Fixed formatting

clearpathrobotics · Nov 29, 2017 · fdc3d48 · fdc3d48
1 parent cb81bb0
commit fdc3d48
Showing 1 changed file with 13 additions and 9 deletions.
diff --git a/src/LMS1xx_node.cpp b/src/LMS1xx_node.cpp
@@ -26,6 +26,8 @@
 #include <LMS1xx/LMS1xx.h>
 #include "ros/ros.h"
 #include "sensor_msgs/LaserScan.h"
+#include <limits>
+#include <string>
 
 #define DEG2RAD M_PI/180.0
 
@@ -89,15 +91,15 @@ int main(int argc, char **argv)
     scan_msg.range_min = 0.01;
     scan_msg.range_max = 20.0;
     scan_msg.scan_time = 100.0 / cfg.scaningFrequency;
-    scan_msg.angle_increment = (double)outputRange.angleResolution / 10000.0 * DEG2RAD;
-    scan_msg.angle_min = (double)outputRange.startAngle / 10000.0 * DEG2RAD - M_PI / 2;
-    scan_msg.angle_max = (double)outputRange.stopAngle / 10000.0 * DEG2RAD - M_PI / 2;
+    scan_msg.angle_increment = static_cast<double>(outputRange.angleResolution / 10000.0 * DEG2RAD);
+    scan_msg.angle_min = static_cast<double>(outputRange.startAngle / 10000.0 * DEG2RAD - M_PI / 2);
+    scan_msg.angle_max = static_cast<double>(outputRange.stopAngle / 10000.0 * DEG2RAD - M_PI / 2);
 
     ROS_DEBUG_STREAM("Device resolution is " << (double)outputRange.angleResolution / 10000.0 << " degrees.");
     ROS_DEBUG_STREAM("Device frequency is " << (double)cfg.scaningFrequency / 100.0 << " Hz");
 
     int angle_range = outputRange.stopAngle - outputRange.startAngle;
-    int num_values = angle_range / outputRange.angleResolution ;
+    int num_values = angle_range / outputRange.angleResolution;
     if (angle_range % outputRange.angleResolution == 0)
     {
       // Include endpoint
@@ -130,8 +132,8 @@ int main(int argc, char **argv)
     ROS_DEBUG("Waiting for ready status.");
     ros::Time ready_status_timeout = ros::Time::now() + ros::Duration(5);
 
-    //while(1)
-    //{
+    // while(1)
+    // {
     status_t stat = laser.queryStatus();
     ros::Duration(1.0).sleep();
     if (stat != ready_for_measurement)
@@ -162,7 +164,7 @@ int main(int argc, char **argv)
     }*/
 
     ROS_DEBUG("Starting device.");
-    laser.startDevice(); // Log out to properly re-enable system after config
+    laser.startDevice();  // Log out to properly re-enable system after config
 
     ROS_DEBUG("Commanding continuous measurements.");
     laser.scanContinous(1);
@@ -182,10 +184,12 @@ int main(int argc, char **argv)
         {
           float range_data = data.dist1[i] * 0.001;
 
-          if(inf_range && range_data < scan_msg.range_min){
+          if (inf_range && range_data < scan_msg.range_min)
+          {
             scan_msg.ranges[i] = std::numeric_limits<float>::infinity();
           }
-          else{
+          else
+          {
             scan_msg.ranges[i] = range_data;
           }
         }