refactor: improve code formatting and readability

Author: Woojin-Crive

include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp

@@ -359,15 +359,15 @@ class DynamixelHardware : public
   double prismaticToRevolute(double prismatic_value);
 
   void MapInterfaces(
-      size_t outer_size,
-      size_t inner_size,
-      std::vector<HandlerVarType> &outer_handlers,
-      const std::vector<HandlerVarType> &inner_handlers,
-      double **matrix,
-      const std::unordered_map<std::string, std::vector<std::string>> &iface_map,
-      const std::string &conversion_iface = "",
-      const std::string &conversion_name = "",
-      std::function<double(double)> conversion = nullptr);
+    size_t outer_size,
+    size_t inner_size,
+    std::vector<HandlerVarType> & outer_handlers,
+    const std::vector<HandlerVarType> & inner_handlers,
+    double **matrix,
+    const std::unordered_map<std::string, std::vector<std::string>> & iface_map,
+    const std::string & conversion_iface = "",
+    const std::string & conversion_name = "",
+    std::function<double(double)> conversion = nullptr);
 };
 
 // Conversion maps between ROS2 and Dynamixel interface names

src/dynamixel/dynamixel.cpp

@@ -907,15 +907,15 @@ DxlError Dynamixel::SetBulkReadItemAndHandler()
     for (size_t item_index = 1; item_index < it_read_data.item_addr.size(); ++item_index) {
       uint16_t addr = it_read_data.item_addr[item_index];
       uint16_t size = it_read_data.item_size[item_index];
-      if (addr < min_addr) min_addr = addr;
-      if (addr + size > max_end_addr) max_end_addr = addr + size;
+      if (addr < min_addr) {min_addr = addr;}
+      if (addr + size > max_end_addr) {max_end_addr = addr + size;}
     }
     uint8_t total_size = max_end_addr - min_addr;
     // Concatenate all item names with '+'
     std::string group_item_names;
     for (size_t i = 0; i < it_read_data.item_name.size(); ++i) {
       group_item_names += it_read_data.item_name[i];
-      if (i + 1 < it_read_data.item_name.size()) group_item_names += " + ";
+      if (i + 1 < it_read_data.item_name.size()) {group_item_names += " + ";}
     }
     // Call AddDirectRead once per id
     if (AddDirectRead(
@@ -1383,17 +1383,17 @@ DxlError Dynamixel::SetBulkWriteItemAndHandler()
     for (size_t item_index = 1; item_index < it_write_data.item_addr.size(); ++item_index) {
       uint16_t addr = it_write_data.item_addr[item_index];
       uint16_t size = it_write_data.item_size[item_index];
-      if (addr < min_addr) min_addr = addr;
-      if (addr + size > max_end_addr) max_end_addr = addr + size;
+      if (addr < min_addr) {min_addr = addr;}
+      if (addr + size > max_end_addr) {max_end_addr = addr + size;}
     }
     uint8_t total_size = max_end_addr - min_addr;
 
     // Check for gaps between items
     std::vector<std::pair<uint16_t, uint16_t>> addr_ranges;
     for (size_t item_index = 0; item_index < it_write_data.item_addr.size(); ++item_index) {
       addr_ranges.push_back({
-        it_write_data.item_addr[item_index],
-        it_write_data.item_addr[item_index] + it_write_data.item_size[item_index]
+          it_write_data.item_addr[item_index],
+          it_write_data.item_addr[item_index] + it_write_data.item_size[item_index]
       });
     }
     std::sort(addr_ranges.begin(), addr_ranges.end());

src/dynamixel_hardware_interface.cpp

@@ -437,7 +437,7 @@ hardware_interface::CallbackReturn DynamixelHardware::start()
       RCLCPP_ERROR_STREAM(
         logger_,
         "Dynamixel Start Fail (Timeout: " << error_duration.seconds() * 1000 << "ms/" <<
-        err_timeout_ms_ << "ms): " << Dynamixel::DxlErrorToString(dxl_comm_err_));
+          err_timeout_ms_ << "ms): " << Dynamixel::DxlErrorToString(dxl_comm_err_));
       return hardware_interface::CallbackReturn::ERROR;
     }
   }
@@ -971,38 +971,38 @@ void DynamixelHardware::SetMatrix()
 }
 
 void DynamixelHardware::MapInterfaces(
-    size_t outer_size,
-    size_t inner_size,
-    std::vector<HandlerVarType> &outer_handlers,
-    const std::vector<HandlerVarType> &inner_handlers,
-    double **matrix,
-    const std::unordered_map<std::string, std::vector<std::string>> &iface_map,
-    const std::string &conversion_iface,
-    const std::string &conversion_name,
-    std::function<double(double)> conversion)
+  size_t outer_size,
+  size_t inner_size,
+  std::vector<HandlerVarType> & outer_handlers,
+  const std::vector<HandlerVarType> & inner_handlers,
+  double **matrix,
+  const std::unordered_map<std::string, std::vector<std::string>> & iface_map,
+  const std::string & conversion_iface,
+  const std::string & conversion_name,
+  std::function<double(double)> conversion)
 {
   for (size_t i = 0; i < outer_size; ++i) {
     for (size_t k = 0; k < outer_handlers.at(i).interface_name_vec.size(); ++k) {
       double value = 0.0;
-      const std::string &outer_iface = outer_handlers.at(i).interface_name_vec.at(k);
+      const std::string & outer_iface = outer_handlers.at(i).interface_name_vec.at(k);
       auto map_it = iface_map.find(outer_iface);
       if (map_it == iface_map.end()) {
         std::ostringstream oss;
         oss << "No mapping found for '" << outer_handlers.at(i).name
             << "', interface '" << outer_iface
             << "'. Skipping. Available mapping keys: [";
         size_t key_count = 0;
-        for (const auto &pair : iface_map) {
+        for (const auto & pair : iface_map) {
           oss << pair.first;
-          if (++key_count < iface_map.size()) oss << ", ";
+          if (++key_count < iface_map.size()) {oss << ", ";}
         }
         oss << "]";
         RCLCPP_WARN_STREAM(logger_, oss.str());
         continue;
       }
-      const std::vector<std::string> &mapped_ifaces = map_it->second;
+      const std::vector<std::string> & mapped_ifaces = map_it->second;
       for (size_t j = 0; j < inner_size; ++j) {
-        for (const auto &mapped_iface : mapped_ifaces) {
+        for (const auto & mapped_iface : mapped_ifaces) {
           auto it = std::find(
             inner_handlers.at(j).interface_name_vec.begin(),
             inner_handlers.at(j).interface_name_vec.end(),
@@ -1015,9 +1015,10 @@ void DynamixelHardware::MapInterfaces(
         }
       }
       if (!conversion_iface.empty() && !conversion_name.empty() &&
-          outer_iface == conversion_iface &&
-          outer_handlers.at(i).name == conversion_name &&
-          conversion) {
+        outer_iface == conversion_iface &&
+        outer_handlers.at(i).name == conversion_name &&
+        conversion)
+      {
         value = conversion(value);
       }
       *outer_handlers.at(i).value_ptr_vec.at(k) = value;
@@ -1027,10 +1028,10 @@ void DynamixelHardware::MapInterfaces(
 
 void DynamixelHardware::CalcTransmissionToJoint()
 {
-  std::function<double(double)> conv = use_revolute_to_prismatic_
-    ? std::function<double(double)>(
-        std::bind(&DynamixelHardware::revoluteToPrismatic, this, std::placeholders::_1))
-    : std::function<double(double)>();
+  std::function<double(double)> conv = use_revolute_to_prismatic_ ?
+    std::function<double(double)>(
+        std::bind(&DynamixelHardware::revoluteToPrismatic, this, std::placeholders::_1)) :
+    std::function<double(double)>();
   this->MapInterfaces(
     num_of_joints_,
     num_of_transmissions_,
@@ -1046,10 +1047,10 @@ void DynamixelHardware::CalcTransmissionToJoint()
 
 void DynamixelHardware::CalcJointToTransmission()
 {
-  std::function<double(double)> conv = use_revolute_to_prismatic_
-    ? std::function<double(double)>(
-        std::bind(&DynamixelHardware::prismaticToRevolute, this, std::placeholders::_1))
-    : std::function<double(double)>();
+  std::function<double(double)> conv = use_revolute_to_prismatic_ ?
+    std::function<double(double)>(
+        std::bind(&DynamixelHardware::prismaticToRevolute, this, std::placeholders::_1)) :
+    std::function<double(double)>();
   this->MapInterfaces(
     num_of_transmissions_,
     num_of_joints_,