pre-commit

Author: MultyXu

hydra_ros/include/hydra_ros/active_window/tsdf_gradient_occupancy_publisher.h

@@ -51,7 +51,7 @@ class TsdfGradientOccupancyPublisher
     std::string ns = "~/tsdf_gradient";
     bool collate = false;
     bool use_relative_height = true;
-    bool add_robot_footprint = false; // force voxels around robot to be free
+    bool add_robot_footprint = false;  // force voxels around robot to be free
     Eigen::Vector3f footprint_min = Eigen::Vector3f::Zero();
     Eigen::Vector3f footprint_max = Eigen::Vector3f::Zero();
 

hydra_ros/src/active_window/tsdf_gradient_occupancy_publisher.cpp

@@ -181,7 +181,8 @@ void TsdfGradientOccupancyPublisher::fillOccupancyGrid(
       }
     }
 
-    msg.data[index] = gradientToOccupancy(gradient_info.gradient, gradient_info.confidence);
+    msg.data[index] =
+        gradientToOccupancy(gradient_info.gradient, gradient_info.confidence);
   }
 }
 
@@ -265,8 +266,8 @@ int8_t TsdfGradientOccupancyPublisher::gradientToOccupancy(float gradient,
   }
 
   if (config.probabilistic) {
-    const float traversability =
-        hydra::places::computeTraversabilityFromGradient(gradient, config.gradient_threshold);
+    const float traversability = hydra::places::computeTraversabilityFromGradient(
+        gradient, config.gradient_threshold);
     const float occupancy_float = (1.0f - traversability) * 100.0f;
     return static_cast<int8_t>(std::clamp(occupancy_float, 0.0f, 100.0f));
   } else {