RuckigTrajectorySmoothing::compute(TrajectoryContainer& trajectory,
         Eigen::VectorXd new_duration_from_previous = original_duration_from_previous;
 
         double time_from_start = original_duration_from_previous(0);
-        for (Eigen::Index time_stretch_idx = 1; time_stretch_idx < static_cast<Eigen::Index>(num_waypoints); ++time_stretch_idx)
+        for (Eigen::Index time_stretch_idx = 1; time_stretch_idx < static_cast<Eigen::Index>(num_waypoints);
+             ++time_stretch_idx)
         {
           assert(time_stretch_idx < original_duration_from_previous.rows());
           const double duration_from_previous =