Improved formatting

src/Constants.h

@@ -135,7 +135,7 @@ constexpr frozen::unordered_map<robot::types::jointid_t, robot::types::motorid_t
 
 // Arm inverse kinematics
 namespace arm {
-/** 
+/**
  * Percentage of fully extended overall arm length to limit arm extension within.
  */
 constexpr double SAFETY_FACTOR = 0.95;

src/control/PlanarArmController.h

@@ -29,13 +29,14 @@ template <unsigned int N> class PlanarArmController {
 	 * @param currJointPos The current joint positions of the arm.
 	 * @param kin_obj PlanarArmKinematics object for the arm (should have the same number of
 	 * arm joints).
-	 * @param safetyFactor the percentage factor to scale maximum arm extension radius by to prevent singularity lock.
+	 * @param safetyFactor the percentage factor to scale maximum arm extension radius by to
+	 * prevent singularity lock.
 	 */
 	PlanarArmController(const navtypes::Vectord<N>& currJointPos,
-						kinematics::PlanarArmKinematics<N> kin_obj,
-						const double safetyFactor)
-		: kin(kin_obj), setpoint(kin.jointPosToEEPos(currJointPos)), velocity({0.0, 0.0}), safetyFactor(safetyFactor) {
-		assert(safetyFactor > 0.0 && safetyFactor < 1.0);		
+						kinematics::PlanarArmKinematics<N> kin_obj, const double safetyFactor)
+		: kin(kin_obj), setpoint(kin.jointPosToEEPos(currJointPos)), velocity({0.0, 0.0}),
+		  safetyFactor(safetyFactor) {
+		assert(safetyFactor > 0.0 && safetyFactor < 1.0);
 	}
 
 	/**

tests/control/PlanarArmControllerTest.cpp

@@ -1,4 +1,5 @@
 #include "../../src/control/PlanarArmController.h"
+
 #include "../../src/Constants.h"
 
 #include <catch2/catch.hpp>
@@ -24,5 +25,6 @@ TEST_CASE("Test Planar Arm Safety Factor", "[control][planararmcontroller]") {
 	REQUIRE(foo.get_setpoint(robot::types::dataclock::now()).norm() == 9.5);
 
 	foo.set_setpoint({2.0, 3.0});
-	REQUIRE(fabs(foo.get_setpoint(robot::types::dataclock::now()).norm() - 2.1166861277) < 1e-6);
+	REQUIRE(fabs(foo.get_setpoint(robot::types::dataclock::now()).norm() - 2.1166861277) <
+			1e-6);
 }