Format code with clang-format and fix trailing whitespace by pre-commit

Nandostream11 · Nandostream11 · commit a0c53102cc9a · 2025-10-25T17:49:02.000+05:30
diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp
@@ -166,8 +166,7 @@ class AdmittanceControllerTest : public ::testing::Test
     params.update_rate = 0;
     params.node_namespace = "";
     params.node_options = options;
-    auto result =
-      controller_->init(params);
+    auto result = controller_->init(params);
 
     controller_->export_reference_interfaces();
     assign_interfaces();
diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
@@ -137,9 +137,7 @@ class BicycleSteeringControllerFixture : public ::testing::Test
     params.update_rate = 0;
     params.node_namespace = "";
     params.node_options = controller_->define_custom_node_options();
-    ASSERT_EQ(
-      controller_->init(params),
-      controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(params), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {
diff --git a/diff_drive_controller/test/test_diff_drive_controller.cpp b/diff_drive_controller/test/test_diff_drive_controller.cpp
@@ -254,8 +254,7 @@ TEST_F(TestDiffDriveController, init_fails_without_parameters)
   params.update_rate = 0;
   params.node_namespace = "";
   params.node_options = controller_->define_custom_node_options();
-  const auto ret =
-    controller_->init(params);
+  const auto ret = controller_->init(params);
   ASSERT_EQ(ret, controller_interface::return_type::ERROR);
 }
 
diff --git a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
@@ -60,8 +60,7 @@ void ForceTorqueSensorBroadcasterTest::SetUpFTSBroadcaster(std::string node_name
   params.update_rate = 0;
   params.node_namespace = "";
   params.node_options = fts_broadcaster_->define_custom_node_options();
-  const auto result =
-    fts_broadcaster_->init(params);
+  const auto result = fts_broadcaster_->init(params);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedStateInterface> state_ifs;
diff --git a/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp b/forward_command_controller/test/test_multi_interface_forward_command_controller.cpp
@@ -71,8 +71,7 @@ void MultiInterfaceForwardCommandControllerTest::SetUpController(
   params.update_rate = 0;
   params.node_namespace = "";
   params.node_options = node_options;
-  const auto result =
-    controller_->init(params);
+  const auto result = controller_->init(params);
   ASSERT_EQ(result, controller_interface::return_type::OK);
 
   std::vector<LoanedCommandInterface> command_ifs;
diff --git a/gpio_controllers/test/test_gpio_command_controller.cpp b/gpio_controllers/test/test_gpio_command_controller.cpp
@@ -501,8 +501,7 @@ TEST_F(
   params.update_rate = 0;
   params.node_namespace = "";
   params.node_options = node_options;
-  move_to_activate_state(
-    controller_->init(params));
+  move_to_activate_state(controller_->init(params));
   assert_default_command_and_state_values();
   update_controller_loop();
   assert_default_command_and_state_values();
@@ -524,8 +523,7 @@ TEST_F(
   params.update_rate = 0;
   params.node_namespace = "";
   params.node_options = node_options;
-  move_to_activate_state(
-    controller_->init(params));
+  move_to_activate_state(controller_->init(params));
 
   const auto command = createGpioCommand(
     {"gpio1", "gpio2"}, {createInterfaceValue({"dig.1", "dig.2"}, {0.0, 1.0, 1.0}),
@@ -552,8 +550,7 @@ TEST_F(
   params.update_rate = 0;
   params.node_namespace = "";
   params.node_options = node_options;
-  move_to_activate_state(
-    controller_->init(params));
+  move_to_activate_state(controller_->init(params));
 
   const auto command = createGpioCommand(
     {"gpio1", "gpio2"},
@@ -580,8 +577,7 @@ TEST_F(
   params.update_rate = 0;
   params.node_namespace = "";
   params.node_options = node_options;
-  move_to_activate_state(
-    controller_->init(params));
+  move_to_activate_state(controller_->init(params));
 
   const auto command = createGpioCommand(
     {"gpio1", "gpio2"}, {createInterfaceValue({"dig.1", "dig.2"}, {0.0, 1.0}),
@@ -610,8 +606,7 @@ TEST_F(
   params.update_rate = 0;
   params.node_namespace = "";
   params.node_options = node_options;
-  move_to_activate_state(
-    controller_->init(params));
+  move_to_activate_state(controller_->init(params));
 
   const auto command = createGpioCommand(
     {"gpio2", "gpio1"}, {createInterfaceValue({"ana.1"}, {30.0}),
@@ -640,8 +635,7 @@ TEST_F(
   params.update_rate = 0;
   params.node_namespace = "";
   params.node_options = node_options;
-  move_to_activate_state(
-    controller_->init(params));
+  move_to_activate_state(controller_->init(params));
 
   const auto command =
     createGpioCommand({"gpio1"}, {createInterfaceValue({"dig.1", "dig.2"}, {0.0, 1.0})});
@@ -669,8 +663,7 @@ TEST_F(
   params.update_rate = 0;
   params.node_namespace = "";
   params.node_options = node_options;
-  move_to_activate_state(
-    controller_->init(params));
+  move_to_activate_state(controller_->init(params));
 
   const auto command = createGpioCommand(
     {"gpio1", "gpio3"}, {createInterfaceValue({"dig.3", "dig.4"}, {20.0, 25.0}),
@@ -699,8 +692,7 @@ TEST_F(
   params.update_rate = 0;
   params.node_namespace = "";
   params.node_options = node_options;
-  move_to_activate_state(
-    controller_->init(params));
+  move_to_activate_state(controller_->init(params));
 
   auto command_pub = node->create_publisher<CmdType>(
     std::string(controller_->get_node()->get_name()) + "/commands", rclcpp::SystemDefaultsQoS());
@@ -730,8 +722,7 @@ TEST_F(GpioCommandControllerTestSuite, ControllerShouldPublishGpioStatesWithCurr
   params.update_rate = 0;
   params.node_namespace = "";
   params.node_options = node_options;
-  move_to_activate_state(
-    controller_->init(params));
+  move_to_activate_state(controller_->init(params));
 
   auto subscription = node->create_subscription<StateType>(
     std::string(controller_->get_node()->get_name()) + "/gpio_states", 10,
@@ -816,8 +807,7 @@ TEST_F(
   params.update_rate = 0;
   params.node_namespace = "";
   params.node_options = node_options;
-  const auto result_of_initialization =
-    controller_->init(params);
+  const auto result_of_initialization = controller_->init(params);
   ASSERT_EQ(result_of_initialization, controller_interface::return_type::OK);
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
   controller_->assign_interfaces({}, std::move(state_interfaces));
diff --git a/mecanum_drive_controller/test/test_mecanum_drive_controller.hpp b/mecanum_drive_controller/test/test_mecanum_drive_controller.hpp
@@ -179,8 +179,7 @@ class MecanumDriveControllerFixture : public ::testing::Test
     params.update_rate = 0;
     params.node_namespace = ns;
     params.node_options = node_options;
-    ASSERT_EQ(controller_->init(params),
-      controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(params), controller_interface::return_type::OK);
 
     std::vector<hardware_interface::LoanedCommandInterface> loaned_command_ifs;
     command_itfs_.reserve(joint_command_values_.size());
diff --git a/motion_primitives_controllers/test/test_motion_primitives_forward_controller.hpp b/motion_primitives_controllers/test/test_motion_primitives_forward_controller.hpp
@@ -84,9 +84,7 @@ class MotionPrimitivesForwardControllerFixture : public ::testing::Test
     params.update_rate = 0;
     params.node_namespace = "";
     params.node_options = controller_->define_custom_node_options();
-    ASSERT_EQ(
-      controller_->init(params),
-      controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(params), controller_interface::return_type::OK);
 
     node_ = std::make_shared<rclcpp::Node>("test_node");
 
diff --git a/omni_wheel_drive_controller/test/test_omni_wheel_drive_controller.cpp b/omni_wheel_drive_controller/test/test_omni_wheel_drive_controller.cpp
@@ -33,8 +33,7 @@ TEST_F(OmniWheelDriveControllerTest, init_fails_without_parameters)
   params.node_namespace = "";
   params.node_options = controller_->define_custom_node_options();
 
-  const auto ret =
-    controller_->init(params);
+  const auto ret = controller_->init(params);
   ASSERT_EQ(ret, controller_interface::return_type::ERROR);
 }
 
diff --git a/parallel_gripper_controller/test/test_parallel_gripper_controller.cpp b/parallel_gripper_controller/test/test_parallel_gripper_controller.cpp
@@ -57,7 +57,7 @@ void GripperControllerTest::SetUpController(
   params.node_namespace = "";
   params.node_options = controller_->define_custom_node_options();
 
-  const auto result =controller_->init(params);
+  const auto result = controller_->init(params);
   ASSERT_EQ(result, expected_result);
 
   std::vector<LoanedCommandInterface> command_ifs;
diff --git a/pid_controller/test/test_pid_controller.hpp b/pid_controller/test/test_pid_controller.hpp
@@ -157,9 +157,7 @@ class PidControllerFixture : public ::testing::Test
     params.update_rate = 0;
     params.node_namespace = "";
     params.node_options = controller_->define_custom_node_options();
-    ASSERT_EQ(
-      controller_->init(params),
-      controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(params), controller_interface::return_type::OK);
 
     std::vector<hardware_interface::LoanedCommandInterface> loaned_command_ifs;
     command_itfs_.reserve(dof_names_.size());
diff --git a/pose_broadcaster/test/test_pose_broadcaster.cpp b/pose_broadcaster/test/test_pose_broadcaster.cpp
@@ -33,9 +33,7 @@ void PoseBroadcasterTest::SetUpPoseBroadcaster()
   params.node_namespace = "";
   params.node_options = pose_broadcaster_->define_custom_node_options();
 
-  ASSERT_EQ(
-    pose_broadcaster_->init(params),
-    controller_interface::return_type::OK);
+  ASSERT_EQ(pose_broadcaster_->init(params), controller_interface::return_type::OK);
 
   std::vector<LoanedStateInterface> state_interfaces;
   state_interfaces.emplace_back(pose_position_x_, nullptr);
diff --git a/steering_controllers_library/test/test_steering_controllers_library.hpp b/steering_controllers_library/test/test_steering_controllers_library.hpp
@@ -159,9 +159,7 @@ class SteeringControllersLibraryFixture : public ::testing::Test
     params.update_rate = 0;
     params.node_namespace = "";
     params.node_options = controller_->define_custom_node_options();
-    ASSERT_EQ(
-      controller_->init(params),
-      controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(params), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {
diff --git a/tricycle_controller/test/test_tricycle_controller.cpp b/tricycle_controller/test/test_tricycle_controller.cpp
@@ -167,7 +167,7 @@ class TestTricycleController : public ::testing::Test
 
     parameter_overrides.insert(parameter_overrides.end(), parameters.begin(), parameters.end());
     node_options.parameter_overrides(parameter_overrides);
-    
+
     controller_interface::ControllerInterfaceParams params;
     params.controller_name = controller_name;
     params.robot_description = urdf_;
diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp
@@ -138,9 +138,7 @@ class TricycleSteeringControllerFixture : public ::testing::Test
     params.update_rate = 0;
     params.node_namespace = "";
     params.node_options = controller_->define_custom_node_options();
-    ASSERT_EQ(
-      controller_->init(params),
-      controller_interface::return_type::OK);
+    ASSERT_EQ(controller_->init(params), controller_interface::return_type::OK);
 
     if (position_feedback_ == true)
     {

Original file line number	Diff line number	Diff line change
`@@ -254,8 +254,7 @@ TEST_F(TestDiffDriveController, init_fails_without_parameters)`
`254`	`254`	`params.update_rate = 0;`
`255`	`255`	`params.node_namespace = "";`
`256`	`256`	`params.node_options = controller_->define_custom_node_options();`
`257`		`- const auto ret =`
`258`		`- controller_->init(params);`
	`257`	`+ const auto ret = controller_->init(params);`
`259`	`258`	`ASSERT_EQ(ret, controller_interface::return_type::ERROR);`
`260`	`259`	`}`
`261`	`260`
Original file line number	Diff line number	Diff line change
`@@ -33,8 +33,7 @@ TEST_F(OmniWheelDriveControllerTest, init_fails_without_parameters)`
`33`	`33`	`params.node_namespace = "";`
`34`	`34`	`params.node_options = controller_->define_custom_node_options();`
`35`	`35`
`36`		`- const auto ret =`
`37`		`- controller_->init(params);`
	`36`	`+ const auto ret = controller_->init(params);`
`38`	`37`	`ASSERT_EQ(ret, controller_interface::return_type::ERROR);`
`39`	`38`	`}`
`40`	`39`