reformatting

Author: rhaschke

move_group/src/default_capabilities/execute_service_capability.cpp

@@ -70,14 +70,12 @@ bool move_group::MoveGroupExecuteService::executeTrajectoryService(moveit_msgs::
       moveit_controller_manager::ExecutionStatus es = context_->trajectory_execution_manager_->waitForExecution();
       if (es == moveit_controller_manager::ExecutionStatus::SUCCEEDED)
         res.error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
+      else if (es == moveit_controller_manager::ExecutionStatus::PREEMPTED)
+        res.error_code.val = moveit_msgs::MoveItErrorCodes::PREEMPTED;
+      else if (es == moveit_controller_manager::ExecutionStatus::TIMED_OUT)
+        res.error_code.val = moveit_msgs::MoveItErrorCodes::TIMED_OUT;
       else
-        if (es == moveit_controller_manager::ExecutionStatus::PREEMPTED)
-          res.error_code.val = moveit_msgs::MoveItErrorCodes::PREEMPTED;
-        else
-          if (es == moveit_controller_manager::ExecutionStatus::TIMED_OUT)
-            res.error_code.val = moveit_msgs::MoveItErrorCodes::TIMED_OUT;
-          else
-            res.error_code.val = moveit_msgs::MoveItErrorCodes::CONTROL_FAILED;
+        res.error_code.val = moveit_msgs::MoveItErrorCodes::CONTROL_FAILED;
       // wait for all planning scene updates to be processed
       context_->planning_scene_monitor_->syncUpdates(ros::Time::now());
       ROS_INFO_STREAM("Execution completed: " << es.asString());