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ibis-ssl · Dec 3, 2023 · 65dda85 · 65dda85
1 parent 0830813
commit 65dda85
Showing 1 changed file with 3 additions and 4 deletions.
diff --git a/crane_local_planner/include/crane_local_planner/local_planner.hpp b/crane_local_planner/include/crane_local_planner/local_planner.hpp
@@ -12,12 +12,12 @@
 #include <crane_msgs/msg/robot_commands.hpp>
 #include <crane_msgs/msg/world_model.hpp>
 #include <functional>
+#include <grid_map_ros/grid_map_ros.hpp>
 #include <memory>
 #include <rclcpp/rclcpp.hpp>
 
 #include "RVO.h"
 #include "visibility_control.h"
-#include <grid_map_ros/grid_map_ros.hpp>
 
 namespace crane
 {
@@ -33,7 +33,8 @@ class LocalPlannerComponent : public rclcpp::Node
 public:
   COMPOSITION_PUBLIC
   explicit LocalPlannerComponent(const rclcpp::NodeOptions & options)
-  : rclcpp::Node("local_planner", options), map({"penalty", "ball_placement", "theirs", "ours", "ball"})
+  : rclcpp::Node("local_planner", options),
+    map({"penalty", "ball_placement", "theirs", "ours", "ball"})
   {
     declare_parameter("enable_rvo", true);
     enable_rvo = get_parameter("enable_rvo").as_bool();
@@ -80,7 +81,6 @@ class LocalPlannerComponent : public rclcpp::Node
       RVO_TIME_STEP, RVO_NEIGHBOR_DIST, RVO_MAX_NEIGHBORS, RVO_TIME_HORIZON, RVO_TIME_HORIZON_OBST,
       RVO_RADIUS, RVO_MAX_SPEED);
 
-
     // MAP_RESOLUTION = get_parameter("map_resolution").as_double();
     declare_parameter("map_resolution", MAP_RESOLUTION);
     MAP_RESOLUTION = get_parameter("map_resolution").as_double();
@@ -146,7 +146,6 @@ class LocalPlannerComponent : public rclcpp::Node
   grid_map::GridMap map;
 
   double MAP_RESOLUTION = 0.05;
-
 };
 
 }  // namespace crane