From 103333f9f073a75ed41dc13f4b95cd1b1b5dcd0e Mon Sep 17 00:00:00 2001
From: Prateek Machiraju <prateek.machiraju@gmail.com>
Date: Wed, 26 Jun 2019 15:03:11 -0400
Subject: [PATCH] format some more

---
 src/include/fl/Utilities.h                                | 2 +-
 src/include/fl/mathematics/control/RamseteTracker.h       | 3 +--
 src/include/fl/mathematics/control/TrajectoryTracker.h    | 2 +-
 src/include/fl/mathematics/geometry/Pose2d.h              | 4 ++--
 src/include/fl/mathematics/geometry/Pose2dWithCurvature.h | 2 +-
 src/include/fl/mathematics/geometry/Rotation2d.h          | 2 +-
 src/include/fl/mathematics/geometry/Translation2d.h       | 4 ++--
 src/include/fl/mathematics/geometry/Twist2d.h             | 2 +-
 .../mathematics/spline/ParametricQuinticHermiteSpline.h   | 2 +-
 src/include/fl/mathematics/spline/ParametricSpline.h      | 2 +-
 src/include/fl/mathematics/spline/SplineGenerator.h       | 6 +++---
 .../fl/mathematics/trajectory/DistanceTrajectory.h        | 2 +-
 src/include/fl/mathematics/trajectory/IndexedTrajectory.h | 2 +-
 src/include/fl/mathematics/trajectory/TimedTrajectory.h   | 4 ++--
 src/include/fl/mathematics/trajectory/Trajectory.h        | 2 +-
 .../fl/mathematics/trajectory/TrajectoryGenerator.h       | 8 ++++----
 .../fl/mathematics/trajectory/TrajectoryIterator.h        | 4 ++--
 .../constraints/AngularAccelerationConstraint.h           | 6 +++---
 .../constraints/CentripetalAccelerationConstraint.h       | 6 +++---
 .../mathematics/trajectory/constraints/TimingConstraint.h | 2 +-
 .../constraints/VelocityLimitRadiusConstraint.h           | 6 +++---
 src/include/fl/types/Interpolatable.h                     | 2 +-
 src/include/fl/types/VaryInterpolatable.h                 | 2 +-
 23 files changed, 38 insertions(+), 39 deletions(-)

diff --git a/src/include/fl/Utilities.h b/src/include/fl/Utilities.h
index 95272e4..3156486 100644
--- a/src/include/fl/Utilities.h
+++ b/src/include/fl/Utilities.h
@@ -27,4 +27,4 @@ bool EpsilonEquals(const T& a, const T& b) {
   return std::abs(a - b) < kEpsilon;
 }
 
-}  // namespace frc5190
\ No newline at end of file
+}  // namespace fl
\ No newline at end of file
diff --git a/src/include/fl/mathematics/control/RamseteTracker.h b/src/include/fl/mathematics/control/RamseteTracker.h
index 05a625b..7e99132 100644
--- a/src/include/fl/mathematics/control/RamseteTracker.h
+++ b/src/include/fl/mathematics/control/RamseteTracker.h
@@ -9,7 +9,6 @@ class RamseteTracker : public TrajectoryTracker {
 
   TrajectoryTrackerVelocityOutput CalculateState(const TimedIterator<Pose2dWithCurvature>& iterator,
                                                  const Pose2d& robot_pose) const override {
-
     const TimedEntry<Pose2dWithCurvature> reference_state = iterator.CurrentState().state;
     const Pose2d error = reference_state.State().Pose().InFrameOfReferenceOf(robot_pose);
 
@@ -36,4 +35,4 @@ class RamseteTracker : public TrajectoryTracker {
   double beta_;
   double zeta_;
 };
-}  // namespace frc5190
+}  // namespace fl
diff --git a/src/include/fl/mathematics/control/TrajectoryTracker.h b/src/include/fl/mathematics/control/TrajectoryTracker.h
index 86ad651..2d27cfb 100644
--- a/src/include/fl/mathematics/control/TrajectoryTracker.h
+++ b/src/include/fl/mathematics/control/TrajectoryTracker.h
@@ -63,4 +63,4 @@ class TrajectoryTracker {
   std::unique_ptr<TrajectoryTrackerVelocityOutput> previous_velocity_;
   double                                           previous_time_ = -1.;
 };
-}  // namespace frc5190
+}  // namespace fl
diff --git a/src/include/fl/mathematics/geometry/Pose2d.h b/src/include/fl/mathematics/geometry/Pose2d.h
index d2ea30b..4bd32d9 100644
--- a/src/include/fl/mathematics/geometry/Pose2d.h
+++ b/src/include/fl/mathematics/geometry/Pose2d.h
@@ -1,9 +1,9 @@
 #pragma once
 
-#include "fl/Utilities.h"
 #include "Rotation2d.h"
 #include "Translation2d.h"
 #include "Twist2d.h"
+#include "fl/Utilities.h"
 
 namespace fl {
 class Twist2d;
@@ -103,4 +103,4 @@ class Pose2d final : public VaryInterpolatable<Pose2d> {
   Translation2d translation_;
   Rotation2d    rotation_;
 };
-}  // namespace frc5190
+}  // namespace fl
diff --git a/src/include/fl/mathematics/geometry/Pose2dWithCurvature.h b/src/include/fl/mathematics/geometry/Pose2dWithCurvature.h
index ce6b05a..3f6575e 100644
--- a/src/include/fl/mathematics/geometry/Pose2dWithCurvature.h
+++ b/src/include/fl/mathematics/geometry/Pose2dWithCurvature.h
@@ -37,4 +37,4 @@ class Pose2dWithCurvature final : public VaryInterpolatable<Pose2dWithCurvature>
   double curvature_;
   double dkds_;
 };
-}  // namespace frc5190
+}  // namespace fl
diff --git a/src/include/fl/mathematics/geometry/Rotation2d.h b/src/include/fl/mathematics/geometry/Rotation2d.h
index 6d76347..0b7a80f 100644
--- a/src/include/fl/mathematics/geometry/Rotation2d.h
+++ b/src/include/fl/mathematics/geometry/Rotation2d.h
@@ -52,4 +52,4 @@ class Rotation2d final {
   double cos_;
   double sin_;
 };
-}  // namespace frc5190
+}  // namespace fl
diff --git a/src/include/fl/mathematics/geometry/Translation2d.h b/src/include/fl/mathematics/geometry/Translation2d.h
index 083995d..9c6af16 100644
--- a/src/include/fl/mathematics/geometry/Translation2d.h
+++ b/src/include/fl/mathematics/geometry/Translation2d.h
@@ -2,8 +2,8 @@
 
 #include <cmath>
 
-#include "fl/types/VaryInterpolatable.h"
 #include "Rotation2d.h"
+#include "fl/types/VaryInterpolatable.h"
 
 namespace fl {
 
@@ -58,4 +58,4 @@ class Translation2d final : public VaryInterpolatable<Translation2d> {
   double x_;
   double y_;
 };
-}  // namespace frc5190
+}  // namespace fl
diff --git a/src/include/fl/mathematics/geometry/Twist2d.h b/src/include/fl/mathematics/geometry/Twist2d.h
index 22957a4..f336fdd 100644
--- a/src/include/fl/mathematics/geometry/Twist2d.h
+++ b/src/include/fl/mathematics/geometry/Twist2d.h
@@ -27,4 +27,4 @@ class Twist2d {
   double dy_;
   double dtheta_;
 };
-}  // namespace frc5190
+}  // namespace fl
diff --git a/src/include/fl/mathematics/spline/ParametricQuinticHermiteSpline.h b/src/include/fl/mathematics/spline/ParametricQuinticHermiteSpline.h
index c854804..07f8c05 100644
--- a/src/include/fl/mathematics/spline/ParametricQuinticHermiteSpline.h
+++ b/src/include/fl/mathematics/spline/ParametricQuinticHermiteSpline.h
@@ -104,4 +104,4 @@ class ParametricQuinticHermiteSpline final : public ParametricSpline {
     return radians;
   }
 };
-}  // namespace frc5190
+}  // namespace fl
diff --git a/src/include/fl/mathematics/spline/ParametricSpline.h b/src/include/fl/mathematics/spline/ParametricSpline.h
index 847e564..589d2d2 100644
--- a/src/include/fl/mathematics/spline/ParametricSpline.h
+++ b/src/include/fl/mathematics/spline/ParametricSpline.h
@@ -17,4 +17,4 @@ class ParametricSpline {
  private:
   Pose2d Pose(const double t) const { return Pose2d{Point(t), Heading(t)}; }
 };
-}  // namespace frc5190
+}  // namespace fl
diff --git a/src/include/fl/mathematics/spline/SplineGenerator.h b/src/include/fl/mathematics/spline/SplineGenerator.h
index 98fe780..c046b3b 100644
--- a/src/include/fl/mathematics/spline/SplineGenerator.h
+++ b/src/include/fl/mathematics/spline/SplineGenerator.h
@@ -1,10 +1,10 @@
 #pragma once
 
-#include <vector>
 #include <memory>
+#include <vector>
 
-#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
 #include "ParametricSpline.h"
+#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
 
 namespace fl {
 constexpr static double kMinSampleSize = 1.;
@@ -62,4 +62,4 @@ class SplineGenerator {
     }
   }
 };
-}  // namespace frc5190
+}  // namespace fl
diff --git a/src/include/fl/mathematics/trajectory/DistanceTrajectory.h b/src/include/fl/mathematics/trajectory/DistanceTrajectory.h
index c34ffda..aefc773 100644
--- a/src/include/fl/mathematics/trajectory/DistanceTrajectory.h
+++ b/src/include/fl/mathematics/trajectory/DistanceTrajectory.h
@@ -66,4 +66,4 @@ class DistanceTrajectory : public Trajectory<double, S> {
   std::vector<S>                       points_;
   std::shared_ptr<DistanceIterator<S>> iterator_;
 };
-}  // namespace frc5190
+}  // namespace fl
diff --git a/src/include/fl/mathematics/trajectory/IndexedTrajectory.h b/src/include/fl/mathematics/trajectory/IndexedTrajectory.h
index 36d9991..102dd52 100644
--- a/src/include/fl/mathematics/trajectory/IndexedTrajectory.h
+++ b/src/include/fl/mathematics/trajectory/IndexedTrajectory.h
@@ -65,4 +65,4 @@ class IndexedTrajectory : public Trajectory<double, S> {
   std::shared_ptr<TrajectoryIterator<double, S>> iterator_;
 };
 
-}  // namespace frc5190
+}  // namespace fl
diff --git a/src/include/fl/mathematics/trajectory/TimedTrajectory.h b/src/include/fl/mathematics/trajectory/TimedTrajectory.h
index d948d0b..7be05c8 100644
--- a/src/include/fl/mathematics/trajectory/TimedTrajectory.h
+++ b/src/include/fl/mathematics/trajectory/TimedTrajectory.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "fl/types/VaryInterpolatable.h"
 #include "TrajectoryIterator.h"
+#include "fl/types/VaryInterpolatable.h"
 
 namespace fl {
 template <typename S>
@@ -97,4 +97,4 @@ class TimedTrajectory : public Trajectory<double, TimedEntry<S>> {
   std::shared_ptr<TrajectoryIterator<double, TimedEntry<S>>> iterator_;
 };
 
-}  // namespace frc5190
+}  // namespace fl
diff --git a/src/include/fl/mathematics/trajectory/Trajectory.h b/src/include/fl/mathematics/trajectory/Trajectory.h
index 072a37a..f4927d7 100644
--- a/src/include/fl/mathematics/trajectory/Trajectory.h
+++ b/src/include/fl/mathematics/trajectory/Trajectory.h
@@ -49,4 +49,4 @@ class Trajectory {
   virtual S LastState() const  = 0;
 };
 
-}  // namespace frc5190
\ No newline at end of file
+}  // namespace fl
\ No newline at end of file
diff --git a/src/include/fl/mathematics/trajectory/TrajectoryGenerator.h b/src/include/fl/mathematics/trajectory/TrajectoryGenerator.h
index b1cbf41..d1e2cd9 100644
--- a/src/include/fl/mathematics/trajectory/TrajectoryGenerator.h
+++ b/src/include/fl/mathematics/trajectory/TrajectoryGenerator.h
@@ -2,13 +2,13 @@
 
 #include <array>
 
-#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
-#include "fl/mathematics/spline/ParametricQuinticHermiteSpline.h"
-#include "fl/mathematics/spline/SplineGenerator.h"
 #include "DistanceTrajectory.h"
 #include "IndexedTrajectory.h"
 #include "TimedTrajectory.h"
 #include "constraints/TimingConstraint.h"
+#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
+#include "fl/mathematics/spline/ParametricQuinticHermiteSpline.h"
+#include "fl/mathematics/spline/SplineGenerator.h"
 
 namespace fl {
 
@@ -256,4 +256,4 @@ class TrajectoryGenerator {
     return TimedTrajectory<S>(timed_states, reversed);
   }
 };
-}  // namespace frc5190
+}  // namespace fl
diff --git a/src/include/fl/mathematics/trajectory/TrajectoryIterator.h b/src/include/fl/mathematics/trajectory/TrajectoryIterator.h
index e349afc..8db51c7 100644
--- a/src/include/fl/mathematics/trajectory/TrajectoryIterator.h
+++ b/src/include/fl/mathematics/trajectory/TrajectoryIterator.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "fl/Utilities.h"
 #include "Trajectory.h"
+#include "fl/Utilities.h"
 
 namespace fl {
 template <typename U, typename S>
@@ -40,4 +40,4 @@ class TrajectoryIterator {
   U                        progress_;
   TrajectorySamplePoint<S> sample_;
 };
-}  // namespace frc5190
\ No newline at end of file
+}  // namespace fl
\ No newline at end of file
diff --git a/src/include/fl/mathematics/trajectory/constraints/AngularAccelerationConstraint.h b/src/include/fl/mathematics/trajectory/constraints/AngularAccelerationConstraint.h
index 802a24d..030c8ab 100644
--- a/src/include/fl/mathematics/trajectory/constraints/AngularAccelerationConstraint.h
+++ b/src/include/fl/mathematics/trajectory/constraints/AngularAccelerationConstraint.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
 #include "TimingConstraint.h"
+#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
 
 namespace fl {
 
@@ -23,7 +23,7 @@ class AngularAccelerationConstraint final : public TimingConstraint<Pose2dWithCu
   }
 
   fl::MinMaxAcceleration MinMaxAcceleration(const Pose2dWithCurvature& state,
-                                                 double                     velocity) const override {
+                                            double                     velocity) const override {
     /**
      * We want to limit the acceleration such that we never go above the
      * specified angular acceleration.
@@ -62,4 +62,4 @@ class AngularAccelerationConstraint final : public TimingConstraint<Pose2dWithCu
   double max_angular_acceleration_;
 };
 
-}  // namespace frc5190
+}  // namespace fl
diff --git a/src/include/fl/mathematics/trajectory/constraints/CentripetalAccelerationConstraint.h b/src/include/fl/mathematics/trajectory/constraints/CentripetalAccelerationConstraint.h
index 291accf..789b81e 100644
--- a/src/include/fl/mathematics/trajectory/constraints/CentripetalAccelerationConstraint.h
+++ b/src/include/fl/mathematics/trajectory/constraints/CentripetalAccelerationConstraint.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
 #include "TimingConstraint.h"
+#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
 
 namespace fl {
 
@@ -17,7 +17,7 @@ class CentripetalAccelerationConstraint final : public TimingConstraint<Pose2dWi
   }
 
   fl::MinMaxAcceleration MinMaxAcceleration(const Pose2dWithCurvature& state,
-                                                 double                     velocity) const override {
+                                            double                     velocity) const override {
     return kNoLimits;
   }
 
@@ -25,4 +25,4 @@ class CentripetalAccelerationConstraint final : public TimingConstraint<Pose2dWi
   double max_centripetal_acceleration_;
 };
 
-}  // namespace frc5190
+}  // namespace fl
diff --git a/src/include/fl/mathematics/trajectory/constraints/TimingConstraint.h b/src/include/fl/mathematics/trajectory/constraints/TimingConstraint.h
index ba5bfff..0571219 100644
--- a/src/include/fl/mathematics/trajectory/constraints/TimingConstraint.h
+++ b/src/include/fl/mathematics/trajectory/constraints/TimingConstraint.h
@@ -21,4 +21,4 @@ class TimingConstraint {
   virtual double             MaxVelocity(const S& state) const                         = 0;
   virtual MinMaxAcceleration MinMaxAcceleration(const S& state, double velocity) const = 0;
 };
-}  // namespace frc5190
+}  // namespace fl
diff --git a/src/include/fl/mathematics/trajectory/constraints/VelocityLimitRadiusConstraint.h b/src/include/fl/mathematics/trajectory/constraints/VelocityLimitRadiusConstraint.h
index 2c76a47..8f5219e 100644
--- a/src/include/fl/mathematics/trajectory/constraints/VelocityLimitRadiusConstraint.h
+++ b/src/include/fl/mathematics/trajectory/constraints/VelocityLimitRadiusConstraint.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
 #include "TimingConstraint.h"
+#include "fl/mathematics/geometry/Pose2dWithCurvature.h"
 
 namespace fl {
 
@@ -20,7 +20,7 @@ class VelocityLimitRadiusConstraint : public TimingConstraint<Pose2dWithCurvatur
   }
 
   fl::MinMaxAcceleration MinMaxAcceleration(const Pose2dWithCurvature& state,
-                                                 double                     velocity) const override {
+                                            double                     velocity) const override {
     return kNoLimits;
   }
 
@@ -30,4 +30,4 @@ class VelocityLimitRadiusConstraint : public TimingConstraint<Pose2dWithCurvatur
   double        max_velocity_;
 };
 
-}  // namespace frc5190
+}  // namespace fl
diff --git a/src/include/fl/types/Interpolatable.h b/src/include/fl/types/Interpolatable.h
index f7ad0ac..55f7cff 100644
--- a/src/include/fl/types/Interpolatable.h
+++ b/src/include/fl/types/Interpolatable.h
@@ -13,4 +13,4 @@ class Interpolatable {
     return start_value + (end_value - start_value) * Clamp(t, 0.0, 1.0);
   }
 };
-}  // namespace frc5190
+}  // namespace fl
diff --git a/src/include/fl/types/VaryInterpolatable.h b/src/include/fl/types/VaryInterpolatable.h
index ded1dcb..0aa7778 100644
--- a/src/include/fl/types/VaryInterpolatable.h
+++ b/src/include/fl/types/VaryInterpolatable.h
@@ -8,4 +8,4 @@ class VaryInterpolatable : public Interpolatable<T> {
  public:
   virtual double Distance(const T& other) const = 0;
 };
-}  // namespace frc5190
+}  // namespace fl