Optimize format.

rm-controls · Mar 26, 2024 · ff24773 · ff24773
1 parent 7843d78
commit ff24773
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Showing 3 changed files with 6 additions and 4 deletions.
diff --git a/engineer_middleware/include/engineer_middleware/auto_exchange.h b/engineer_middleware/include/engineer_middleware/auto_exchange.h
@@ -783,7 +783,7 @@ class UnionMove : public ProgressBase
   }
   void initComputerValue()
   {
-    for (double & servo_scale : servo_scales_)
+    for (double& servo_scale : servo_scales_)
     {
       servo_scale = 0.;
     }

diff --git a/engineer_middleware/include/engineer_middleware/step.h b/engineer_middleware/include/engineer_middleware/step.h
@@ -50,7 +50,8 @@ class Step
        moveit::planning_interface::MoveGroupInterface& arm_group, ChassisInterface& chassis_interface,
        ros::Publisher& hand_pub, ros::Publisher& end_effector_pub, ros::Publisher& gimbal_pub, ros::Publisher& gpio_pub,
        ros::Publisher& reversal_pub, ros::Publisher& stone_num_pub, ros::Publisher& planning_result_pub,
-       ros::Publisher& point_cloud_pub, ros::Publisher& ore_rotate_pub, ros::Publisher& ore_lift_pub, ros::Publisher& gimbal_lift_pub)
+       ros::Publisher& point_cloud_pub, ros::Publisher& ore_rotate_pub, ros::Publisher& ore_lift_pub,
+       ros::Publisher& gimbal_lift_pub)
     : planning_result_pub_(planning_result_pub), point_cloud_pub_(point_cloud_pub), arm_group_(arm_group)
   {
     ROS_ASSERT(step.hasMember("step"));
@@ -194,7 +195,7 @@ class Step
   MoveitMotionBase* arm_motion_{};
   HandMotion* hand_motion_{};
   JointPositionMotion* end_effector_motion_{};
-  JointPointMotion* ore_rotate_motion_{},* ore_lift_motion_{},* gimbal_lift_motion_{};
+  JointPointMotion *ore_rotate_motion_{}, *ore_lift_motion_{}, *gimbal_lift_motion_{};
   StoneNumMotion* stone_num_motion_{};
   ChassisMotion* chassis_motion_{};
   GimbalMotion* gimbal_motion_{};

diff --git a/engineer_middleware/src/middleware.cpp b/engineer_middleware/src/middleware.cpp
@@ -72,7 +72,8 @@ Middleware::Middleware(ros::NodeHandle& nh)
       step_queues_.insert(
           std::make_pair(it->first, StepQueue(it->second, scenes_list, tf_, arm_group_, chassis_interface_, hand_pub_,
                                               end_effector_pub_, gimbal_pub_, gpio_pub_, reversal_pub_, stone_num_pub_,
-                                              planning_result_pub_, point_cloud_pub_, ore_rotate_pub_, ore_lift_pub_, gimbal_lift_pub)));
+                                              planning_result_pub_, point_cloud_pub_, ore_rotate_pub_, ore_lift_pub_,
+                                              gimbal_lift_pub)));
     }
   }
   else