formatting fixes

REMEMBER TO REMOVE UNUSED IMPORTS, IM JUST TOO LAZY TO CHECK RN
PhotonVision · Nov 18, 2023 · 905f764 · 905f764
1 parent 4b56be3
commit 905f764
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Showing 12 changed files with 32 additions and 44 deletions.
diff --git a/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photon/PhotonPoseEstimator.cpp
@@ -366,8 +366,8 @@ std::optional<EstimatedRobotPose> PhotonPoseEstimator::MultiTagOnCoprocStrategy(
     const auto fieldToRobot =
         frc::Pose3d() + field2camera + m_robotToCamera.Inverse();
     return photon::EstimatedRobotPose(fieldToRobot, result.GetTimestamp(),
-                                         result.GetTargets(),
-                                         MULTI_TAG_PNP_ON_COPROCESSOR);
+                                      result.GetTargets(),
+                                      MULTI_TAG_PNP_ON_COPROCESSOR);
   }
 
   return Update(result, std::nullopt, std::nullopt,
@@ -425,9 +425,9 @@ std::optional<EstimatedRobotPose> PhotonPoseEstimator::MultiTagOnRioStrategy(
 
   const Pose3d pose = detail::ToPose3d(tvec, rvec);
 
-  return photon::EstimatedRobotPose(
-      pose.TransformBy(m_robotToCamera.Inverse()), result.GetTimestamp(),
-      result.GetTargets(), MULTI_TAG_PNP_ON_RIO);
+  return photon::EstimatedRobotPose(pose.TransformBy(m_robotToCamera.Inverse()),
+                                    result.GetTimestamp(), result.GetTargets(),
+                                    MULTI_TAG_PNP_ON_RIO);
 }
 
 std::optional<EstimatedRobotPose>

diff --git a/photon-lib/src/main/native/include/photon/PhotonCamera.h b/photon-lib/src/main/native/include/photon/PhotonCamera.h
@@ -41,9 +41,9 @@
 
 #include "photon/dataflow/structures/Packet.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
+#include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/PNPResult.h"
 #include "photon/targeting/TargetCorner.h"
 
 namespace cv {

diff --git a/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h b/photon-lib/src/main/native/include/photon/PhotonPoseEstimator.h
@@ -31,12 +31,11 @@
 #include <frc/geometry/Transform3d.h>
 
 #include "photon/PhotonCamera.h"
-
 #include "photon/dataflow/structures/Packet.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
+#include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/PNPResult.h"
 #include "photon/targeting/TargetCorner.h"
 
 namespace cv {

diff --git a/photon-lib/src/main/native/include/photon/PhotonTargetSortMode.h b/photon-lib/src/main/native/include/photon/PhotonTargetSortMode.h
@@ -28,9 +28,9 @@
 
 #include "photon/dataflow/structures/Packet.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
+#include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/PNPResult.h"
 #include "photon/targeting/TargetCorner.h"
 
 namespace photon {

diff --git a/photon-lib/src/main/native/include/photon/PhotonUtils.h b/photon-lib/src/main/native/include/photon/PhotonUtils.h
@@ -34,9 +34,9 @@
 
 #include "photon/dataflow/structures/Packet.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
+#include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/PNPResult.h"
 #include "photon/targeting/TargetCorner.h"
 
 namespace photon {

diff --git a/photon-lib/src/main/native/include/photon/simulation/SimPhotonCamera.h b/photon-lib/src/main/native/include/photon/simulation/SimPhotonCamera.h
@@ -34,15 +34,13 @@
 
 #include "photon/PhotonCamera.h"
 #include "photon/PhotonTargetSortMode.h"
-
 #include "photon/dataflow/structures/Packet.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
+#include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/PNPResult.h"
 #include "photon/targeting/TargetCorner.h"
 
-
 namespace photon {
 class SimPhotonCamera : public PhotonCamera {
  public:

diff --git a/photon-lib/src/main/native/include/photon/simulation/SimVisionSystem.h b/photon-lib/src/main/native/include/photon/simulation/SimVisionSystem.h
@@ -34,12 +34,11 @@
 
 #include "SimPhotonCamera.h"
 #include "SimVisionTarget.h"
-
 #include "photon/dataflow/structures/Packet.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
+#include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/PNPResult.h"
 #include "photon/targeting/TargetCorner.h"
 
 namespace photon {

diff --git a/photon-lib/src/main/native/include/photon/simulation/SimVisionTarget.h b/photon-lib/src/main/native/include/photon/simulation/SimVisionTarget.h
@@ -29,9 +29,9 @@
 
 #include "photon/dataflow/structures/Packet.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
+#include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/PNPResult.h"
 #include "photon/targeting/TargetCorner.h"
 
 namespace photon {

diff --git a/photon-lib/src/test/native/cpp/PacketTest.cpp b/photon-lib/src/test/native/cpp/PacketTest.cpp
@@ -27,12 +27,11 @@
 #include <units/angle.h>
 
 #include "gtest/gtest.h"
-
 #include "photon/dataflow/structures/Packet.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
+#include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/PNPResult.h"
 #include "photon/targeting/TargetCorner.h"
 
 TEST(PacketTest, PhotonTrackedTarget) {

diff --git a/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp b/photon-lib/src/test/native/cpp/PhotonPoseEstimatorTest.cpp
@@ -35,15 +35,13 @@
 #include <wpi/SmallVector.h>
 
 #include "gtest/gtest.h"
-
 #include "photon/PhotonCamera.h"
 #include "photon/PhotonPoseEstimator.h"
-
 #include "photon/dataflow/structures/Packet.h"
 #include "photon/targeting/MultiTargetPNPResult.h"
+#include "photon/targeting/PNPResult.h"
 #include "photon/targeting/PhotonPipelineResult.h"
 #include "photon/targeting/PhotonTrackedTarget.h"
-#include "photon/targeting/PNPResult.h"
 #include "photon/targeting/TargetCorner.h"
 
 static std::vector<frc::AprilTag> tags = {
@@ -89,8 +87,8 @@ TEST(PhotonPoseEstimatorTest, LowestAmbiguityStrategy) {
   cameraOne.testResult = {2_ms, targets};
   cameraOne.testResult.SetTimestamp(units::second_t(11));
 
-  photon::PhotonPoseEstimator estimator(
-      aprilTags, photon::LOWEST_AMBIGUITY, std::move(cameraOne), {});
+  photon::PhotonPoseEstimator estimator(aprilTags, photon::LOWEST_AMBIGUITY,
+                                        std::move(cameraOne), {});
   auto estimatedPose = estimator.Update();
   frc::Pose3d pose = estimatedPose.value().estimatedPose;
 
@@ -187,9 +185,8 @@ TEST(PhotonPoseEstimatorTest, ClosestToReferencePoseStrategy) {
   cameraOne.testResult = {2_ms, targets};
   cameraOne.testResult.SetTimestamp(units::second_t(17));
 
-  photon::PhotonPoseEstimator estimator(aprilTags,
-                                           photon::CLOSEST_TO_REFERENCE_POSE,
-                                           std::move(cameraOne), {});
+  photon::PhotonPoseEstimator estimator(
+      aprilTags, photon::CLOSEST_TO_REFERENCE_POSE, std::move(cameraOne), {});
   estimator.SetReferencePose(
       frc::Pose3d(1_m, 1_m, 1_m, frc::Rotation3d(0_rad, 0_rad, 0_rad)));
   auto estimatedPose = estimator.Update();
@@ -232,8 +229,8 @@ TEST(PhotonPoseEstimatorTest, ClosestToLastPose) {
   cameraOne.testResult = {2_ms, targets};
   cameraOne.testResult.SetTimestamp(units::second_t(17));
 
-  photon::PhotonPoseEstimator estimator(
-      aprilTags, photon::CLOSEST_TO_LAST_POSE, std::move(cameraOne), {});
+  photon::PhotonPoseEstimator estimator(aprilTags, photon::CLOSEST_TO_LAST_POSE,
+                                        std::move(cameraOne), {});
   estimator.SetLastPose(
       frc::Pose3d(1_m, 1_m, 1_m, frc::Rotation3d(0_rad, 0_rad, 0_rad)));
   auto estimatedPose = estimator.Update();
@@ -307,8 +304,8 @@ TEST(PhotonPoseEstimatorTest, AverageBestPoses) {
   cameraOne.testResult = {2_ms, targets};
   cameraOne.testResult.SetTimestamp(units::second_t(15));
 
-  photon::PhotonPoseEstimator estimator(
-      aprilTags, photon::AVERAGE_BEST_TARGETS, std::move(cameraOne), {});
+  photon::PhotonPoseEstimator estimator(aprilTags, photon::AVERAGE_BEST_TARGETS,
+                                        std::move(cameraOne), {});
   auto estimatedPose = estimator.Update();
   frc::Pose3d pose = estimatedPose.value().estimatedPose;
 
@@ -347,8 +344,8 @@ TEST(PhotonPoseEstimatorTest, PoseCache) {
 
   cameraOne.test = true;
 
-  photon::PhotonPoseEstimator estimator(
-      aprilTags, photon::AVERAGE_BEST_TARGETS, std::move(cameraOne), {});
+  photon::PhotonPoseEstimator estimator(aprilTags, photon::AVERAGE_BEST_TARGETS,
+                                        std::move(cameraOne), {});
 
   // empty input, expect empty out
   estimator.GetCamera()->testResult = {2_ms, {}};

diff --git a/photon-lib/src/test/native/cpp/SimVisionSystemTest.cpp b/photon-lib/src/test/native/cpp/SimVisionSystemTest.cpp
@@ -164,10 +164,9 @@ TEST_F(SimVisionSystemTest, TestNotVisibleTooFarForLEDs) {
   const frc::Pose3d targetPose{
       {15.98_m, 0_m, 1_m},
       frc::Rotation3d{0_deg, 0_deg, units::constants::detail::PI_VAL * 1_rad}};
-  photon::SimVisionSystem sys{
-      "Test", 80.0_deg, frc::Transform3d{}, 10_m, 640, 480, 1.0};
-  sys.AddSimVisionTarget(
-      photon::SimVisionTarget{targetPose, 1_m, 0.25_m, 78});
+  photon::SimVisionSystem sys{"Test", 80.0_deg, frc::Transform3d{}, 10_m, 640,
+                              480,    1.0};
+  sys.AddSimVisionTarget(photon::SimVisionTarget{targetPose, 1_m, 0.25_m, 78});
 
   frc::Pose2d robotPose{{10_m, 0_m}, frc::Rotation2d{5_deg}};
   sys.ProcessFrame(robotPose);
@@ -186,8 +185,7 @@ TEST_P(SimVisionSystemTestWithParamsTest, YawAngles) {
   frc::Pose2d robotPose{{10_m, 0_m}, frc::Rotation2d{GetParam() * -1.0}};
   photon::SimVisionSystem sys{
       "Test", 120.0_deg, frc::Transform3d{}, 99999_m, 640, 480, 0};
-  sys.AddSimVisionTarget(
-      photon::SimVisionTarget{targetPose, 0.5_m, 0.5_m, 23});
+  sys.AddSimVisionTarget(photon::SimVisionTarget{targetPose, 0.5_m, 0.5_m, 23});
 
   sys.ProcessFrame(robotPose);
 
@@ -208,8 +206,7 @@ TEST_P(SimVisionSystemTestWithParamsTest, PitchAngles) {
   frc::Pose2d robotPose{{10_m, 0_m}, frc::Rotation2d{0_deg}};
   photon::SimVisionSystem sys{
       "Test", 120.0_deg, frc::Transform3d{}, 99999_m, 640, 480, 0};
-  sys.AddSimVisionTarget(
-      photon::SimVisionTarget{targetPose, 0.5_m, 0.5_m, 23});
+  sys.AddSimVisionTarget(photon::SimVisionTarget{targetPose, 0.5_m, 0.5_m, 23});
 
   sys.MoveCamera(frc::Transform3d{frc::Translation3d{},
                                   frc::Rotation3d{0_deg, GetParam(), 0_deg}});
@@ -251,8 +248,7 @@ TEST_P(SimVisionSystemTestDistanceParamsTest, DistanceCalc) {
       640,
       480,
       0};
-  sys.AddSimVisionTarget(
-      photon::SimVisionTarget{targetPose, 0.5_m, 0.5_m, 0});
+  sys.AddSimVisionTarget(photon::SimVisionTarget{targetPose, 0.5_m, 0.5_m, 0});
   sys.ProcessFrame(robotPose);
 
   auto results = sys.cam.GetLatestResult();

diff --git a/photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h b/photonlib-cpp-examples/apriltagExample/src/main/include/PhotonCameraWrapper.h
@@ -36,8 +36,8 @@ class PhotonCameraWrapper {
  public:
   photon::PhotonPoseEstimator m_poseEstimator{
       frc::LoadAprilTagLayoutField(frc::AprilTagField::k2023ChargedUp),
-      photon::MULTI_TAG_PNP_ON_RIO,
-      std::move(photon::PhotonCamera{"WPI2023"}), frc::Transform3d{}};
+      photon::MULTI_TAG_PNP_ON_RIO, std::move(photon::PhotonCamera{"WPI2023"}),
+      frc::Transform3d{}};
 
   inline std::optional<photon::EstimatedRobotPose> Update(
       frc::Pose2d estimatedPose) {