Apply clang-format-11 with new setting (#605)

* Apply clang-format-11 with new setting
* Remove clang-format off/on

costmap_cspace/src/costmap_3d.cpp

@@ -58,7 +58,8 @@ class Costmap3DOFNode
   costmap_cspace::Costmap3d::Ptr costmap_;
   std::vector<
       std::pair<nav_msgs::OccupancyGrid::ConstPtr,
-                costmap_cspace::Costmap3dLayerBase::Ptr>> map_buffer_;
+                costmap_cspace::Costmap3dLayerBase::Ptr>>
+      map_buffer_;
 
   void cbMap(
       const nav_msgs::OccupancyGrid::ConstPtr& msg,

costmap_cspace/test/src/test_costmap_3d.cpp

@@ -10,8 +10,8 @@
  *     * Redistributions in binary form must reproduce the above copyright
  *       notice, this list of conditions and the following disclaimer in the
  *       documentation and/or other materials provided with the distribution.
- *     * Neither the name of the copyright holder nor the names of its 
- *       contributors may be used to endorse or promote products derived from 
+ *     * Neither the name of the copyright holder nor the names of its
+ *       contributors may be used to endorse or promote products derived from
  *       this software without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
@@ -61,12 +61,12 @@ const std::string footprint_str(
 //  0 0 0
 const char temp_dir[4][2] =
     {
-      // x, y which must be occupied in the template
-      -1, 0,
-      0, -1,
-      1, 0,
-      0, 1
-    };
+        // x, y which must be occupied in the template
+        {-1, 0},
+        {0, -1},
+        {1, 0},
+        {0, 1},
+};
 
 TEST(Costmap3dLayerFootprint, CSpaceTemplate)
 {
@@ -411,8 +411,8 @@ TEST(Costmap3dLayerFootprint, CSpaceOverwrite)
   const int num_points_base_map = 2;
   const int points_base_map[num_points_base_map][2] =
       {
-        2, 3,
-        4, 4
+          {2, 3},
+          {4, 4},
       };
   for (int i = 0; i < num_points_base_map; ++i)
   {
@@ -422,9 +422,9 @@ TEST(Costmap3dLayerFootprint, CSpaceOverwrite)
   const int num_points_local_map = 3;
   const int points_local_map[num_points_local_map][2] =
       {
-        3, 4,
-        5, 3,
-        4, 4
+          {3, 4},
+          {5, 3},
+          {4, 4},
       };
   for (int i = 0; i < num_points_local_map; ++i)
   {
@@ -437,8 +437,8 @@ TEST(Costmap3dLayerFootprint, CSpaceOverwrite)
   // Overlay local map
   costmap_cspace_msgs::CSpace3DUpdate::Ptr updated(new costmap_cspace_msgs::CSpace3DUpdate);
   auto cb = [&updated](
-      const costmap_cspace::CSpace3DMsg::Ptr map,
-      const costmap_cspace_msgs::CSpace3DUpdate::Ptr& update) -> bool
+                const costmap_cspace::CSpace3DMsg::Ptr map,
+                const costmap_cspace_msgs::CSpace3DUpdate::Ptr& update) -> bool
   {
     updated = update;
     return true;
@@ -481,8 +481,8 @@ TEST(Costmap3dLayerFootprint, CSpaceOverwrite)
   cm_over->setOverlayMode(costmap_cspace::MapOverlayMode::MAX);
   costmap_cspace_msgs::CSpace3DUpdate::Ptr updated_max(new costmap_cspace_msgs::CSpace3DUpdate);
   auto cb_max = [&updated_max](
-      const costmap_cspace::CSpace3DMsg::Ptr map,
-      const costmap_cspace_msgs::CSpace3DUpdate::Ptr& update) -> bool
+                    const costmap_cspace::CSpace3DMsg::Ptr map,
+                    const costmap_cspace_msgs::CSpace3DUpdate::Ptr& update) -> bool
   {
     updated_max = update;
     return true;
@@ -613,32 +613,32 @@ TEST(Costmap3dLayerOutput, CSpaceOutOfBoundary)
   };
   const TestData dataset[] =
       {
-        { "inside0", { 0.0, 0.0 }, true, { 0u, 0u, 0u, 2u, 2u, 4u } },
-        { "inside1", { 1.0, 0.0 }, true, { 1u, 0u, 0u, 2u, 2u, 4u } },
-        { "half-outside x0", { -1.0, 0.0 }, true, { 0u, 0u, 0u, 1u, 2u, 4u } },
-        { "half-outside x1", { 3.0, 0.0 }, true, { 3u, 0u, 0u, 1u, 2u, 4u } },
-        { "half-outside y0", { 0.0, -1.0 }, true, { 0u, 0u, 0u, 2u, 1u, 4u } },
-        { "half-outside y1", { 0.0, 3.0 }, true, { 0u, 3u, 0u, 2u, 1u, 4u } },
-        { "half-outside xy0", { -1.0, -1.0 }, true, { 0u, 0u, 0u, 1u, 1u, 4u } },
-        { "half-outside xy1", { 3.0, -1.0 }, true, { 3u, 0u, 0u, 1u, 1u, 4u } },
-        { "half-outside xy2", { 3.0, 3.0 }, true, { 3u, 3u, 0u, 1u, 1u, 4u } },
-        { "half-outside xy3", { -1.0, 3.0 }, true, { 0u, 3u, 0u, 1u, 1u, 4u } },
-        { "boundary x0", { -2.0, 0.0 }, false },
-        { "boundary x1", { 4, 0.0 }, false },
-        { "boundary y0", { 0, -2.0 }, false },
-        { "boundary y1", { 0, 4.0 }, false },
-        { "boundary xy0", { -2.0, -2.0 }, false },
-        { "boundary xy1", { 4.0, -2.0 }, false },
-        { "boundary xy2", { 4.0, 4.0 }, false },
-        { "boundary xy3", { -2.0, 4.0 }, false },
-        { "outside x0", { -3.0, 0.0 }, false },
-        { "outside x1", { 5, 0.0 }, false },
-        { "outside y0", { 0, -3.0 }, false },
-        { "outside y1", { 0, 5.0 }, false },
-        { "outside xy0", { -3.0, -3.0 }, false },
-        { "outside xy1", { 5.0, -3.0 }, false },
-        { "outside xy2", { 5.0, 5.0 }, false },
-        { "outside xy3", { -3.0, 5.0 }, false },
+          {"inside0", {0.0, 0.0}, true, {0u, 0u, 0u, 2u, 2u, 4u}},
+          {"inside1", {1.0, 0.0}, true, {1u, 0u, 0u, 2u, 2u, 4u}},
+          {"half-outside x0", {-1.0, 0.0}, true, {0u, 0u, 0u, 1u, 2u, 4u}},
+          {"half-outside x1", {3.0, 0.0}, true, {3u, 0u, 0u, 1u, 2u, 4u}},
+          {"half-outside y0", {0.0, -1.0}, true, {0u, 0u, 0u, 2u, 1u, 4u}},
+          {"half-outside y1", {0.0, 3.0}, true, {0u, 3u, 0u, 2u, 1u, 4u}},
+          {"half-outside xy0", {-1.0, -1.0}, true, {0u, 0u, 0u, 1u, 1u, 4u}},
+          {"half-outside xy1", {3.0, -1.0}, true, {3u, 0u, 0u, 1u, 1u, 4u}},
+          {"half-outside xy2", {3.0, 3.0}, true, {3u, 3u, 0u, 1u, 1u, 4u}},
+          {"half-outside xy3", {-1.0, 3.0}, true, {0u, 3u, 0u, 1u, 1u, 4u}},
+          {"boundary x0", {-2.0, 0.0}, false},
+          {"boundary x1", {4, 0.0}, false},
+          {"boundary y0", {0, -2.0}, false},
+          {"boundary y1", {0, 4.0}, false},
+          {"boundary xy0", {-2.0, -2.0}, false},
+          {"boundary xy1", {4.0, -2.0}, false},
+          {"boundary xy2", {4.0, 4.0}, false},
+          {"boundary xy3", {-2.0, 4.0}, false},
+          {"outside x0", {-3.0, 0.0}, false},
+          {"outside x1", {5, 0.0}, false},
+          {"outside y0", {0, -3.0}, false},
+          {"outside y1", {0, 5.0}, false},
+          {"outside xy0", {-3.0, -3.0}, false},
+          {"outside xy1", {5.0, -3.0}, false},
+          {"outside xy2", {5.0, 5.0}, false},
+          {"outside xy3", {-3.0, 5.0}, false},
       };
 
   for (auto& d : dataset)
@@ -675,8 +675,8 @@ TEST(Costmap3dLayerOutput, CSpaceOutOfBoundary)
     // Overlay local map
     costmap_cspace_msgs::CSpace3DUpdate::Ptr updated;
     auto cb = [&updated](
-        const costmap_cspace::CSpace3DMsg::Ptr& map,
-        const costmap_cspace_msgs::CSpace3DUpdate::Ptr& update) -> bool
+                  const costmap_cspace::CSpace3DMsg::Ptr& map,
+                  const costmap_cspace_msgs::CSpace3DUpdate::Ptr& update) -> bool
     {
       updated = update;
       return true;

planner_cspace/include/planner_cspace/bbf.h

@@ -57,7 +57,7 @@ class BinaryBayesFilter
 public:
   explicit BinaryBayesFilter(
       const float& initial_odds = 1.0) noexcept
-      : odds_(initial_odds)
+    : odds_(initial_odds)
   {
   }
   float update(const float& odds)

planner_cspace/include/planner_cspace/grid_astar.h

@@ -278,10 +278,10 @@ class GridAstar
             findPath(ss_normalized, better, path_tmp);
             const SearchStats stats =
                 {
-                  .num_loop = num_loop,
-                  .num_search_queue = num_search_queue,
-                  .num_prev_updates = num_updates,
-                  .num_total_updates = num_total_updates,
+                    .num_loop = num_loop,
+                    .num_search_queue = num_search_queue,
+                    .num_prev_updates = num_updates,
+                    .num_total_updates = num_total_updates,
                 };
             if (!cb_progress(path_tmp, stats))
             {

planner_cspace/src/motion_cache.cpp

@@ -68,9 +68,9 @@ void MotionCache::reset(
           const float yaw_e = d[2] * angular_resolution;
           const float diff_val[3] =
               {
-                d[0] * linear_resolution,
-                d[1] * linear_resolution,
-                d[2] * angular_resolution
+                  d[0] * linear_resolution,
+                  d[1] * linear_resolution,
+                  d[2] * angular_resolution,
               };
           std::unordered_map<CyclicVecInt<3, 2>, bool, CyclicVecInt<3, 2>> registered;
           registered[d] = true;
@@ -133,9 +133,9 @@ void MotionCache::reset(
 
             const float posf_raw[3] =
                 {
-                  (cx2 - r * cosf(cyaw + M_PI / 2)) / linear_resolution,
-                  (cy2 - r * sinf(cyaw + M_PI / 2)) / linear_resolution,
-                  cyaw / angular_resolution
+                    (cx2 - r * cosf(cyaw + M_PI / 2)) / linear_resolution,
+                    (cy2 - r * sinf(cyaw + M_PI / 2)) / linear_resolution,
+                    cyaw / angular_resolution,
                 };
             const CyclicVecFloat<3, 2> posf(posf_raw[0], posf_raw[1], posf_raw[2]);
             CyclicVecInt<3, 2> pos(posf_raw[0], posf_raw[1], posf_raw[2]);

planner_cspace/src/planner_2dof_serial_joints.cpp

@@ -164,7 +164,7 @@ class Planner2dofSerialJointsNode
 
   void cbJoint(const sensor_msgs::JointState::ConstPtr& msg)
   {
-    int id[2] = { -1, -1 };
+    int id[2] = {-1, -1};
     for (size_t i = 0; i < msg->name.size(); i++)
     {
       if (msg->name[i].compare(links_[0].name_) == 0)

planner_cspace/src/planner_3d.cpp

@@ -1115,9 +1115,9 @@ class Planner3dNode
 
     const int size[3] =
         {
-          static_cast<int>(map_info_.width),
-          static_cast<int>(map_info_.height),
-          static_cast<int>(map_info_.angle)
+            static_cast<int>(map_info_.width),
+            static_cast<int>(map_info_.height),
+            static_cast<int>(map_info_.angle),
         };
     as_.reset(Astar::Vec(size[0], size[1], size[2]));
     cm_.reset(Astar::Vec(size[0], size[1], size[2]));
@@ -1645,14 +1645,8 @@ class Planner3dNode
     std::vector<Astar::VecWithCost> starts;
     if (antialias_start_)
     {
-      const int x_cand[] =
-          {
-            0, ((sf[0] - s[0]) < 0.5 ? -1 : 1)
-          };
-      const int y_cand[] =
-          {
-            0, ((sf[1] - s[1]) < 0.5 ? -1 : 1)
-          };
+      const int x_cand[] = {0, ((sf[0] - s[0]) < 0.5 ? -1 : 1)};
+      const int y_cand[] = {0, ((sf[1] - s[1]) < 0.5 ? -1 : 1)};
       for (const int x : x_cand)
       {
         for (const int y : y_cand)

planner_cspace/test/src/test_blockmem_gridmap_performance.cpp

@@ -38,14 +38,8 @@ namespace planner_cspace
 {
 TEST(BlockmemGridmap, SpacialAccessPerformance)
 {
-  constexpr int size[3] =
-      {
-        0x420, 0x420, 0x28
-      };
-  constexpr int pad[3] =
-      {
-        0x204, 0x204, 0x10
-      };
+  constexpr int size[3] = {0x420, 0x420, 0x28};
+  constexpr int pad[3] = {0x204, 0x204, 0x10};
   constexpr int range = 0x10;
   constexpr int repeat = 4;
 

planner_cspace/test/src/test_costmap_bbf.cpp

@@ -74,27 +74,27 @@ TEST(CostmapBBF, Update)
   const float odds_miss = bbf::probabilityToOdds(0.3);
   const char costmap0[3][3] =
       {
-        { 10, 100, 100 },
-        { 100, 100, 100 },
-        { 100, 100, 100 },
+          {10, 100, 100},
+          {100, 100, 100},
+          {100, 100, 100},
       };
   const char costmap1[3][3] =
       {
-        { 0, -1, 0 },
-        { 100, 0, 0 },
-        { 0, 0, 100 },
+          {0, -1, 0},
+          {100, 0, 0},
+          {0, 0, 100},
       };
   const float expected_odds[3][3] =
       {
-        { bbf::MIN_ODDS, bbf::MIN_ODDS * odds_hit, bbf::MIN_ODDS * odds_hit * odds_miss },
-        { bbf::MIN_ODDS * odds_hit * odds_hit, bbf::MIN_ODDS * odds_hit * odds_miss, bbf::MIN_ODDS },
-        { bbf::MIN_ODDS * odds_hit * odds_miss, bbf::MIN_ODDS, bbf::MIN_ODDS },
+          {bbf::MIN_ODDS, bbf::MIN_ODDS * odds_hit, bbf::MIN_ODDS * odds_hit * odds_miss},
+          {bbf::MIN_ODDS * odds_hit * odds_hit, bbf::MIN_ODDS * odds_hit * odds_miss, bbf::MIN_ODDS},
+          {bbf::MIN_ODDS * odds_hit * odds_miss, bbf::MIN_ODDS, bbf::MIN_ODDS},
       };
   const char expected_cost[3][3] =
       {
-        { 0, 26, 8 },
-        { 68, 8, 0 },
-        { 8, 0, 0 },
+          {0, 26, 8},
+          {68, 8, 0},
+          {8, 0, 0},
       };
   BlockMemGridmap<char, 3, 2> cm;
 

planner_cspace/test/src/test_cyclic_vec.cpp

@@ -38,10 +38,7 @@ namespace planner_cspace
 {
 TEST(CyclicVec, InitFloat)
 {
-  const float val[3] =
-      {
-        1.0, 2.0, 3.0
-      };
+  const float val[3] = {1.0, 2.0, 3.0};
   CyclicVecFloat<3, 2> v(1.0f, 2.0f, 3.0f);
   const CyclicVecFloat<3, 2> vc(1.0f, 2.0f, 3.0f);
 
@@ -54,10 +51,7 @@ TEST(CyclicVec, InitFloat)
 
 TEST(CyclicVec, InitInt)
 {
-  const int val[3] =
-      {
-        1, 2, 3
-      };
+  const int val[3] = {1, 2, 3};
   CyclicVecInt<3, 2> v(1, 2, 3);
   const CyclicVecInt<3, 2> vc(1, 2, 3);
 

planner_cspace/test/src/test_debug_outputs.cpp

@@ -160,18 +160,18 @@ TEST_F(DebugOutputsTest, Hysteresis)
   // Robot is at (25, 4) and goal is at (10, 4)
   const PositionAndValue data_set[] =
       {
-        { 25, 4, 0 },
-        { 20, 4, 0 },
-        { 15, 4, 0 },
-        { 10, 4, 0 },
-        { 25, 1, 100 },
-        { 20, 1, 100 },
-        { 15, 1, 100 },
-        { 10, 1, 100 },
-        { 25, 7, 100 },
-        { 20, 7, 100 },
-        { 15, 7, 100 },
-        { 10, 7, 100 },
+          {25, 4, 0},
+          {20, 4, 0},
+          {15, 4, 0},
+          {10, 4, 0},
+          {25, 1, 100},
+          {20, 1, 100},
+          {15, 1, 100},
+          {10, 1, 100},
+          {25, 7, 100},
+          {20, 7, 100},
+          {15, 7, 100},
+          {10, 7, 100},
       };
   for (auto data : data_set)
   {
@@ -193,12 +193,12 @@ TEST_F(DebugOutputsTest, Remembered)
   // Costmap is expanded by 1 grid.
   const PositionAndValue data_set[] =
       {
-        { 17, 0, 100 },   // occupied
-        { 17, 1, 100 },   // expanded
-        { 17, 2, 0 },     // free
-        { 17, 8, 0 },     // free
-        { 17, 9, 100 },   // expanded
-        { 17, 10, 100 },  // occupied
+          {17, 0, 100},   // occupied
+          {17, 1, 100},   // expanded
+          {17, 2, 0},     // free
+          {17, 8, 0},     // free
+          {17, 9, 100},   // expanded
+          {17, 10, 100},  // occupied
       };
   for (auto data : data_set)
   {