Committing clang-format changes

mission/docking_task/include/docking_task/docking_task_ros.hpp

@@ -2,31 +2,32 @@
 #define DOCKING_TASK_ROS_HPP
 
 #include <Eigen/Dense>
-#include <thread>
+#include <geometry_msgs/msg/pose_array.hpp>
 #include <mutex>
-#include <rclcpp/rclcpp.hpp>
-#include <sensor_msgs/msg/nav_sat_fix.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <nav_msgs/msg/odometry.hpp>
-#include <geometry_msgs/msg/pose_array.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/nav_sat_fix.hpp>
+#include <tf2/LinearMath/Matrix3x3.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+#include <tf2_ros/buffer.h>
+#include <tf2_ros/transform_listener.h>
+#include <thread>
 #include <vortex_msgs/msg/landmark_array.hpp>
 #include <vortex_msgs/srv/waypoint.hpp>
-#include <tf2_ros/transform_listener.h>
-#include <tf2_ros/buffer.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#include <tf2/LinearMath/Matrix3x3.h> 
 
 namespace docking_task {
 
 struct LandmarkWithID {
-      geometry_msgs::msg::Pose pose_map_frame;
-      geometry_msgs::msg::Pose pose_base_link_frame;
-      uint32_t id;
-    };
+  geometry_msgs::msg::Pose pose_map_frame;
+  geometry_msgs::msg::Pose pose_base_link_frame;
+  uint32_t id;
+};
 
 /**
  * @class DockingTaskNode
- * @brief A class representing a node for handling dock localization in a ROS 2 system.
+ * @brief A class representing a node for handling dock localization in a ROS 2
+ * system.
  *
  * This class inherits from rclcpp::Node and provides functionality for
  * localizing the dock in the map.
@@ -63,70 +64,79 @@ class DockingTaskNode : public rclcpp::Node {
    *
    * @param landmark1 The first landmark/buoy used for initial waypoint
    * @param landmark2 The second landmark/buoy used for initial waypoint
-   * 
-   * @return The predicted posistion of the 6-tuple formation of buoys in odom frame
+   *
+   * @return The predicted posistion of the 6-tuple formation of buoys in odom
+   * frame
    */
-  Eigen::Array<double, 2, 6> predict_buoy_formation(const LandmarkWithID &buoy1, const LandmarkWithID &buoy2) const;
+  Eigen::Array<double, 2, 6>
+  predict_buoy_formation(const LandmarkWithID &buoy1,
+                         const LandmarkWithID &buoy2) const;
 
   /**
    * @brief Generate the reward matrix for the auction algorithm
    *
    * @param predicted_positions The predicted positions of the buoys
    * @param measured_positions The measured positions of landmarks
-   * 
+   *
    * @return The reward matrix for the auction algorithm
    */
-  Eigen::MatrixXd generate_reward_matrix(const Eigen::Array<double, 2, 6>& predicted_positions, const Eigen::MatrixXd& measured_positions);
+  Eigen::MatrixXd
+  generate_reward_matrix(const Eigen::Array<double, 2, 6> &predicted_positions,
+                         const Eigen::MatrixXd &measured_positions);
 
   /**
    * @brief The auction algorithm for the assignment problem
    *
    * @param reward_matrix The reward matrix for the auction algorithm
-   * 
+   *
    * @return The assignment of landmarks to buoys
    */
   Eigen::VectorXi auction_algorithm(const Eigen::MatrixXd &reward_matrix);
 
   /**
-   * @brief Navigate the ASV through the formation of buoys. First travels to waypoint between second pair of buoys,
-   * then navigates through the formation of buoys and returns control when asv is 0.2m away from crossing the last buoy pair.
+   * @brief Navigate the ASV through the formation of buoys. First travels to
+   * waypoint between second pair of buoys, then navigates through the formation
+   * of buoys and returns control when asv is 0.2m away from crossing the last
+   * buoy pair.
    *
    * @param predicted_positions The predicted positions of the buoys
    */
-  void navigate_formation(const Eigen::Array<double, 2, 6>& predicted_positions);
+  void
+  navigate_formation(const Eigen::Array<double, 2, 6> &predicted_positions);
 
   /**
    * @brief Calculate the coordinates of a gps point in the map frame
    *
    * @param lat The latitude of the gps point
    * @param lon The longitude of the gps point
-   * 
+   *
    * @return The coordinates of the gps point in the map frame
    */
   std::pair<double, double> lla2flat(double lat, double lon) const;
 
   /**
-   * @brief Utility function to get the heading of the ASV assuming identical orientation between odom and map frame
+   * @brief Utility function to get the heading of the ASV assuming identical
+   * orientation between odom and map frame
    *
-   * @param msg The quat message derived from the odom message published by the seapath
+   * @param msg The quat message derived from the odom message published by the
+   * seapath
    */
   double get_freya_heading(const geometry_msgs::msg::Quaternion msg) const;
 
   /**
-   * @brief Utility function to set the position of the GPS coordinates in the map frame
+   * @brief Utility function to set the position of the GPS coordinates in the
+   * map frame
    */
   void set_gps_frame_coords();
 
   /**
    * @brief Utility function that runs until waypoint is reached.
    * Function returns when within distance_threshold of the waypoint.
-   * 
+   *
    * @param distance_threshold The distance threshold for reaching the waypoint
    */
   void reach_waypoint(const double distance_threshold);
 
-
-
 private:
   mutable std::mutex odom_mutex_;
   mutable std::mutex grid_mutex_;
@@ -135,12 +145,15 @@ class DockingTaskNode : public rclcpp::Node {
   rclcpp::Subscription<sensor_msgs::msg::NavSatFix>::SharedPtr map_origin_sub_;
   rclcpp::Subscription<nav_msgs::msg::OccupancyGrid>::SharedPtr grid_sub_;
   rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub_;
-  rclcpp::Subscription<vortex_msgs::msg::LandmarkArray>::SharedPtr landmarks_sub_;
+  rclcpp::Subscription<vortex_msgs::msg::LandmarkArray>::SharedPtr
+      landmarks_sub_;
 
   rclcpp::Client<vortex_msgs::srv::Waypoint>::SharedPtr waypoint_client_;
 
-  rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr waypoint_visualization_pub_;
-  rclcpp::Publisher<geometry_msgs::msg::PoseArray>::SharedPtr gps_map_coord_visualization_pub_;
+  rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr
+      waypoint_visualization_pub_;
+  rclcpp::Publisher<geometry_msgs::msg::PoseArray>::SharedPtr
+      gps_map_coord_visualization_pub_;
 
   std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
   std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
@@ -150,7 +163,6 @@ class DockingTaskNode : public rclcpp::Node {
   vortex_msgs::msg::LandmarkArray::SharedPtr landmarks_msg_;
 
   geometry_msgs::msg::Point previous_waypoint_odom_frame_;
-
 };
 
 } // namespace docking_task