style(pre-commit): autofix

planning/behavior_velocity_dynamic_obstacle_stop_module/config/dynamic_obstacle_stop.param.yaml

@@ -14,4 +14,4 @@
       ignore_unavoidable_collisions : true  # if true, ignore collisions that cannot be avoided by stopping (assuming the obstacle continues going straight)
       ignore_objects_behind_ego: false  # if true, ignore objects that are behind the ego vehicle
       behind_object_distance_threshold: 5.0  # [m] distance behind the ego vehicle to ignore objects
-      use_predicted_path: false  # if true, use the predicted path of the object to calculate the collision point
+      use_predicted_path: false  # if true, use the predicted path of the object to calculate the collision point

planning/behavior_velocity_dynamic_obstacle_stop_module/src/footprint.cpp

@@ -61,24 +61,27 @@ tier4_autoware_utils::Polygon2d make_forward_footprint(
     {}};
 }
 
-//create footprint using predicted_path of object
-tier4_autoware_utils::Polygon2d translate_polygon(const tier4_autoware_utils::Polygon2d & polygon, const double x, const double y)
+// create footprint using predicted_path of object
+tier4_autoware_utils::Polygon2d translate_polygon(
+  const tier4_autoware_utils::Polygon2d & polygon, const double x, const double y)
 {
   tier4_autoware_utils::Polygon2d translated_polygon;
   const boost::geometry::strategy::transform::translate_transformer<double, 2, 2> translation(x, y);
   boost::geometry::transform(polygon, translated_polygon, translation);
   return translated_polygon;
 }
 
-tier4_autoware_utils::Polygon2d create_footprint(const geometry_msgs::msg::Pose & pose, const tier4_autoware_utils::Polygon2d& base_footprint)
+tier4_autoware_utils::Polygon2d create_footprint(
+  const geometry_msgs::msg::Pose & pose, const tier4_autoware_utils::Polygon2d & base_footprint)
 {
   const auto angle = tf2::getYaw(pose.orientation);
   return translate_polygon(
     tier4_autoware_utils::rotatePolygon(base_footprint, angle), pose.position.x, pose.position.y);
 }
 
 tier4_autoware_utils::MultiPolygon2d create_object_footprints(
-  const std::vector<autoware_auto_perception_msgs::msg::PredictedObject> & objects, const PlannerParam & params)
+  const std::vector<autoware_auto_perception_msgs::msg::PredictedObject> & objects,
+  const PlannerParam & params)
 {
   tier4_autoware_utils::MultiPolygon2d footprints;
 

planning/behavior_velocity_dynamic_obstacle_stop_module/src/footprint.hpp

@@ -18,6 +18,7 @@
 #include "types.hpp"
 
 #include <tier4_autoware_utils/geometry/geometry.hpp>
+
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
 
 #include <vector>
@@ -42,9 +43,12 @@ tier4_autoware_utils::Polygon2d make_forward_footprint(
   const autoware_auto_perception_msgs::msg::PredictedObject & obstacle, const PlannerParam & params,
   const double hysteresis);
 tier4_autoware_utils::MultiPolygon2d create_object_footprints(
-  const std::vector<autoware_auto_perception_msgs::msg::PredictedObject> & objects, const PlannerParam & params);
-tier4_autoware_utils::Polygon2d translate_polygon(const tier4_autoware_utils::Polygon2d & polygon, const double x, const double y);
-tier4_autoware_utils::Polygon2d create_footprint(const geometry_msgs::msg::Pose & pose, const tier4_autoware_utils::Polygon2d& base_footprint);
+  const std::vector<autoware_auto_perception_msgs::msg::PredictedObject> & objects,
+  const PlannerParam & params);
+tier4_autoware_utils::Polygon2d translate_polygon(
+  const tier4_autoware_utils::Polygon2d & polygon, const double x, const double y);
+tier4_autoware_utils::Polygon2d create_footprint(
+  const geometry_msgs::msg::Pose & pose, const tier4_autoware_utils::Polygon2d & base_footprint);
 /// @brief project a footprint to the given pose
 /// @param [in] base_footprint footprint to project
 /// @param [in] pose projection pose

planning/behavior_velocity_dynamic_obstacle_stop_module/src/manager.cpp

@@ -49,8 +49,7 @@ DynamicObstacleStopModuleManager::DynamicObstacleStopModuleManager(rclcpp::Node
     getOrDeclareParameter<bool>(node, ns + ".ignore_unavoidable_collisions");
   pp.ignore_objects_behind_ego =
     getOrDeclareParameter<bool>(node, ns + ".ignore_objects_behind_ego");
-  pp.use_predicted_path =
-    getOrDeclareParameter<bool>(node, ns + ".use_predicted_path");
+  pp.use_predicted_path = getOrDeclareParameter<bool>(node, ns + ".use_predicted_path");
   const auto vehicle_info = vehicle_info_util::VehicleInfoUtil(node).getVehicleInfo();
   pp.ego_lateral_offset =
     std::max(std::abs(vehicle_info.min_lateral_offset_m), vehicle_info.max_lateral_offset_m);

planning/behavior_velocity_dynamic_obstacle_stop_module/src/scene_dynamic_obstacle_stop.cpp

@@ -90,7 +90,7 @@ bool DynamicObstacleStopModule::modifyPathVelocity(PathWithLaneId * path, StopRe
   tier4_autoware_utils::MultiPolygon2d obstacle_predicted_footprints;
   std::vector<Collision> collisions;
   double footprints_duration_us;
-  if (params_.use_predicted_path){
+  if (params_.use_predicted_path) {
     stopwatch.tic("footprints");
     obstacle_predicted_footprints = create_object_footprints(dynamic_obstacles, params_);
     footprints_duration_us = stopwatch.toc("footprints");
@@ -100,12 +100,10 @@ bool DynamicObstacleStopModule::modifyPathVelocity(PathWithLaneId * path, StopRe
     debug_data_.obstacle_footprints = obstacle_predicted_footprints;
   } else {
     stopwatch.tic("footprints");
-    obstacle_forward_footprints =
-      make_forward_footprints(dynamic_obstacles, params_, hysteresis);
+    obstacle_forward_footprints = make_forward_footprints(dynamic_obstacles, params_, hysteresis);
     footprints_duration_us = stopwatch.toc("footprints");
     stopwatch.tic("collisions");
-    collisions =
-      find_collisions(ego_data, dynamic_obstacles, obstacle_forward_footprints, params_);
+    collisions = find_collisions(ego_data, dynamic_obstacles, obstacle_forward_footprints, params_);
     debug_data_.obstacle_footprints = obstacle_forward_footprints;
   }
   update_object_map(object_map_, collisions, clock_->now(), ego_data.path.points, params_);