lint

viam-modules · Jul 11, 2023 · d28e78e · d28e78e
1 parent 05d6255
commit d28e78e
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Showing 2 changed files with 29 additions and 4 deletions.
diff --git a/viam-cartographer.go b/viam-cartographer.go
@@ -521,7 +521,14 @@ func (cartoSvc *cartographerService) getPositionModularizationV2(ctx context.Con
 	}
 
 	pose := spatialmath.NewPoseFromPoint(r3.Vector{X: pos.X, Y: pos.Y, Z: pos.Z})
-	returnedExt := map[string]interface{}{"quat": map[string]interface{}{"real": pos.Real, "imag": pos.Imag, "jmag": pos.Jmag, "kmag": pos.Kmag}}
+	returnedExt := map[string]interface{}{
+		"quat": map[string]interface{}{
+			"real": pos.Real,
+			"imag": pos.Imag,
+			"jmag": pos.Jmag,
+			"kmag": pos.Kmag,
+		},
+	}
 	return vcUtils.CheckQuaternionFromClientAlgo(pose, cartoSvc.primarySensorName, returnedExt)
 }
 

diff --git a/viam-cartographer_internal_test.go b/viam-cartographer_internal_test.go
@@ -244,6 +244,7 @@ func TestGetPositionEndpoint(t *testing.T) {
 	})
 }
 
+//nolint:dupl
 func TestGetPositionModularizationV2Endpoint(t *testing.T) {
 	svc := &cartographerService{Named: resource.NewName(slam.API, "test").AsNamed()}
 	mockCartoFacade := &cartofacade.Mock{}
@@ -254,13 +255,21 @@ func TestGetPositionModularizationV2Endpoint(t *testing.T) {
 	var inputQuat map[string]interface{}
 
 	t.Run("successful client", func(t *testing.T) {
-
 		t.Run("origin pose success", func(t *testing.T) {
 			mockCartoFacade.GetPositionFunc = func(
 				ctx context.Context,
 				timeout time.Duration,
 			) (cartofacade.GetPosition, error) {
-				return cartofacade.GetPosition{X: 0, Y: 0, Z: 0, Real: 1.0, Imag: 0.0, Jmag: 0.0, Kmag: 0.0}, nil
+				return cartofacade.GetPosition{
+						X:    0,
+						Y:    0,
+						Z:    0,
+						Real: 1.0,
+						Imag: 0.0,
+						Jmag: 0.0,
+						Kmag: 0.0,
+					},
+					nil
 			}
 
 			inputPose = commonv1.Pose{X: 0, Y: 0, Z: 0, OX: 0, OY: 0, OZ: 1, Theta: 0}
@@ -279,7 +288,16 @@ func TestGetPositionModularizationV2Endpoint(t *testing.T) {
 				ctx context.Context,
 				timeout time.Duration,
 			) (cartofacade.GetPosition, error) {
-				return cartofacade.GetPosition{X: 5, Y: 5, Z: 5, Real: 1.0, Imag: 1.0, Jmag: 0.0, Kmag: 0.0}, nil
+				return cartofacade.GetPosition{
+						X:    5,
+						Y:    5,
+						Z:    5,
+						Real: 1.0,
+						Imag: 1.0,
+						Jmag: 0.0,
+						Kmag: 0.0,
+					},
+					nil
 			}
 
 			inputPose = commonv1.Pose{X: 5, Y: 5, Z: 5, OX: 0, OY: 0, OZ: 1, Theta: 0}