Linting and doc cleanup

Author: Saurav Agarwal

cppsrc/core/include/CoverageControl/algorithms/centralized_cvt.h

@@ -71,8 +71,8 @@ class CentralizedCVT : public AbstractController {
   bool is_converged_ = false;
 
  public:
-	CentralizedCVT(Parameters const &params, CoverageSystem &env)
-			: CentralizedCVT(params, params.pNumRobots, env) {}
+  CentralizedCVT(Parameters const &params, CoverageSystem &env)
+      : CentralizedCVT(params, params.pNumRobots, env) {}
   CentralizedCVT(Parameters const &params, size_t const &num_robots,
                  CoverageSystem &env)
       : params_{params}, num_robots_{num_robots}, env_{env} {
@@ -133,7 +133,6 @@ class CentralizedCVT : public AbstractController {
     }
     return true;
   }
-
 };
 
 } /* namespace CoverageControl */

cppsrc/core/include/CoverageControl/algorithms/clairvoyant_cvt.h

@@ -39,11 +39,11 @@
 #include <set>
 #include <vector>
 
+#include "CoverageControl/algorithms/abstract_controller.h"
 #include "CoverageControl/coverage_system.h"
 #include "CoverageControl/map_utils.h"
 #include "CoverageControl/parameters.h"
 #include "CoverageControl/typedefs.h"
-#include "CoverageControl/algorithms/abstract_controller.h"
 
 namespace CoverageControl {
 
@@ -71,10 +71,10 @@ class ClairvoyantCVT : public AbstractController {
   bool is_converged_ = false;
 
  public:
-	ClairvoyantCVT(Parameters const &params, CoverageSystem &env)
-			: ClairvoyantCVT(params, params.pNumRobots, env) {}
+  ClairvoyantCVT(Parameters const &params, CoverageSystem &env)
+      : ClairvoyantCVT(params, params.pNumRobots, env) {}
   ClairvoyantCVT(Parameters const &params, size_t const &num_robots,
-                CoverageSystem &env)
+                 CoverageSystem &env)
       : params_{params}, num_robots_{num_robots}, env_{env} {
     robot_global_positions_ = env_.GetRobotPositions();
     actions_.resize(num_robots_);

cppsrc/core/include/CoverageControl/algorithms/decentralized_cvt.h

@@ -30,6 +30,7 @@
 #define CPPSRC_CORE_INCLUDE_COVERAGECONTROL_ALGORITHMS_DECENTRALIZED_CVT_H_
 
 #include <omp.h>
+
 #include <algorithm>
 #include <fstream>
 #include <iostream>
@@ -70,8 +71,8 @@ class DecentralizedCVT : public AbstractController {
   bool is_converged_ = false;
 
  public:
-	DecentralizedCVT(Parameters const &params, CoverageSystem &env)
-			: DecentralizedCVT(params, params.pNumRobots, env) {}
+  DecentralizedCVT(Parameters const &params, CoverageSystem &env)
+      : DecentralizedCVT(params, params.pNumRobots, env) {}
   DecentralizedCVT(Parameters const &params, size_t const &num_robots,
                    CoverageSystem &env)
       : params_{params}, num_robots_{num_robots}, env_{env} {

cppsrc/core/include/CoverageControl/coverage_system.h

@@ -403,7 +403,7 @@ class CoverageSystem {
     std::vector<int> robot_status(num_robots_, 0);
     PlotSystemMap(dir_name, step, robot_status);
   }
-	void PlotSystemMap(std::string const &) const;
+  void PlotSystemMap(std::string const &) const;
   void PlotSystemMap(std::string const &, int const &,
                      std::vector<int> const &) const;
   void PlotMapVoronoi(std::string const &, int const &);
@@ -412,8 +412,8 @@ class CoverageSystem {
   void PlotWorldMap(std::string const &, std::string const &) const;
   void PlotWorldMapRobots(std::string const &, std::string const &) const;
   void PlotInitMap(std::string const &filename) const {
-		PlotInitMap("./", filename);
-	}
+    PlotInitMap("./", filename);
+  }
   void PlotInitMap(std::string const &, std::string const &) const;
   void PlotRobotLocalMap(std::string const &, int const &, int const &);
   void PlotRobotSystemMap(std::string const &, int const &, int const &);
@@ -442,11 +442,11 @@ class CoverageSystem {
   //! \name Getters
   //
   //! @{
-  const auto& GetWorldIDFObject() const { return world_idf_; }
-  const MapType& GetWorldIDF() const { return world_idf_.GetWorldMap(); }
-  const MapType& GetSystemMap() const { return system_map_; }
-  const MapType& GetSystemExplorationMap() const { return exploration_map_; }
-  const MapType& GetSystemExploredIDFMap() const { return explored_idf_map_; }
+  const auto &GetWorldIDFObject() const { return world_idf_; }
+  const MapType &GetWorldIDF() const { return world_idf_.GetWorldMap(); }
+  const MapType &GetSystemMap() const { return system_map_; }
+  const MapType &GetSystemExplorationMap() const { return exploration_map_; }
+  const MapType &GetSystemExploredIDFMap() const { return explored_idf_map_; }
 
   inline auto GetNumRobots() const { return num_robots_; }
   inline auto GetNumFeatures() const { return num_robots_; }
@@ -498,31 +498,31 @@ class CoverageSystem {
     }
   }
 
-  const MapType& GetRobotLocalMap(size_t const id) {
+  const MapType &GetRobotLocalMap(size_t const id) {
     CheckRobotID(id);
     return robots_[id].GetRobotLocalMap();
   }
 
-  const MapType& GetRobotMap(size_t const id) const {
+  const MapType &GetRobotMap(size_t const id) const {
     CheckRobotID(id);
     return robots_[id].GetRobotMap();
   }
 
-  const MapType& GetRobotExplorationMap(size_t const id) {
+  const MapType &GetRobotExplorationMap(size_t const id) {
     CheckRobotID(id);
     return robots_[id].GetExplorationMap();
   }
 
-  const MapType& GetRobotSystemMap(size_t const id) {
+  const MapType &GetRobotSystemMap(size_t const id) {
     CheckRobotID(id);
     return robots_[id].GetRobotSystemMap();
   }
-  const MapType& GetRobotObstacleMap(size_t const id) {
+  const MapType &GetRobotObstacleMap(size_t const id) {
     CheckRobotID(id);
     return robots_[id].GetObstacleMap();
   }
 
-  const MapType& GetRobotSensorView(size_t const id) const {
+  const MapType &GetRobotSensorView(size_t const id) const {
     CheckRobotID(id);
     return robots_[id].GetSensorView();
   }
@@ -548,7 +548,7 @@ class CoverageSystem {
 
   std::pair<MapType, MapType> const &GetCommunicationMap(size_t const, size_t);
 
-  const auto& GetCommunicationMaps(size_t map_size) {
+  const auto &GetCommunicationMaps(size_t map_size) {
 #pragma omp parallel for num_threads(num_robots_)
     for (size_t i = 0; i < num_robots_; ++i) {
       GetCommunicationMap(i, map_size);
@@ -594,7 +594,7 @@ class CoverageSystem {
   }
 
   auto GetVoronoiCells() { return voronoi_cells_; }
-  auto& GetVoronoi() { return voronoi_; }
+  auto &GetVoronoi() { return voronoi_; }
 
   auto GetVoronoiCell(int const robot_id) { return voronoi_cells_[robot_id]; }