style: apply pre-commit auto-fixes (clang-format, isort, mdformat)

Author: LimHyungTae

cpp/patchwork/include/patchwork/patchwork.h

@@ -1,9 +1,10 @@
 #ifndef PATCHWORK_CLASSIC_H
 #define PATCHWORK_CLASSIC_H
 
-#include <Eigen/Dense>
 #include <vector>
 
+#include <Eigen/Dense>
+
 #include "patchwork/patchworkpp.h"  // for patchwork::PointXYZ
 
 namespace patchwork {
@@ -19,12 +20,12 @@ struct PCAFeature {
 };
 
 enum class PatchStatus {
-  NotAssigned             = -2,
-  FewPoints               = -1,
-  UprightEnough           = 0,
-  FlatEnough              = 1,
-  TooHighElevation        = 2,
-  TooTilted               = 3,
+  NotAssigned              = -2,
+  FewPoints                = -1,
+  UprightEnough            = 0,
+  FlatEnough               = 1,
+  TooHighElevation         = 2,
+  TooTilted                = 3,
   GloballyTooHighElevation = 4,
 };
 
@@ -35,35 +36,35 @@ struct PatchworkParams {
   double min_range     = 2.7;
 
   // Concentric Zone Model (parametric)
-  int                  num_zones             = 4;
-  std::vector<int>     num_sectors_each_zone = {16, 32, 54, 32};
-  std::vector<int>     num_rings_each_zone   = {2, 4, 4, 4};
-  std::vector<double>  min_ranges            = {2.7, 12.3625, 22.025, 41.35};
+  int num_zones                          = 4;
+  std::vector<int> num_sectors_each_zone = {16, 32, 54, 32};
+  std::vector<int> num_rings_each_zone   = {2, 4, 4, 4};
+  std::vector<double> min_ranges         = {2.7, 12.3625, 22.025, 41.35};
 
   // Plane fit
-  int    num_iter    = 3;
-  int    num_lpr     = 20;
-  int    num_min_pts = 10;
-  double th_seeds    = 0.5;
-  double th_dist     = 0.125;
+  int num_iter    = 3;
+  int num_lpr     = 20;
+  int num_min_pts = 10;
+  double th_seeds = 0.5;
+  double th_dist  = 0.125;
 
   // Ground likelihood thresholds (fixed, the Patchwork classic style)
-  double              uprightness_thr = 0.5;
-  std::vector<double> elevation_thr   = {0.523, 0.746, 0.879, 1.125};
-  std::vector<double> flatness_thr    = {0.0005, 0.000725, 0.001, 0.001};
+  double uprightness_thr            = 0.5;
+  std::vector<double> elevation_thr = {0.523, 0.746, 0.879, 1.125};
+  std::vector<double> flatness_thr  = {0.0005, 0.000725, 0.001, 0.001};
 
   // Adaptive seed selection margin for highly tilted ground
   double adaptive_seed_selection_margin = -1.1;
 
   // Global elevation guard
-  bool   using_global_thr     = true;
+  bool using_global_thr       = true;
   double global_elevation_thr = 0.0;
 
   // ATAT (default ON)
-  bool   ATAT_ON              = true;
-  double max_h_for_ATAT       = 0.3;
-  int    num_sectors_for_ATAT = 20;
-  double noise_bound          = 0.2;
+  bool ATAT_ON             = true;
+  double max_h_for_ATAT    = 0.3;
+  int num_sectors_for_ATAT = 20;
+  double noise_bound       = 0.2;
 
   bool verbose = false;
 };
@@ -75,41 +76,41 @@ class PatchWork {
 
   void estimateGround(const Eigen::MatrixXf& cloud);
 
-  Eigen::MatrixX3f getGround()           const;
-  Eigen::MatrixX3f getNonground()        const;
-  std::vector<int> getGroundIndices()    const;
+  Eigen::MatrixX3f getGround() const;
+  Eigen::MatrixX3f getNonground() const;
+  std::vector<int> getGroundIndices() const;
   std::vector<int> getNongroundIndices() const;
-  double           getTimeTaken()        const;
-  double           getHeight()           const;
+  double getTimeTaken() const;
+  double getHeight() const;
 
  private:
   // Helper functions (defined in patchwork.cpp in later tasks)
-  void   initialize();
-  void   flush();
+  void initialize();
+  void flush();
   double xy2theta(double x, double y) const;
   double xy2radius(double x, double y) const;
-  void   pc2regionwise_patches(const std::vector<PointXYZ>& src);
-  void   estimate_plane(const std::vector<PointXYZ>& seeds, PCAFeature& out);
-  void   extract_initial_seeds(int zone_idx,
-                               const std::vector<PointXYZ>& sorted,
-                               std::vector<PointXYZ>& seeds);
-  PatchStatus determine_gle_status(int zone_idx, int ring_idx,
-                                   const PCAFeature& feature) const;
-  void   perform_regionwise_segmentation(int zone_idx, int ring_idx,
-                                         const std::vector<PointXYZ>& patch,
-                                         std::vector<PointXYZ>& patch_ground,
-                                         std::vector<PointXYZ>& patch_nonground,
-                                         PatchStatus& status_out);
-  void   estimate_sensor_height(std::vector<PointXYZ>& cloud);
+  void pc2regionwise_patches(const std::vector<PointXYZ>& src);
+  void estimate_plane(const std::vector<PointXYZ>& seeds, PCAFeature& out);
+  void extract_initial_seeds(int zone_idx,
+                             const std::vector<PointXYZ>& sorted,
+                             std::vector<PointXYZ>& seeds);
+  PatchStatus determine_gle_status(int zone_idx, int ring_idx, const PCAFeature& feature) const;
+  void perform_regionwise_segmentation(int zone_idx,
+                                       int ring_idx,
+                                       const std::vector<PointXYZ>& patch,
+                                       std::vector<PointXYZ>& patch_ground,
+                                       std::vector<PointXYZ>& patch_nonground,
+                                       PatchStatus& status_out);
+  void estimate_sensor_height(std::vector<PointXYZ>& cloud);
   double consensus_set_based_height_estimation(const std::vector<double>& candidate_heights);
-  void   materialize() const;
+  void materialize() const;
 
   PatchworkParams params_;
 
   // Per-iteration scratch (cleared each estimateGround call)
-  using Sector = std::vector<PointXYZ>;
-  using Ring   = std::vector<Sector>;     // sectors within one ring
-  using Zone   = std::vector<Ring>;        // rings within one zone
+  using Sector            = std::vector<PointXYZ>;
+  using Ring              = std::vector<Sector>;  // sectors within one ring
+  using Zone              = std::vector<Ring>;    // rings within one zone
   using RegionwisePatches = std::vector<Zone>;
   RegionwisePatches regionwise_patches_;
 
@@ -122,7 +123,7 @@ class PatchWork {
   mutable Eigen::MatrixX3f nonground_mat_;
   mutable std::vector<int> ground_idx_;
   mutable std::vector<int> nonground_idx_;
-  mutable bool             outputs_dirty_ = true;
+  mutable bool outputs_dirty_ = true;
 
   double time_taken_    = 0.0;
   double sensor_height_ = 1.723;  // updated by ATAT if enabled