fixed indentation. closes #10

include/eband_local_planner/conversions_and_types.h

@@ -1,39 +1,39 @@
 /*********************************************************************
-*
-* Software License Agreement (BSD License)
-*
-*  Copyright (c) 2010, Willow Garage, Inc.
-*  All rights reserved.
-*
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-*
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of Willow Garage, Inc. nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-*
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*
-* Author: Christian Connette
-*********************************************************************/
+ *
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2010, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * Author: Christian Connette
+ *********************************************************************/
 
 #ifndef EBAND_CONVERSIONS_AND_TYPES_H_
 #define EBAND_CONVERSIONS_AND_TYPES_H_
@@ -58,54 +58,54 @@
 namespace eband_local_planner{
 
 
-// typedefs
-
-///<@brief defines a bubble - pose of center & radius of according hypersphere (expansion)
-struct Bubble
-{
-	geometry_msgs::PoseStamped center;
-	double expansion;
-};
-
-enum AddAtPosition {add_front, add_back};
-
-// functions
-
-/**
- * @brief Converts a frame of type Pose to type Pose2D (mainly -> conversion of orientation from quaternions to euler angles)
- * @param Pose which shall be converted
- * @param References to converted ROS Pose2D frmae
- */
-void PoseToPose2D(const geometry_msgs::Pose pose, geometry_msgs::Pose2D& pose2D);
-
-
-/**
- * @brief Converts a frame of type Pose to type Pose2D (mainly -> conversion of orientation from euler angles to quaternions, -> z-coordinate is set to zero)
- * @param References to converted ROS Pose2D frame
- * @param Pose2D which shall be converted
- */
-void Pose2DToPose(geometry_msgs::Pose& pose, const geometry_msgs::Pose2D pose2D);
-
-
-/**
- * @brief  Transforms the global plan of the robot from the planner frame to the local frame. This replaces the transformGlobalPlan as defined in the base_local_planner/goal_functions.h main difference is that it additionally outputs counter indicating which part of the plan has been transformed.
- * @param tf A reference to a transform listener
- * @param global_plan The plan to be transformed
- * @param costmap A reference to the costmap being used so the window size for transforming can be computed
- * @param global_frame The frame to transform the plan to
- * @param transformed_plan Populated with the transformed plan
- * @param number of start and end frame counted from the end of the global plan
- */
-bool transformGlobalPlan(const tf::TransformListener& tf, const std::vector<geometry_msgs::PoseStamped>& global_plan, 
-							costmap_2d::Costmap2DROS& costmap, const std::string& global_frame, 
-							std::vector<geometry_msgs::PoseStamped>& transformed_plan, std::vector<int>& start_end_counts_from_end);
-
-/**
- * @brief Gets the footprint of the robot and computes the circumscribed radius for the eband approach
- * @param costmap A reference to the costmap from which the radius is computed
- * @return radius in meters
- */
-double getCircumscribedRadius(costmap_2d::Costmap2DROS& costmap);
+  // typedefs
+
+  ///<@brief defines a bubble - pose of center & radius of according hypersphere (expansion)
+  struct Bubble
+  {
+    geometry_msgs::PoseStamped center;
+    double expansion;
+  };
+
+  enum AddAtPosition {add_front, add_back};
+
+  // functions
+
+  /**
+   * @brief Converts a frame of type Pose to type Pose2D (mainly -> conversion of orientation from quaternions to euler angles)
+   * @param Pose which shall be converted
+   * @param References to converted ROS Pose2D frmae
+   */
+  void PoseToPose2D(const geometry_msgs::Pose pose, geometry_msgs::Pose2D& pose2D);
+
+
+  /**
+   * @brief Converts a frame of type Pose to type Pose2D (mainly -> conversion of orientation from euler angles to quaternions, -> z-coordinate is set to zero)
+   * @param References to converted ROS Pose2D frame
+   * @param Pose2D which shall be converted
+   */
+  void Pose2DToPose(geometry_msgs::Pose& pose, const geometry_msgs::Pose2D pose2D);
+
+
+  /**
+   * @brief  Transforms the global plan of the robot from the planner frame to the local frame. This replaces the transformGlobalPlan as defined in the base_local_planner/goal_functions.h main difference is that it additionally outputs counter indicating which part of the plan has been transformed.
+   * @param tf A reference to a transform listener
+   * @param global_plan The plan to be transformed
+   * @param costmap A reference to the costmap being used so the window size for transforming can be computed
+   * @param global_frame The frame to transform the plan to
+   * @param transformed_plan Populated with the transformed plan
+   * @param number of start and end frame counted from the end of the global plan
+   */
+  bool transformGlobalPlan(const tf::TransformListener& tf, const std::vector<geometry_msgs::PoseStamped>& global_plan, 
+      costmap_2d::Costmap2DROS& costmap, const std::string& global_frame, 
+      std::vector<geometry_msgs::PoseStamped>& transformed_plan, std::vector<int>& start_end_counts_from_end);
+
+  /**
+   * @brief Gets the footprint of the robot and computes the circumscribed radius for the eband approach
+   * @param costmap A reference to the costmap from which the radius is computed
+   * @return radius in meters
+   */
+  double getCircumscribedRadius(costmap_2d::Costmap2DROS& costmap);
 
 };
 #endif