From 6c8a6704dd4aa84c1f10dbb0ec23e4979c16d81c Mon Sep 17 00:00:00 2001 From: Zachary Kingston Date: Fri, 18 Oct 2024 09:20:25 -0400 Subject: [PATCH] format --- scripts/evaluate_mbm.py | 2 +- scripts/sphere_cage_example.py | 2 +- src/impl/vamp/planning/simplify.hh | 6 ++++-- 3 files changed, 6 insertions(+), 4 deletions(-) diff --git a/scripts/evaluate_mbm.py b/scripts/evaluate_mbm.py index d58b44e..b188833 100644 --- a/scripts/evaluate_mbm.py +++ b/scripts/evaluate_mbm.py @@ -17,7 +17,7 @@ def main( dataset: str = "problems.pkl", # Pickled dataset to use problem: Union[str, List[str]] = [], # Problem name or list of problems to evaluate trials: int = 1, # Number of trials to evaluate each instance - sampler_name: str = "halton", # Sampler to use. + sampler_name: str = "halton", # Sampler to use. skip_rng_iterations: int = 0, # Skip a number of RNG iterations print_failures: bool = False, # Print out failures and invalid problems pointcloud: bool = False, # Use pointcloud rather than primitive geometry diff --git a/scripts/sphere_cage_example.py b/scripts/sphere_cage_example.py index a35e7ae..a40fa76 100644 --- a/scripts/sphere_cage_example.py +++ b/scripts/sphere_cage_example.py @@ -38,7 +38,7 @@ def main( radius: float = 0.2, visualize: bool = False, planner: str = "rrtc", - sampler_name: str = "halton", # Sampler to use. + sampler_name: str = "halton", # Sampler to use. skip_rng_iterations: int = 0, # Skip a number of RNG iterations **kwargs, ): diff --git a/src/impl/vamp/planning/simplify.hh b/src/impl/vamp/planning/simplify.hh index 0a74c14..cca41e0 100644 --- a/src/impl/vamp/planning/simplify.hh +++ b/src/impl/vamp/planning/simplify.hh @@ -202,8 +202,10 @@ namespace vamp::planning const auto bspline = [&result, &environment, settings]() { return smooth_bspline(result.path, environment, settings.bspline); }; - const auto reduce = [&result, &environment, settings, rng]() - { return reduce_path_vertices(result.path, environment, settings.reduce, rng); }; + const auto reduce = [&result, &environment, settings, rng]() { + return reduce_path_vertices( + result.path, environment, settings.reduce, rng); + }; const auto shortcut = [&result, &environment, settings]() { return shortcut_path(result.path, environment, settings.shortcut); }; const auto perturb = [&result, &environment, settings, rng]()