From ac3a4671834e079ed5733e58c3aa592b4ef9d871 Mon Sep 17 00:00:00 2001
From: Jan Gutsche <github@jaagut.de>
Date: Sat, 4 Jan 2025 22:52:12 +0000
Subject: [PATCH] Fixes changed headers from the `particle_filter` library

---
 .../include/bitbots_ros_control/hardware_interface.hpp     | 6 +++---
 .../bitbots_ros_control/src/pressure_converter.cpp         | 3 +--
 .../include/bitbots_localization/MotionModel.hpp           | 7 +++----
 .../include/bitbots_localization/ObservationModel.hpp      | 3 +--
 .../include/bitbots_localization/Resampling.hpp            | 7 +++----
 .../include/bitbots_localization/RobotState.hpp            | 2 +-
 .../include/bitbots_localization/StateDistribution.hpp     | 5 ++---
 .../include/bitbots_localization/localization.hpp          | 6 +++---
 .../include/bitbots_localization/map.hpp                   | 2 +-
 9 files changed, 18 insertions(+), 23 deletions(-)

diff --git a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/hardware_interface.hpp b/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/hardware_interface.hpp
index cc59c3041..499222df5 100644
--- a/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/hardware_interface.hpp
+++ b/bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/hardware_interface.hpp
@@ -12,11 +12,11 @@ class HardwareInterface {
  public:
   virtual bool init() = 0;
 
-  virtual void read(const rclcpp::Time &t, const rclcpp::Duration &dt){};
+  virtual void read(const rclcpp::Time &t, const rclcpp::Duration &dt) {};
 
-  virtual void write(const rclcpp::Time &t, const rclcpp::Duration &dt){};
+  virtual void write(const rclcpp::Time &t, const rclcpp::Duration &dt) {};
 
-  virtual void restoreAfterPowerCycle(){};
+  virtual void restoreAfterPowerCycle() {};
 
   virtual ~HardwareInterface(){};
 };
diff --git a/bitbots_lowlevel/bitbots_ros_control/src/pressure_converter.cpp b/bitbots_lowlevel/bitbots_ros_control/src/pressure_converter.cpp
index 7cdc9f597..0dff0ae2e 100644
--- a/bitbots_lowlevel/bitbots_ros_control/src/pressure_converter.cpp
+++ b/bitbots_lowlevel/bitbots_ros_control/src/pressure_converter.cpp
@@ -76,8 +76,7 @@ PressureConverter::PressureConverter(rclcpp::Node::SharedPtr nh, char side) {
   }
   for (int i = 0; i < 4; i++) {
     std::stringstream single_wrench_frame;
-    single_wrench_frame << side << "_"
-                        << "cleat_" << wrench_topics[i];
+    single_wrench_frame << side << "_" << "cleat_" << wrench_topics[i];
     wrench_frames_.push_back(single_wrench_frame.str());
   }
 
diff --git a/bitbots_navigation/bitbots_localization/include/bitbots_localization/MotionModel.hpp b/bitbots_navigation/bitbots_localization/include/bitbots_localization/MotionModel.hpp
index d767c4edc..b91480c6f 100644
--- a/bitbots_navigation/bitbots_localization/include/bitbots_localization/MotionModel.hpp
+++ b/bitbots_navigation/bitbots_localization/include/bitbots_localization/MotionModel.hpp
@@ -5,14 +5,13 @@
 #ifndef BITBOTS_LOCALIZATION_MOTIONMODEL_H
 #define BITBOTS_LOCALIZATION_MOTIONMODEL_H
 
-#include <particle_filter/CRandomNumberGenerator.h>
-#include <particle_filter/MovementModel.h>
-
 #include <bitbots_localization/RobotState.hpp>
 #include <bitbots_localization/tools.hpp>
 #include <cstdlib>
 #include <geometry_msgs/msg/vector3.hpp>
 #include <memory>
+#include <particle_filter/CRandomNumberGenerator.hpp>
+#include <particle_filter/MovementModel.hpp>
 
 namespace bitbots_localization {
 /**
@@ -61,5 +60,5 @@ class RobotMotionModel : public particle_filter::MovementModel<RobotState> {
 
   double sample(double b) const;
 };
-};      // namespace bitbots_localization
+};  // namespace bitbots_localization
 #endif  // BITBOTS_LOCALIZATION_MOTIONMODEL_H
diff --git a/bitbots_navigation/bitbots_localization/include/bitbots_localization/ObservationModel.hpp b/bitbots_navigation/bitbots_localization/include/bitbots_localization/ObservationModel.hpp
index 0819c2e19..50631ad56 100644
--- a/bitbots_navigation/bitbots_localization/include/bitbots_localization/ObservationModel.hpp
+++ b/bitbots_navigation/bitbots_localization/include/bitbots_localization/ObservationModel.hpp
@@ -5,12 +5,11 @@
 #ifndef BITBOTS_LOCALIZATION_OBSERVATIONMODEL_H
 #define BITBOTS_LOCALIZATION_OBSERVATIONMODEL_H
 
-#include <particle_filter/ParticleFilter.h>
-
 #include <bitbots_localization/RobotState.hpp>
 #include <bitbots_localization/map.hpp>
 #include <bitbots_localization/tools.hpp>
 #include <localization_parameters.hpp>
+#include <particle_filter/ParticleFilter.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 #include <soccer_vision_3d_msgs/msg/field_boundary.hpp>
diff --git a/bitbots_navigation/bitbots_localization/include/bitbots_localization/Resampling.hpp b/bitbots_navigation/bitbots_localization/include/bitbots_localization/Resampling.hpp
index b52b03e98..2b3d6e554 100644
--- a/bitbots_navigation/bitbots_localization/include/bitbots_localization/Resampling.hpp
+++ b/bitbots_navigation/bitbots_localization/include/bitbots_localization/Resampling.hpp
@@ -5,10 +5,9 @@
 #ifndef IMPORTANCERESAMPLINGWE_H
 #define IMPORTANCERESAMPLINGWE_H
 
-#include <particle_filter/CRandomNumberGenerator.h>
-#include <particle_filter/ImportanceResampling.h>
-
 #include <cassert>
+#include <particle_filter/CRandomNumberGenerator.hpp>
+#include <particle_filter/ImportanceResampling.hpp>
 
 namespace bitbots_localization {
 // ImportanceResampling with explorers
@@ -97,5 +96,5 @@ void ImportanceResamplingWE<StateType>::resample(const ParticleList &sourceList,
 // template <class StateType>
 // void ParticleFilter<StateType>::drawAllFromDistribution(const
 // std::shared_ptr<StateDistribution<StateType>>& distribution) {
-};      // namespace bitbots_localization
+};  // namespace bitbots_localization
 #endif  // IMPORTANCERESAMPLINGWE_H
diff --git a/bitbots_navigation/bitbots_localization/include/bitbots_localization/RobotState.hpp b/bitbots_navigation/bitbots_localization/include/bitbots_localization/RobotState.hpp
index aaab084fb..6595a42ac 100644
--- a/bitbots_navigation/bitbots_localization/include/bitbots_localization/RobotState.hpp
+++ b/bitbots_navigation/bitbots_localization/include/bitbots_localization/RobotState.hpp
@@ -5,12 +5,12 @@
 #ifndef BITBOTS_LOCALIZATION_ROBOTSTATE_H
 #define BITBOTS_LOCALIZATION_ROBOTSTATE_H
 
-#include <particle_filter/ParticleFilter.h>
 #include <tf2/LinearMath/Quaternion.h>
 
 #include <Eigen/Core>
 #include <bitbots_localization/tools.hpp>
 #include <cmath>
+#include <particle_filter/ParticleFilter.hpp>
 #include <vector>
 
 namespace bitbots_localization {
diff --git a/bitbots_navigation/bitbots_localization/include/bitbots_localization/StateDistribution.hpp b/bitbots_navigation/bitbots_localization/include/bitbots_localization/StateDistribution.hpp
index ca564ad80..8e5b9b02a 100644
--- a/bitbots_navigation/bitbots_localization/include/bitbots_localization/StateDistribution.hpp
+++ b/bitbots_navigation/bitbots_localization/include/bitbots_localization/StateDistribution.hpp
@@ -5,10 +5,9 @@
 #ifndef BITBOTS_LOCALIZATION_STATEDISTRIBUTION_H
 #define BITBOTS_LOCALIZATION_STATEDISTRIBUTION_H
 
-#include <particle_filter/CRandomNumberGenerator.h>
-#include <particle_filter/StateDistribution.h>
-
 #include <bitbots_localization/RobotState.hpp>
+#include <particle_filter/CRandomNumberGenerator.hpp>
+#include <particle_filter/StateDistribution.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <utility>
 
diff --git a/bitbots_navigation/bitbots_localization/include/bitbots_localization/localization.hpp b/bitbots_navigation/bitbots_localization/include/bitbots_localization/localization.hpp
index 819187560..6c00a434d 100644
--- a/bitbots_navigation/bitbots_localization/include/bitbots_localization/localization.hpp
+++ b/bitbots_navigation/bitbots_localization/include/bitbots_localization/localization.hpp
@@ -6,9 +6,6 @@
 #define BITBOTS_LOCALIZATION_LOCALIZATION_H
 
 #include <message_filters/subscriber.h>
-#include <particle_filter/CRandomNumberGenerator.h>
-#include <particle_filter/ParticleFilter.h>
-#include <particle_filter/gaussian_mixture_model.h>
 #include <tf2/LinearMath/Quaternion.h>
 #include <tf2/LinearMath/Transform.h>
 #include <tf2/convert.h>
@@ -45,6 +42,9 @@
 #include <iterator>
 #include <localization_parameters.hpp>
 #include <memory>
+#include <particle_filter/CRandomNumberGenerator.hpp>
+#include <particle_filter/ParticleFilter.hpp>
+#include <particle_filter/gaussian_mixture_model.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/camera_info.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
diff --git a/bitbots_navigation/bitbots_localization/include/bitbots_localization/map.hpp b/bitbots_navigation/bitbots_localization/include/bitbots_localization/map.hpp
index 5acb8e9a5..44839346d 100644
--- a/bitbots_navigation/bitbots_localization/include/bitbots_localization/map.hpp
+++ b/bitbots_navigation/bitbots_localization/include/bitbots_localization/map.hpp
@@ -53,5 +53,5 @@ class Map {
  private:
   double out_of_map_value_;
 };
-};      // namespace bitbots_localization
+};  // namespace bitbots_localization
 #endif  // BITBOTS_LOCALIZATION_MAP_H