Fixed formatting

ros-controls · Oct 4, 2023 · 3044026 · 3044026
1 parent 2db6392
commit 3044026
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Showing 2 changed files with 11 additions and 8 deletions.
diff --git a/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/...trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -66,9 +66,7 @@ class Trajectory;
 
 struct TimeData
 {
-  TimeData() : time(0.0), period(rclcpp::Duration::from_nanoseconds(0.0)), uptime(0.0)
-  {
-  }
+  TimeData() : time(0.0), period(rclcpp::Duration::from_nanoseconds(0.0)), uptime(0.0) {}
   rclcpp::Time time;
   rclcpp::Duration period;
   rclcpp::Time uptime;

diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -122,11 +122,15 @@ JointTrajectoryController::state_interface_configuration() const
 controller_interface::return_type JointTrajectoryController::update(
   const rclcpp::Time & time, const rclcpp::Duration & period)
 {
-  if (state_interfaces_.back().get_name() == params_.speed_scaling_interface_name) {
+  if (state_interfaces_.back().get_name() == params_.speed_scaling_interface_name)
+  {
     scaling_factor_ = state_interfaces_.back().get_value();
-  } else {
-    RCLCPP_ERROR(get_node()->get_logger(), "Speed scaling interface (%s) not found in hardware interface.",
-                 params_.speed_scaling_interface_name.c_str());
+  }
+  else
+  {
+    RCLCPP_ERROR(
+      get_node()->get_logger(), "Speed scaling interface (%s) not found in hardware interface.",
+      params_.speed_scaling_interface_name.c_str());
   }
 
   if (get_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
@@ -204,7 +208,8 @@ controller_interface::return_type JointTrajectoryController::update(
     rcl_duration_value_t t_period = (time_data.time - time_data_.readFromRT()->time).nanoseconds();
     time_data.period = rclcpp::Duration::from_nanoseconds(scaling_factor_ * t_period);
     time_data.uptime = time_data_.readFromRT()->uptime + time_data.period;
-    rclcpp::Time traj_time = time_data_.readFromRT()->uptime + rclcpp::Duration::from_nanoseconds(t_period);
+    rclcpp::Time traj_time =
+      time_data_.readFromRT()->uptime + rclcpp::Duration::from_nanoseconds(t_period);
     time_data_.writeFromNonRT(time_data);
 
     bool first_sample = false;