Fix style and tests

local_planner/src/nodes/planner_functions.cpp

@@ -42,6 +42,7 @@ void processPointcloud(pcl::PointCloud<pcl::PointXYZI>& final_cloud,
         }
       }
     }
+  }
 
   // combine with old cloud
   for (const pcl::PointXYZI& xyzi : old_cloud) {

local_planner/src/nodes/star_planner.cpp

@@ -86,7 +86,7 @@ void StarPlanner::buildLookAheadTree() {
       int children = 0;
       for (candidateDirection candidate : candidate_vector) {
         simulation_state state = tree_[origin].state;
-        TrajectorySimulator sim(lims_, state, 0.05f); // todo: parameterize simulation step size [s]
+        TrajectorySimulator sim(lims_, state, 0.05f);  // todo: parameterize simulation step size [s]
         std::vector<simulation_state> trajectory = sim.generate_trajectory(candidate.toEigen(), tree_node_distance_);
 
         // Ignore node if it brings us farther away from the goal

local_planner/test/test_star_planner.cpp

@@ -50,8 +50,14 @@ class StarPlannerTests : public ::testing::Test {
       }
     }
     costParameters cost_params;
-
-    star_planner.setParams(cost_params);
+    simulation_limits lims;
+    lims.max_z_velocity = 3.f;
+    lims.min_z_velocity = -1.f;
+    lims.max_xy_velocity_norm = 3.f;
+    lims.max_acceleration_norm = 5.f;
+    lims.max_jerk_norm = 20.f;
+
+    star_planner.setParams(cost_params, lims);
     star_planner.setPointcloud(cloud);
     star_planner.setPose(position, velocity);
     star_planner.setGoal(goal);