Reformat

safety_planning_request_adapters/src/add_safety.cpp

-#include <moveit/planning_request_adapter/planning_request_adapter.h>
 #include <class_loader/class_loader.hpp>
+#include <moveit/planning_request_adapter/planning_request_adapter.h>
 #include <ros/console.h>
 
 namespace safety_planning_request_adapters
 {
-class AddSafety : public planning_request_adapter::PlanningRequestAdapter
-{
-    int VELOCITY_LIMIT = 3;
+    class AddSafety : public planning_request_adapter::PlanningRequestAdapter
+    {
+        int VELOCITY_LIMIT = 3;
 
-public:
+    public:
 
-  std::string getDescription() const override
-  {
-    return "Add Safety";
-  }
+        std::string getDescription() const override
+        {
+            return "Add Safety";
+        }
 
-  bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
-                    const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
-                    std::vector<std::size_t>& added_path_index) const override
-  {
-      ROS_ERROR("ADAPTER PACKAGE: ADAPTER LOADED");
+        bool adaptAndPlan(const PlannerFn& planner, const planning_scene::PlanningSceneConstPtr& planning_scene,
+                          const planning_interface::MotionPlanRequest& req, planning_interface::MotionPlanResponse& res,
+                          std::vector<std::size_t>& added_path_index) const override
+        {
+            ROS_ERROR("ADAPTER PACKAGE: Adapter loaded");
 
-      bool result = planner(planning_scene, req, res);
-      if (result && res.trajectory_) // Only run after planning
-      {
+            bool result = planner(planning_scene, req, res);
+            if (result && res.trajectory_) // Only run after planning
+            {
+                ROS_ERROR("ADAPTER PACKAGE: After planning");
 //          ROS_DEBUG("Running '%s'", getDescription().c_str());
 //          if (!time_param_.computeTimeStamps(*res.trajectory_, req.max_velocity_scaling_factor,
 //                                             req.max_acceleration_scaling_factor))
@@ -31,11 +32,11 @@ public:
 //              ROS_ERROR("Time parametrization for the solution path failed.");
 //              result = false;
 //          }
-      }
+            }
 
-      return result;
-  }
-};
+            return result;
+        }
+    };
 }  // namespace safety_planning_request_adapters
 
 CLASS_LOADER_REGISTER_CLASS(safety_planning_request_adapters::AddSafety, planning_request_adapter::PlanningRequestAdapter);