From b7a1c8ad6ac53dd9279ec61fbdf31e2a0e158f14 Mon Sep 17 00:00:00 2001
From: bernatx <bernatx@gmail.com>
Date: Fri, 14 Apr 2023 08:49:03 +0200
Subject: [PATCH] Fixes from review

---
 .../carla/client/detail/WalkerNavigation.cpp  |  2 +-
 LibCarla/source/carla/nav/WalkerEvent.h       |  4 +--
 LibCarla/source/carla/nav/WalkerManager.cpp   | 35 ++++++++++---------
 .../Carla/Source/Carla/Actor/CarlaActor.h     |  2 +-
 4 files changed, 23 insertions(+), 20 deletions(-)

diff --git a/LibCarla/source/carla/client/detail/WalkerNavigation.cpp b/LibCarla/source/carla/client/detail/WalkerNavigation.cpp
index de3568a7d..d0f354f7c 100644
--- a/LibCarla/source/carla/client/detail/WalkerNavigation.cpp
+++ b/LibCarla/source/carla/client/detail/WalkerNavigation.cpp
@@ -60,7 +60,7 @@ namespace detail {
       }
     }
     _simulator.lock()->ApplyBatchSync(std::move(commands), false);
-    
+
     // check if any agent has been killed
     bool alive;
     for (auto handle : *walkers) {
diff --git a/LibCarla/source/carla/nav/WalkerEvent.h b/LibCarla/source/carla/nav/WalkerEvent.h
index e4e55831e..cdd18aac0 100644
--- a/LibCarla/source/carla/nav/WalkerEvent.h
+++ b/LibCarla/source/carla/nav/WalkerEvent.h
@@ -46,8 +46,8 @@ namespace nav {
         double time;
         bool check_for_trafficlight;
         SharedPtr<carla::client::TrafficLight> actor;
-        WalkerEventStopAndCheck(double duration) : time(duration), 
-                                                   check_for_trafficlight(true)                                                   
+        WalkerEventStopAndCheck(double duration) : time(duration),
+                                                   check_for_trafficlight(true)
                                                    {};
     };
 
diff --git a/LibCarla/source/carla/nav/WalkerManager.cpp b/LibCarla/source/carla/nav/WalkerManager.cpp
index a86f539f2..3fd333b91 100644
--- a/LibCarla/source/carla/nav/WalkerManager.cpp
+++ b/LibCarla/source/carla/nav/WalkerManager.cpp
@@ -288,7 +288,8 @@ namespace nav {
             // check traffic lights only
             if (actor.description.id == "traffic.traffic_light") {
                 // get the TL actor
-                SharedPtr<carla::client::TrafficLight> tl = boost::static_pointer_cast<carla::client::TrafficLight>(world.GetActor(actor.id));
+                SharedPtr<carla::client::TrafficLight> tl =
+                    boost::static_pointer_cast<carla::client::TrafficLight>(world.GetActor(actor.id));
                 // get the waypoints where the TL affects
                 std::vector<SharedPtr<carla::client::Waypoint>> list = tl->GetStopWaypoints();
                 for (auto &way : list) {
@@ -302,22 +303,24 @@ namespace nav {
 
 
     // return the trafficlight affecting that position
-    SharedPtr<carla::client::TrafficLight> WalkerManager::GetTrafficLightAffecting(carla::geom::Location UnrealPos, float max_distance) {
-        float min_dist = std::numeric_limits<float>::infinity();
-        SharedPtr<carla::client::TrafficLight> actor;
-        for (auto &&item : _traffic_lights) {
-            float dist = UnrealPos.DistanceSquared(item.second);
-            if (dist < min_dist) {
-                min_dist = dist;
-                actor = item.first;
+    SharedPtr<carla::client::TrafficLight> WalkerManager::GetTrafficLightAffecting(
+        carla::geom::Location UnrealPos,
+        float max_distance) {
+            float min_dist = std::numeric_limits<float>::infinity();
+            SharedPtr<carla::client::TrafficLight> actor;
+            for (auto &&item : _traffic_lights) {
+                float dist = UnrealPos.DistanceSquared(item.second);
+                if (dist < min_dist) {
+                    min_dist = dist;
+                    actor = item.first;
+                }
+            }
+            // if distance is not in the limit, then reject the trafficlight
+            if (max_distance < 0.0f || min_dist <= max_distance * max_distance) {
+                return actor;
+            } else {
+                return SharedPtr<carla::client::TrafficLight>();
             }
-        }
-        // if distance is not in the limit, then reject the trafficlight
-        if (max_distance < 0.0f || min_dist <= max_distance * max_distance) {
-            return actor;
-        } else {
-            return SharedPtr<carla::client::TrafficLight>();
-        }
     }
 
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.h b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.h
index 8429eb2f8..ed3982727 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.h
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.h
@@ -224,7 +224,7 @@ public:
   ECarlaServerResponse AddActorTorque(const FVector& Torque);
 
   virtual ECarlaServerResponse SetActorSimulatePhysics(bool bEnabled);
-  
+
   virtual ECarlaServerResponse SetActorCollisions(bool bEnabled);
 
   virtual ECarlaServerResponse SetActorEnableGravity(bool bEnabled);