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ros-industrial · Sep 29, 2023 · 9a8569d · 9a8569d
1 parent b7a6d9f
commit 9a8569d
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Showing 3 changed files with 5 additions and 6 deletions.
diff --git a/include/reach/utils.h b/include/reach/utils.h
@@ -63,8 +63,7 @@ void reachNeighborsRecursive(const ReachResult& db, const ReachRecord& msg, IKSo
 /**
  * @brief Extracts the subset vector of values from the input map that correspond to the ordered input keys
  */
-std::vector<double> extractSubset(const std::map<std::string, double>& input,
-                                       const std::vector<std::string>& keys);
+std::vector<double> extractSubset(const std::map<std::string, double>& input, const std::vector<std::string>& keys);
 
 }  // namespace reach
 

diff --git a/src/reach_study.cpp b/src/reach_study.cpp
@@ -57,14 +57,15 @@ void ReachStudy::checkSeedState()
 {
   // Check the optional seed state parameter
   const std::vector<std::string> joint_names = ik_solver_->getJointNames();
-  if(params_.seed_state.empty())
+  if (params_.seed_state.empty())
   {
     logger_->print("Seed state is empty; setting to all-zeros state");
     params_.seed_state = zip(joint_names, std::vector<double>(joint_names.size(), 0.0));
   }
   else
   {
-    // Attempt to extract a subset of the seed state for the provided joint names. This function throws an exception if this is not possible
+    // Attempt to extract a subset of the seed state for the provided joint names. This function throws an exception if
+    // this is not possible
     extractSubset(params_.seed_state, joint_names);
   }
 }

diff --git a/src/utils.cpp b/src/utils.cpp
@@ -203,8 +203,7 @@ void reachNeighborsRecursive(const ReachResult& db, const ReachRecord& rec, IKSo
   }
 }
 
-std::vector<double> extractSubset(const std::map<std::string, double>& input,
-                                       const std::vector<std::string>& keys)
+std::vector<double> extractSubset(const std::map<std::string, double>& input, const std::vector<std::string>& keys)
 {
   if (keys.size() > input.size())
     throw std::runtime_error("Seed pose size was not at least as large as the number of joints in the planning group");