Fix Code Style On rewrite-linekicker (#2164)

automated style fixes

Co-authored-by: petergarud <[email protected]>

soccer/src/soccer/planning/planner/line_kick_path_planner.cpp

@@ -80,7 +80,8 @@ Trajectory LineKickPathPlanner::initial(const PlanRequest& plan_request) {
     // Updating the motion command
     LinearMotionInstant target{ball_position - offset_from_ball};
 
-    MotionCommand modified_command{"path_target", target, FacePoint{plan_request.motion_command.target.position}};
+    MotionCommand modified_command{"path_target", target,
+                                   FacePoint{plan_request.motion_command.target.position}};
     modified_request.motion_command = modified_command;
 
     // Getting the new path from PathTargetPlanner
@@ -91,18 +92,19 @@ Trajectory LineKickPathPlanner::initial(const PlanRequest& plan_request) {
 
 Trajectory LineKickPathPlanner::final(const PlanRequest& plan_request) {
     // remove ball from obstacles not needed?
-    
+
     const BallState& ball = plan_request.world_state->ball;
 
     // // Creating a modified plan_request to send to PathTargetPlanner
     PlanRequest modified_request = plan_request;
 
-    //velocity
+    // velocity
     auto goal_to_ball = (plan_request.motion_command.target.position - ball.position);
     auto vel = goal_to_ball.normalized() * 1.0;
 
     LinearMotionInstant target{ball.position, vel};
-    MotionCommand modified_command{"path_target", target, FacePoint{plan_request.motion_command.target.position}, true};
+    MotionCommand modified_command{"path_target", target,
+                                   FacePoint{plan_request.motion_command.target.position}, true};
     modified_request.motion_command = modified_command;
 
     // Getting the new path from PathTargetPlanner
@@ -112,8 +114,7 @@ Trajectory LineKickPathPlanner::final(const PlanRequest& plan_request) {
 }
 
 void LineKickPathPlanner::state_transition(BallState ball, RobotInstant start_instant) {
-    if (current_state_ == INITIAL_APPROACH &&
-        (path_target_.is_done())) {
+    if (current_state_ == INITIAL_APPROACH && (path_target_.is_done())) {
         current_state_ = FINAL_APPROACH;
     }
 }

soccer/src/soccer/planning/planner/line_kick_path_planner.hpp

@@ -2,10 +2,10 @@
 
 #include <optional>
 
+#include "planning/planner/collect_path_planner.hpp"
 #include "planning/planner/path_planner.hpp"
-#include "planning/trajectory.hpp"
 #include "planning/planner/path_target_path_planner.hpp"
-#include "planning/planner/collect_path_planner.hpp"
+#include "planning/trajectory.hpp"
 
 class Configuration;
 class ConfigDouble;
@@ -38,9 +38,7 @@ class LineKickPathPlanner : public PathPlanner {
     [[nodiscard]] bool is_done() const override;
 
 private:
-    enum State {
-        INITIAL_APPROACH, FINAL_APPROACH
-    };
+    enum State { INITIAL_APPROACH, FINAL_APPROACH };
     State current_state_ = INITIAL_APPROACH;
     PathTargetPathPlanner path_target_{};
     CollectPathPlanner collect_planner_{};
@@ -51,10 +49,12 @@ class LineKickPathPlanner : public PathPlanner {
     bool average_ball_vel_initialized_ = false;
     std::optional<rj_geometry::Point> target_kick_pos_;
 
-    // Trajectory initial(BallState ball, MotionCommand command, RobotInstant start_instant, ShapeSet static_obstacles, std::vector<DynamicObstacle> dynamic_obstacles);
+    // Trajectory initial(BallState ball, MotionCommand command, RobotInstant start_instant,
+    // ShapeSet static_obstacles, std::vector<DynamicObstacle> dynamic_obstacles);
     Trajectory initial(const PlanRequest& plan_request);
     Trajectory final(const PlanRequest& plan_request);
-    // Trajectory final(BallState ball, MotionCommand command, RobotInstant start_instant, ShapeSet static_obstacles, std::vector<DynamicObstacle> dynamic_obstacles);
+    // Trajectory final(BallState ball, MotionCommand command, RobotInstant start_instant, ShapeSet
+    // static_obstacles, std::vector<DynamicObstacle> dynamic_obstacles);
     void state_transition(BallState ball, RobotInstant start_instant);
 
     // PlayState::State current_state_;

soccer/src/soccer/planning/planner/plan_request.cpp

@@ -66,8 +66,9 @@ void fill_obstacles(const PlanRequest& in, rj_geometry::ShapeSet* out_static,
     // Adding ball as a static obstacle (because dynamic obstacles are not working)
     // Only added when STOP state is enabled
     if (in.min_dist_from_ball > 0 || avoid_ball) {
-        auto ball_obs = make_inflated_static_obs(in.world_state->ball.position,
-                                                 in.world_state->ball.velocity, kBallRadius + kAvoidBallDistance);
+        auto ball_obs =
+            make_inflated_static_obs(in.world_state->ball.position, in.world_state->ball.velocity,
+                                     kBallRadius + kAvoidBallDistance);
         ball_obs.radius(ball_obs.radius() + in.min_dist_from_ball);
 
         // Draw ball obstacle in simulator

soccer/src/soccer/planning/planner/plan_request.hpp

@@ -8,8 +8,8 @@
 #include <planning/planner/motion_command.hpp>
 #include <planning/trajectory.hpp>
 
-#include "context.hpp"
 #include "../global_state.hpp"
+#include "context.hpp"
 #include "planning/dynamic_obstacle.hpp"
 #include "planning/instant.hpp"
 #include "planning/robot_constraints.hpp"
@@ -29,9 +29,9 @@ struct PlanRequest {
     PlanRequest(RobotInstant start, MotionCommand command,  // NOLINT
                 RobotConstraints constraints, rj_geometry::ShapeSet field_obstacles,
                 rj_geometry::ShapeSet virtual_obstacles, TrajectoryCollection* planned_trajectories,
-                unsigned shell_id, const WorldState* world_state, PlayState play_state, int8_t priority = 0,
-                rj_drawing::RosDebugDrawer* debug_drawer = nullptr, bool ball_sense = false,
-                float min_dist_from_ball = 0, float dribbler_speed = 0)
+                unsigned shell_id, const WorldState* world_state, PlayState play_state,
+                int8_t priority = 0, rj_drawing::RosDebugDrawer* debug_drawer = nullptr,
+                bool ball_sense = false, float min_dist_from_ball = 0, float dribbler_speed = 0)
         : start(start),
           motion_command(command),  // NOLINT
           constraints(constraints),
@@ -110,7 +110,7 @@ struct PlanRequest {
 
     // Whether the robot has a ball
     bool ball_sense = false;
-/**
+    /**
      * How far away to stay from the ball, if the MotionCommand chooses to avoid the ball.
      */
     float min_dist_from_ball = 0;
@@ -119,7 +119,6 @@ struct PlanRequest {
      * Dribbler Speed
      */
     float dribbler_speed = 0;
-
 };
 
 /**

soccer/src/soccer/strategy/agent/position/offense.cpp

@@ -83,7 +83,6 @@ Offense::State Offense::update_state() {
 }
 
 std::optional<RobotIntent> Offense::state_to_task(RobotIntent intent) {
-
     SPDLOG_INFO(current_state_);
 
     if (current_state_ == IDLING) {
@@ -137,8 +136,8 @@ std::optional<RobotIntent> Offense::state_to_task(RobotIntent intent) {
         intent.is_active = true;
 
         // intent.motion_command = planning::MotionCommand{
-        //     "path_target", planning::LinearMotionInstant{last_world_state_->ball.position, {0.0}},
-        //     planning::FaceBall{}};
+        //     "path_target", planning::LinearMotionInstant{last_world_state_->ball.position,
+        //     {0.0}}, planning::FaceBall{}};
 
         return intent;
     } else if (current_state_ == RECEIVING) {