Lint code

include/amcl/map/map.h

@@ -32,7 +32,7 @@ namespace badger_amcl
 class Map
 {
 public:
-  Map(double resolution);
+  explicit Map(double resolution);
   virtual ~Map() = default;
 
   // Convert from map index to world coords
@@ -52,6 +52,6 @@ class Map
   double max_distance_to_object_;
   std::atomic<bool> distances_lut_created_;
 };
-}  // namespace amcl
+}  // namespace badger_amcl
 
 #endif  // AMCL_MAP_MAP_H

include/amcl/map/occupancy_map.h

@@ -54,7 +54,7 @@ class CachedDistanceOccupancyMap
 class OccupancyMap : public Map
 {
 public:
-  OccupancyMap(double resolution);
+  explicit OccupancyMap(double resolution);
   virtual ~OccupancyMap() = default;
   // Convert from map index to world coords
   virtual void convertMapToWorld(const std::vector<int>& map_coords,
@@ -105,7 +105,7 @@ class OccupancyMap : public Map
   {
     OccupancyMapCellData() = delete;
     OccupancyMap* occ_map;
-    OccupancyMapCellData(OccupancyMap* o_map) : occ_map(o_map) {}
+    explicit OccupancyMapCellData(OccupancyMap* o_map) : occ_map(o_map) {}
     int i, j;
     int src_i, src_j;
     inline bool operator<(const OccupancyMapCellData& b) const
@@ -121,6 +121,6 @@ class OccupancyMap : public Map
   std::vector<int> map_vec_;
   std::vector<double> world_vec_;
 };
-}  // namespace amcl
+}  // namespace badger_amcl
 
 #endif  // AMCL_MAP_OCCUPANCY_MAP_H

include/amcl/map/octomap.h

@@ -58,7 +58,7 @@ struct Index3 {
 class OctoMap : public Map
 {
 public:
-  OctoMap(double resolution);
+  explicit OctoMap(double resolution);
   OctoMap(double resolution, bool publish_distances_lut);
   virtual ~OctoMap() = default;
   virtual void initFromOctree(std::shared_ptr<octomap::OcTree> octree, double max_distance_to_object);
@@ -119,6 +119,6 @@ class OctoMap : public Map
   ros::Publisher distances_lut_pub_;
   bool publish_distances_lut_;
 };
-}  // namespace amcl
+}  // namespace badger_amcl
 
 #endif  // AMCL_MAP_OCTOMAP_H

include/amcl/node/node.h

@@ -226,6 +226,6 @@ class Node
   std::vector<std::pair<int, int>> free_space_indices_;
 };
 
-}  // namespace amcl
+}  // namespace badger_amcl
 
 #endif  // AMCL_NODE_NODE_H

include/amcl/node/node_2d.h

@@ -80,7 +80,8 @@ class Node2D : public NodeND
   void updateScannerPose(const tf2::Transform& scanner_pose, int scanner_index);
   void initLatestScanData(const sensor_msgs::LaserScanConstPtr& planar_scan, int scanner_index);
   bool getAngleStats(const sensor_msgs::LaserScanConstPtr& planar_scan, double* angle_min, double* angle_increment);
-  void updateLatestScanData(const sensor_msgs::LaserScanConstPtr& planar_scan, double angle_min, double angle_increment);
+  void updateLatestScanData(const sensor_msgs::LaserScanConstPtr& planar_scan,
+                            double angle_min, double angle_increment);
   bool updatePf(const sensor_msgs::LaserScanConstPtr& planar_scan, int scanner_index, bool* resampled);
   bool resamplePf(const sensor_msgs::LaserScanConstPtr& planar_scan);
 
@@ -134,6 +135,6 @@ class Node2D : public NodeND
   bool global_localization_active_;
 };
 
-}  // namespace amcl
+}  // namespace badger_amcl
 
-#endif // AMCL_NODE_NODE_2D_H
+#endif  // AMCL_NODE_NODE_2D_H

include/amcl/node/node_3d.h

@@ -142,6 +142,6 @@ class Node3D : public NodeND
   bool global_localization_active_;
 };
 
-}  // namespace amcl
+}  // namespace badger_amcl
 
-#endif // AMCL_NODE_NODE_3D_H
+#endif  // AMCL_NODE_NODE_3D_H

include/amcl/node/node_nd.h

@@ -36,6 +36,6 @@ class NodeND
   virtual double scorePose(const Eigen::Vector3d& p) = 0;
 };
 
-}  // namespace amcl
+}  // namespace badger_amcl
 
 #endif  // AMCL_NODE_NODE_ND_H

include/amcl/pf/particle_filter.h

@@ -45,7 +45,6 @@ struct PFSample
 
   // Weight for this pose
   double weight;
-
 };
 
 // Information for a cluster of samples
@@ -63,7 +62,6 @@ struct PFCluster
 
   // Workspace
   double m[4], c[2][2];
-
 };
 
 // Information for a set of samples
@@ -183,6 +181,6 @@ class ParticleFilter
   bool converged_;
 };
 
-}  // namespace amcl
+}  // namespace badger_amcl
 
 #endif  // AMCL_PF_PARTICLE_FILTER_H

include/amcl/pf/pdf_gaussian.h

@@ -59,6 +59,6 @@ class PDFGaussian
   Eigen::Vector3d cd_;
 };
 
-}  // namespace amcl
+}  // namespace badger_amcl
 
 #endif  // AMCL_PF_PDF_GAUSSIAN_H

include/amcl/pf/pf_kdtree.h

@@ -37,7 +37,6 @@ struct PFKDTreeNode
   double value;
   int cluster;
   struct PFKDTreeNode* children[2];
-
 };
 
 class PFKDTree
@@ -64,6 +63,6 @@ class PFKDTree
   int leaf_count_;
 };
 
-}  // namespace amcl
+}  // namespace badger_amcl
 
 #endif  // AMCL_PF_PF_KDTREE_H

include/amcl/sensors/odom.h

@@ -80,6 +80,6 @@ class Odom : public Sensor
   double alpha1_, alpha2_, alpha3_, alpha4_, alpha5_;
 };
 
-}  // namespace amcl
+}  // namespace badger_amcl
 
 #endif  // AMCL_SENSORS_ODOM_H

include/amcl/sensors/planar_scanner.h

@@ -167,6 +167,6 @@ class PlanarScanner : public Sensor
   std::vector<double> world_vec_;
 };
 
-}  // namespace amcl
+}  // namespace badger_amcl
 
 #endif  // AMCL_SENSORS_PLANAR_SCANNER_H

include/amcl/sensors/point_cloud_scanner.h

@@ -21,6 +21,8 @@
 #define AMCL_SENSORS_POINT_CLOUD_SCANNER_H
 
 #include <memory>
+#include <string>
+#include <vector>
 
 #include <Eigen/Dense>
 #include <pcl/point_types.h>
@@ -119,6 +121,6 @@ class PointCloudScanner : public Sensor
   std::vector<double> world_vec_;
 };
 
-}  // namespace amcl
+}  // namespace badger_amcl
 
 #endif  // AMCL_SENSORS_POINT_CLOUD_SCANNER_H

include/amcl/sensors/sensor.h

@@ -35,12 +35,12 @@ class Sensor
   virtual ~Sensor() = default;
 
   virtual bool updateAction(std::shared_ptr<ParticleFilter> pf,
-                            std::shared_ptr<SensorData> data) { return false; };
+                            std::shared_ptr<SensorData> data) { return false; }
 
   // Update the filter based on the sensor model.  Returns true if the
   // filter has been updated.
   virtual bool updateSensor(std::shared_ptr<ParticleFilter> pf,
-                            std::shared_ptr<SensorData> data) { return false; };
+                            std::shared_ptr<SensorData> data) { return false; }
 };
 
 // Base class for all AMCL sensor measurements
@@ -51,6 +51,6 @@ class SensorData
   virtual ~SensorData() = default;
 };
 
-}  // namespace amcl
+}  // namespace badger_amcl
 
 #endif  // AMCL_SENSORS_SENSOR_H

src/amcl/map/map.cpp

@@ -40,4 +40,4 @@ bool Map::isDistancesLUTCreated()
   return distances_lut_created_;
 }
 
-}  // namespace amcl
+}  // namespace badger_amcl

src/amcl/map/occupancy_map.cpp

@@ -138,7 +138,7 @@ CachedDistanceOccupancyMap::CachedDistanceOccupancyMap(double resolution, double
 void OccupancyMap::updateDistancesLUT(double max_distance_to_object)
 {
   max_distance_to_object_ = max_distance_to_object;
-  if(max_distance_to_object_ == 0.0)
+  if (max_distance_to_object_ == 0.0)
   {
     ROS_DEBUG("Failed to update distances lut, max distance to object is 0");
     return;
@@ -215,7 +215,7 @@ void OccupancyMap::updateNode(int i, int j, const OccupancyMapCellData& current_
                               std::vector<bool>& marked)
 {
   unsigned int index = computeCellIndex(i, j);
-  if (not marked.at(index))
+  if (!marked.at(index))
   {
     marked.at(index) = enqueue(i, j, current_cell.src_i, current_cell.src_j, q);
   }
@@ -276,7 +276,7 @@ double OccupancyMap::calcRange(double ox, double oy, double oa, double max_range
   x1 = map_vec_[0];
   y1 = map_vec_[1];
 
-  if (x0 == x1 and y0 == y1)
+  if (x0 == x1 && y0 == y1)
     return max_range;
 
   if (std::abs(y1 - y0) > std::abs(x1 - x0))
@@ -363,4 +363,4 @@ double OccupancyMap::calcRange(double ox, double oy, double oa, double max_range
   return max_range;
 }
 
-}  //namespace amcl
+}  // namespace badger_amcl

src/amcl/map/octomap.cpp

@@ -111,13 +111,13 @@ void OctoMap::convertWorldToMap(const std::vector<double>& world_coords, std::ve
 // returns true if all coordinates are within the represented map
 bool OctoMap::isPoseValid(const int i, const int j)
 {
-  return (i <= cropped_max_cells_[0] and i >= cropped_min_cells_[0]
-          and j <= cropped_max_cells_[1] and j >= cropped_min_cells_[1]);
+  return (i <= cropped_max_cells_[0] && i >= cropped_min_cells_[0]
+          && j <= cropped_max_cells_[1] && j >= cropped_min_cells_[1]);
 }
 
 bool OctoMap::isVoxelValid(const int i, const int j, const int k)
 {
-  return isPoseValid(i, j) and k <= cropped_max_cells_[2] and k >= cropped_min_cells_[2];
+  return isPoseValid(i, j) && k <= cropped_max_cells_[2] && k >= cropped_min_cells_[2];
 }
 
 double OctoMap::getMaxDistanceToObject()
@@ -229,7 +229,7 @@ void OctoMap::iterateObstacleCells(CellDataQueue& q)
       i = map_coords[0];
       j = map_coords[1];
       k = map_coords[2];
-      if(!isVoxelValid(i, j, k))
+      if (!isVoxelValid(i, j, k))
         continue;
       setDistanceToObject(i, j, k, 0.0);
       source.v[0] = i;
@@ -239,7 +239,7 @@ void OctoMap::iterateObstacleCells(CellDataQueue& q)
     }
   }
 
-  while(!ordering_queue.empty())
+  while (!ordering_queue.empty())
   {
     source = ordering_queue.top();
     ordering_queue.pop();
@@ -319,7 +319,7 @@ void OctoMap::setDistanceToObject(int i, int j, int k, double d)
   int k_shifted = k - cropped_min_cells_[2];
   uint32_t pose_index = makePoseIndex(i_shifted, j_shifted);
   uint32_t distances_lut_start_index = pose_indices_[pose_index];
-  if(distances_lut_start_index == 0)
+  if (distances_lut_start_index == 0)
   {
     distances_lut_start_index = distance_ratios_.size();
     pose_indices_[pose_index] = distances_lut_start_index;
@@ -337,7 +337,7 @@ double OctoMap::getDistanceToObject(int i, int j, int k)
 {
   // Checking if distances lut is created first will prevent checking validity while creating distances lut.
   // The distances lut container is assumed to not send invalid coordinates and checking every time is inefficient.
-  if(distances_lut_created_ and !isVoxelValid(i, j, k))
+  if (distances_lut_created_ && !isVoxelValid(i, j, k))
     return max_distance_to_object_;
   int i_shifted = i - cropped_min_cells_[0];
   int j_shifted = j - cropped_min_cells_[1];
@@ -365,14 +365,14 @@ void OctoMap::publishDistancesLUT()
   std::vector<double> world_coords(3);
   int count = 0;
   int max_count = 1000000;
-  for(int i = cropped_min_cells_[0]; i <= cropped_max_cells_[0]; i++)
+  for (int i = cropped_min_cells_[0]; i <= cropped_max_cells_[0]; i++)
   {
-    for(int j = cropped_min_cells_[1]; j <= cropped_max_cells_[1]; j++)
+    for (int j = cropped_min_cells_[1]; j <= cropped_max_cells_[1]; j++)
     {
-      for(int k = cropped_min_cells_[2]; k <= cropped_max_cells_[2]; k++)
+      for (int k = cropped_min_cells_[2]; k <= cropped_max_cells_[2]; k++)
       {
         double d = getDistanceToObject(i, j, k);
-        if(count < max_count and d < max_distance_to_object_)
+        if (count < max_count && d < max_distance_to_object_)
         {
           map_coords[0] = i;
           map_coords[1] = j;
@@ -394,4 +394,4 @@ void OctoMap::publishDistancesLUT()
   ROS_INFO_STREAM("Publishing cloud of size: " << cloud->points.size());
 }
 
-}  // namespace amcl
+}  // namespace badger_amcl