beautified

src/VoronoiDiagramGenerator.cpp

@@ -224,7 +224,7 @@ struct Halfedge* VoronoiDiagramGenerator::ELleftbnd(struct Point* p)
       he = he->ELright;
     } while (he != ELrightend && right_of(he, p));  // keep going right on the list until either the end is reached, or
                                                     // you find the 1st edge which the point
-    he = he->ELleft;  // isn't to the right of
+    he = he->ELleft;                                // isn't to the right of
   }
   else  // if the point is to the left of the HalfEdge, then search left for the HE just to the left of the point
     do
@@ -947,7 +947,7 @@ bool VoronoiDiagramGenerator::voronoi(int triangulate)
 
       v = lbnd->vertex;  // get the vertex that caused this event
       makevertex(v);     // set the vertex number - couldn't do this earlier since we didn't know when it would be
-                      // processed
+                         // processed
       endpoint(lbnd->ELedge, lbnd->ELpm, v);  // set the endpoint of the left HalfEdge to be this vector
       endpoint(rbnd->ELedge, rbnd->ELpm, v);  // set the endpoint of the right HalfEdge to be this vector
       ELdelete(lbnd);  // mark the lowest HE for deletion - can't delete yet because there might be pointers to it in
@@ -968,8 +968,8 @@ bool VoronoiDiagramGenerator::voronoi(int triangulate)
       // the formula of the line, and assigns a line number to it
       bisector = HEcreate(e, pm);  // create a HE from the Edge 'e', and make it point to that edge with its ELedge
                                    // field
-      ELinsert(llbnd, bisector);  // insert the new bisector to the right of the left HE
-      endpoint(e, re - pm, v);    // set one endpoint to the new edge to be the vector point 'v'.
+      ELinsert(llbnd, bisector);   // insert the new bisector to the right of the left HE
+      endpoint(e, re - pm, v);     // set one endpoint to the new edge to be the vector point 'v'.
       // If the site to the left of this bisector is higher than the right
       // Site, then this endpoint is put in position 0; otherwise in pos 1
       deref(v);  // delete the vector 'v'

src/buzzuav_closures.cpp

@@ -619,7 +619,6 @@ int voronoi_center(buzzvm_t vm)
     return buzzvm_ret0(vm);
   }
 
-
   ROS_WARN("NP: %d, Sites: %d", Poly_vert, count);
   float* xValues = new float[count];
   float* yValues = new float[count];
@@ -1171,23 +1170,28 @@ int buzzuav_update_battery(buzzvm_t vm)
   return vm->state;
 }
 
-void store_bounding_boxes(std::vector<bounding_box> bbox){
+void store_bounding_boxes(std::vector<bounding_box> bbox)
+{
   yolo_boxes.clear();
-  for(int i = 0; i< bbox.size(); i++){
+  for (int i = 0; i < bbox.size(); i++)
+  {
     yolo_boxes.push_back(bbox[i]);
   }
 }
 
-int buzzuav_update_yolo_boxes(buzzvm_t vm){
-  if(yolo_boxes.size()>0){  
+int buzzuav_update_yolo_boxes(buzzvm_t vm)
+{
+  if (yolo_boxes.size() > 0)
+  {
     buzzvm_pushs(vm, buzzvm_string_register(vm, "yolo_boxes", 1));
     buzzvm_pusht(vm);
     buzzvm_dup(vm);
     buzzvm_pushs(vm, buzzvm_string_register(vm, "size", 1));
     buzzvm_pushf(vm, yolo_boxes.size());
     buzzvm_tput(vm);
-    
-    for(int i=0; i< yolo_boxes.size(); i++){
+
+    for (int i = 0; i < yolo_boxes.size(); i++)
+    {
       buzzvm_dup(vm);
       std::string index = std::to_string(i);
       buzzvm_pushs(vm, buzzvm_string_register(vm, index.c_str(), 1));

src/roscontroller.cpp

@@ -301,7 +301,7 @@ void roscontroller::Rosparameters_get(ros::NodeHandle& n_c)
   //  Obtain standby script to run during update
   n_c.getParam("stand_by", stand_by);
 
- //  Obtain collision avoidance mode
+  //  Obtain collision avoidance mode
   n_c.getParam("ca_on", ca_on);
 
   if (n_c.getParam("xbee_plugged", xbeeplugged))
@@ -1305,49 +1305,51 @@ void roscontroller::payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg)
   }
 }
 
-void roscontroller::yolo_box_process(const mavros_msgs::Mavlink::ConstPtr& msg){
-  uint64_t size = (msg->payload64.size()*sizeof(uint64_t));
+void roscontroller::yolo_box_process(const mavros_msgs::Mavlink::ConstPtr& msg)
+{
+  uint64_t size = (msg->payload64.size() * sizeof(uint64_t));
   uint8_t message_obt[size];
-  size=0;
+  size = 0;
   //  Go throught the obtained payload
   for (int i = 0; i < (int)msg->payload64.size(); i++)
   {
     uint64_t msg_tmp = msg->payload64[i];
-    memcpy((void*)(message_obt+size), (void*)(&msg_tmp), sizeof(uint64_t));
-    size +=sizeof(uint64_t);
+    memcpy((void*)(message_obt + size), (void*)(&msg_tmp), sizeof(uint64_t));
+    size += sizeof(uint64_t);
   }
 
   std::vector<buzzuav_closures::bounding_box> box;
   int tot = 0;
-  size = 0; 
-  memcpy((void*)&size, (void*)(message_obt+tot), sizeof(uint64_t));
+  size = 0;
+  memcpy((void*)&size, (void*)(message_obt + tot), sizeof(uint64_t));
   tot += sizeof(uint64_t);
-  for(int i=0; i< size; i++){
-    double probability=0;
-    int64_t xmin=0;
-    int64_t ymin=0;
-    int64_t xmax=0;
-    int64_t ymax=0;
-    memcpy((void*)&probability, (void*)(message_obt+tot), sizeof(uint64_t));
+  for (int i = 0; i < size; i++)
+  {
+    double probability = 0;
+    int64_t xmin = 0;
+    int64_t ymin = 0;
+    int64_t xmax = 0;
+    int64_t ymax = 0;
+    memcpy((void*)&probability, (void*)(message_obt + tot), sizeof(uint64_t));
     tot += sizeof(uint64_t);
-    memcpy((void*)&xmin, (void*)(message_obt+tot), sizeof(uint64_t));
+    memcpy((void*)&xmin, (void*)(message_obt + tot), sizeof(uint64_t));
     tot += sizeof(uint64_t);
-    memcpy((void*)&ymin, (void*)(message_obt+tot), sizeof(uint64_t));
+    memcpy((void*)&ymin, (void*)(message_obt + tot), sizeof(uint64_t));
     tot += sizeof(uint64_t);
-    memcpy((void*)&xmax, (void*)(message_obt+tot), sizeof(uint64_t));
+    memcpy((void*)&xmax, (void*)(message_obt + tot), sizeof(uint64_t));
     tot += sizeof(uint64_t);
-    memcpy((void*)&ymax, (void*)(message_obt+tot), sizeof(uint64_t));
+    memcpy((void*)&ymax, (void*)(message_obt + tot), sizeof(uint64_t));
     tot += sizeof(uint64_t);
-    uint16_t str_size=0;
-    memcpy((void*)&str_size, (void*)(message_obt+tot), sizeof(uint16_t));
+    uint16_t str_size = 0;
+    memcpy((void*)&str_size, (void*)(message_obt + tot), sizeof(uint16_t));
     tot += sizeof(uint16_t);
-    char char_class[str_size * sizeof(char) + 1]; 
-    memcpy((void*)char_class, (void*)(message_obt+tot), str_size);
+    char char_class[str_size * sizeof(char) + 1];
+    memcpy((void*)char_class, (void*)(message_obt + tot), str_size);
     /* Set the termination character */
     char_class[str_size] = '\0';
     tot += str_size;
     string obj_class(char_class);
-    buzzuav_closures::bounding_box cur_box(obj_class,probability,xmin,ymin,xmax,ymax);
+    buzzuav_closures::bounding_box cur_box(obj_class, probability, xmin, ymin, xmax, ymax);
     box.push_back(cur_box);
   }
   buzzuav_closures::store_bounding_boxes(box);