indent style control

Author: onlytailei

src/lqr_speed_steer_control.cpp

@@ -53,10 +53,10 @@ Vec_f calc_speed_profile(Vec_f rx, Vec_f ry, Vec_f ryaw, float target_speed){
   }
 
   for(int k=0; k< 40; k++){
-      *(speed_profile.end()-k) = target_speed / (50 - k);
-      if (*(speed_profile.end()-k) <= 1.0 / 3.6){
-        *(speed_profile.end()-k) = 1.0 / 3.6;
-      }
+    *(speed_profile.end()-k) = target_speed / (50 - k);
+    if (*(speed_profile.end()-k) <= 1.0 / 3.6){
+      *(speed_profile.end()-k) = 1.0 / 3.6;
+    }
   }
   return speed_profile;
 };
@@ -100,9 +100,9 @@ Matrix5f solve_DARE(Matrix5f A, Matrix52f B, Matrix5f Q, Eigen::Matrix2f R){
 };
 
 Matrix25f dlqr(Matrix5f A, Matrix52f B, Matrix5f Q, Eigen::Matrix2f R){
-	Matrix5f X = solve_DARE(A, B ,Q, R);
-	Matrix25f K = (B.transpose()*X*B + R).inverse() * (B.transpose()*X*A);
-	return K;
+  Matrix5f X = solve_DARE(A, B ,Q, R);
+  Matrix25f K = (B.transpose()*X*B + R).inverse() * (B.transpose()*X*A);
+  return K;
 };
 
 Vec_f lqr_steering_control(State state, Vec_f cx, Vec_f cy, Vec_f cyaw, Vec_f ck, Vec_f sp, float& pe, float& pth_e){

src/model_predictive_control.cpp

@@ -90,9 +90,9 @@ Vec_f calc_speed_profile(Vec_f rx, Vec_f ry, Vec_f ryaw, float target_speed){
     float move_direction = std::atan2(dy, dx);
 
     if (dx != 0.0 && dy != 0.0){
-        float dangle = std::abs(YAW_P2P(move_direction - ryaw[i]));
-        if (dangle >= M_PI/4.0) direction = -1.0;
-        else direction = 1.0;
+      float dangle = std::abs(YAW_P2P(move_direction - ryaw[i]));
+      if (dangle >= M_PI/4.0) direction = -1.0;
+      else direction = 1.0;
     }
 
     if (direction != 1.0) speed_profile[i] = -1 * target_speed;
@@ -366,7 +366,7 @@ void mpc_simulation(Vec_f cx, Vec_f cy, Vec_f cyaw, Vec_f ck, Vec_f speed_profil
   Vec_f x_h;
   Vec_f y_h;
 
-  M_XREF	xref;
+  M_XREF xref;
 
   while (MAX_TIME >= iter_count){
     calc_ref_trajectory(state, cx, cy, cyaw, ck, speed_profile, 1.0, target_ind, xref);