(DO NOT MERGE)feat(lanelet2_map_preprocessor): port lanelet2_map_preprocessor from Autoware.Universe #3
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…Autoware.Universe Signed-off-by: mitsudome-r <[email protected]>
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| #include <unordered_set> | ||
| #include <vector> | ||
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| using lanelet::utils::getId; |
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using decl getId is unused
| #include <vector> | ||
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| using lanelet::utils::getId; | ||
| using lanelet::utils::to2D; |
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using decl to2D is unused
| using lanelet::utils::getId; | ||
| using lanelet::utils::to2D; | ||
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| bool loadLaneletMap( |
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invalid case style for function loadLaneletMap
| bool loadLaneletMap( | |
| bool load_lanelet_map( |
| lanelet::LaneletMapPtr llt_map_ptr(new lanelet::LaneletMap); | ||
| lanelet::projection::MGRSProjector projector; | ||
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| if (!loadLaneletMap(llt_map_path, llt_map_ptr, projector)) { |
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invalid case style for function loadLaneletMap
| if (!loadLaneletMap(llt_map_path, llt_map_ptr, projector)) { | |
| if (!load_lanelet_map(llt_map_path, llt_map_ptr, projector)) { |
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| bool exists(std::unordered_set<lanelet::Id> & set, lanelet::Id element) | ||
| { | ||
| return std::find(set.begin(), set.end(), element) != set.end(); |
There was a problem hiding this comment.
this STL algorithm call should be replaced with a container method
| return std::find(set.begin(), set.end(), element) != set.end(); | |
| return set.find(element) != set.end(); |
| return std::find(set.begin(), set.end(), element) != set.end(); | ||
| } | ||
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| lanelet::Lanelets convertToVector(lanelet::LaneletMapPtr & lanelet_map_ptr) |
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invalid case style for function convertToVector
| lanelet::Lanelets convertToVector(lanelet::LaneletMapPtr & lanelet_map_ptr) | |
| lanelet::Lanelets convert_to_vector(lanelet::LaneletMapPtr & lanelet_map_ptr) |
| } | ||
| void fixTags(lanelet::LaneletMapPtr & lanelet_map_ptr) | ||
| { | ||
| auto lanelets = convertToVector(lanelet_map_ptr); |
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invalid case style for function convertToVector
| auto lanelets = convertToVector(lanelet_map_ptr); | |
| auto lanelets = convert_to_vector(lanelet_map_ptr); |
| lanelet::Lanelets convertToVector(lanelet::LaneletMapPtr & lanelet_map_ptr) | ||
| { | ||
| lanelet::Lanelets lanelets; | ||
| for (lanelet::Lanelet lanelet : lanelet_map_ptr->laneletLayer) { |
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loop variable is copied but only used as const reference; consider making it a const reference
| for (lanelet::Lanelet lanelet : lanelet_map_ptr->laneletLayer) { | |
| for (const lanelet::Lanelet& lanelet : lanelet_map_ptr->laneletLayer) { |
| } | ||
| return lanelets; | ||
| } | ||
| void fixTags(lanelet::LaneletMapPtr & lanelet_map_ptr) |
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invalid case style for function fixTags
| void fixTags(lanelet::LaneletMapPtr & lanelet_map_ptr) | |
| void fix_tags(lanelet::LaneletMapPtr & lanelet_map_ptr) |
| return EXIT_FAILURE; | ||
| } | ||
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| fixTags(llt_map_ptr); |
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invalid case style for function fixTags
| fixTags(llt_map_ptr); | |
| fix_tags(llt_map_ptr); |
| void fixTags(lanelet::LaneletMapPtr & lanelet_map_ptr) | ||
| { | ||
| auto lanelets = convertToVector(lanelet_map_ptr); | ||
| lanelet::traffic_rules::TrafficRulesPtr trafficRules = |
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invalid case style for variable trafficRules
| lanelet::traffic_rules::TrafficRulesPtr trafficRules = | |
| lanelet::traffic_rules::TrafficRulesPtr traffic_rules = |
| lanelet::traffic_rules::TrafficRulesFactory::create( | ||
| lanelet::Locations::Germany, lanelet::Participants::Vehicle); | ||
| lanelet::routing::RoutingGraphUPtr routingGraph = | ||
| lanelet::routing::RoutingGraph::build(*lanelet_map_ptr, *trafficRules); |
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invalid case style for variable trafficRules
| lanelet::routing::RoutingGraph::build(*lanelet_map_ptr, *trafficRules); | |
| lanelet::routing::RoutingGraph::build(*lanelet_map_ptr, *traffic_rules); |
| lanelet::traffic_rules::TrafficRulesPtr trafficRules = | ||
| lanelet::traffic_rules::TrafficRulesFactory::create( | ||
| lanelet::Locations::Germany, lanelet::Participants::Vehicle); | ||
| lanelet::routing::RoutingGraphUPtr routingGraph = |
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invalid case style for variable routingGraph
| lanelet::routing::RoutingGraphUPtr routingGraph = | |
| lanelet::routing::RoutingGraphUPtr routing_graph = |
| lanelet::routing::RoutingGraph::build(*lanelet_map_ptr, *trafficRules); | ||
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| for (auto & llt : lanelets) { | ||
| if (!routingGraph->conflicting(llt).empty()) { |
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invalid case style for variable routingGraph
| if (!routingGraph->conflicting(llt).empty()) { | |
| if (!routing_graph->conflicting(llt).empty()) { |
| continue; | ||
| } | ||
| llt.attributes().erase("turn_direction"); | ||
| if (!!routingGraph->adjacentRight(llt)) { |
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invalid case style for variable routingGraph
| if (!!routingGraph->adjacentRight(llt)) { | |
| if (!!routing_graph->adjacentRight(llt)) { |
| if (!!routingGraph->adjacentRight(llt)) { | ||
| llt.rightBound().attributes()["lane_change"] = "yes"; | ||
| } | ||
| if (!!routingGraph->adjacentLeft(llt)) { |
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invalid case style for variable routingGraph
| if (!!routingGraph->adjacentLeft(llt)) { | |
| if (!!routing_graph->adjacentLeft(llt)) { |
| #include <unordered_set> | ||
| #include <vector> | ||
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| bool loadLaneletMap( |
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invalid case style for function loadLaneletMap
| bool loadLaneletMap( | |
| bool load_lanelet_map( |
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| pcl::PointCloud<pcl::PointXYZ>::Ptr pcd_map_ptr(new pcl::PointCloud<pcl::PointXYZ>); | ||
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| if (!loadLaneletMap(llt_map_path, llt_map_ptr, projector)) { |
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invalid case style for function loadLaneletMap
| if (!loadLaneletMap(llt_map_path, llt_map_ptr, projector)) { | |
| if (!load_lanelet_map(llt_map_path, llt_map_ptr, projector)) { |
| return true; | ||
| } | ||
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| bool loadPCDMap(const std::string & pcd_map_path, pcl::PointCloud<pcl::PointXYZ>::Ptr & pcd_map_ptr) |
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invalid case style for function loadPCDMap
| bool loadPCDMap(const std::string & pcd_map_path, pcl::PointCloud<pcl::PointXYZ>::Ptr & pcd_map_ptr) | |
| bool load_pcd_map(const std::string & pcd_map_path, pcl::PointCloud<pcl::PointXYZ>::Ptr & pcd_map_ptr) |
| if (!loadLaneletMap(llt_map_path, llt_map_ptr, projector)) { | ||
| return EXIT_FAILURE; | ||
| } | ||
| if (!loadPCDMap(pcd_map_path, pcd_map_ptr)) { |
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invalid case style for function loadPCDMap
| if (!loadPCDMap(pcd_map_path, pcd_map_ptr)) { | |
| if (!load_pcd_map(pcd_map_path, pcd_map_ptr)) { |
| return true; | ||
| } | ||
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| double getMinHeightAroundPoint( |
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invalid case style for function getMinHeightAroundPoint
| double getMinHeightAroundPoint( | |
| double get_min_height_around_point( |
| pcl_pt.y = pt.y(); | ||
| pcl_pt.z = pt.z(); | ||
| double min_height = | ||
| getMinHeightAroundPoint(pcd_map_ptr, kdtree, pcl_pt, search_radius3d, search_radius2d); |
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invalid case style for function getMinHeightAroundPoint
| getMinHeightAroundPoint(pcd_map_ptr, kdtree, pcl_pt, search_radius3d, search_radius2d); | |
| get_min_height_around_point(pcd_map_ptr, kdtree, pcl_pt, search_radius3d, search_radius2d); |
| pcl_pt.y = pt.y(); | ||
| pcl_pt.z = pt.z(); | ||
| double min_height = | ||
| getMinHeightAroundPoint(pcd_map_ptr, kdtree, pcl_pt, search_radius3d, search_radius2d); |
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invalid case style for function getMinHeightAroundPoint
| getMinHeightAroundPoint(pcd_map_ptr, kdtree, pcl_pt, search_radius3d, search_radius2d); | |
| get_min_height_around_point(pcd_map_ptr, kdtree, pcl_pt, search_radius3d, search_radius2d); |
| const pcl::KdTreeFLANN<pcl::PointXYZ> & kdtree, const pcl::PointXYZ & search_pt, | ||
| const double search_radius3d, const double search_radius2d) | ||
| { | ||
| std::vector<int> pointIdxRadiusSearch; |
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invalid case style for variable pointIdxRadiusSearch
| const double search_radius3d, const double search_radius2d) | ||
| { | ||
| std::vector<int> pointIdxRadiusSearch; | ||
| std::vector<float> pointRadiusSquaredDistance; |
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invalid case style for variable pointRadiusSquaredDistance
| std::vector<float> pointRadiusSquaredDistance; | |
| std::vector<float> point_radius_squared_distance; |
| std::vector<float> pointRadiusSquaredDistance; | ||
| if ( | ||
| kdtree.radiusSearch( | ||
| search_pt, search_radius3d, pointIdxRadiusSearch, pointRadiusSquaredDistance) <= 0) { |
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invalid case style for variable pointRadiusSquaredDistance
| search_pt, search_radius3d, pointIdxRadiusSearch, pointRadiusSquaredDistance) <= 0) { | |
| search_pt, search_radius3d, pointIdxRadiusSearch, point_radius_squared_distance) <= 0) { |
| kdtree.radiusSearch( | ||
| search_pt, search_radius3d, pointIdxRadiusSearch, pointRadiusSquaredDistance) <= 0) { | ||
| std::cout << "no points found within 3d radius " << search_radius3d << std::endl; | ||
| return search_pt.z; |
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do not access members of unions; use (boost::)variant instead
| for (std::size_t i = 0; i < pointIdxRadiusSearch.size(); i++) { | ||
| std::size_t pt_idx = pointIdxRadiusSearch.at(i); |
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use range-based for loop instead
| for (std::size_t i = 0; i < pointIdxRadiusSearch.size(); i++) { | |
| std::size_t pt_idx = pointIdxRadiusSearch.at(i); | |
| for (unsigned long pt_idx : pointIdxRadiusSearch) { |
| for (std::size_t i = 0; i < pointIdxRadiusSearch.size(); i++) { | ||
| std::size_t pt_idx = pointIdxRadiusSearch.at(i); | ||
| const auto pt = pcd_map_ptr->points.at(pt_idx); | ||
| if (pt.z > min_height) { |
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do not access members of unions; use (boost::)variant instead
| if (pt.z > min_height) { | ||
| continue; | ||
| } | ||
| double distance2d = std::hypot(pt.x - search_pt.x, pt.y - search_pt.y); |
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do not access members of unions; use (boost::)variant instead
| if (pt.z > min_height) { | ||
| continue; | ||
| } | ||
| double distance2d = std::hypot(pt.x - search_pt.x, pt.y - search_pt.y); |
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do not access members of unions; use (boost::)variant instead
| if (pt.z > min_height) { | ||
| continue; | ||
| } | ||
| double distance2d = std::hypot(pt.x - search_pt.x, pt.y - search_pt.y); |
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do not access members of unions; use (boost::)variant instead
| if (pt.z > min_height) { | ||
| continue; | ||
| } | ||
| double distance2d = std::hypot(pt.x - search_pt.x, pt.y - search_pt.y); |
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do not access members of unions; use (boost::)variant instead
| double distance2d = std::hypot(pt.x - search_pt.x, pt.y - search_pt.y); | ||
| if (distance2d < search_radius2d) { | ||
| found = true; | ||
| min_height = pt.z; |
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do not access members of unions; use (boost::)variant instead
| } | ||
| } | ||
| if (!found) { | ||
| min_height = search_pt.z; |
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do not access members of unions; use (boost::)variant instead
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| bool exists(std::unordered_set<lanelet::Id> & set, lanelet::Id element) | ||
| { | ||
| return std::find(set.begin(), set.end(), element) != set.end(); |
There was a problem hiding this comment.
this STL algorithm call should be replaced with a container method
| return std::find(set.begin(), set.end(), element) != set.end(); | |
| return set.find(element) != set.end(); |
| return std::find(set.begin(), set.end(), element) != set.end(); | ||
| } | ||
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| void adjustHeight( |
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invalid case style for function adjustHeight
| void adjustHeight( | |
| void adjust_height( |
| return EXIT_FAILURE; | ||
| } | ||
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| adjustHeight(pcd_map_ptr, llt_map_ptr); |
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invalid case style for function adjustHeight
| adjustHeight(pcd_map_ptr, llt_map_ptr); | |
| adjust_height(pcd_map_ptr, llt_map_ptr); |
| continue; | ||
| } | ||
| pcl::PointXYZ pcl_pt; | ||
| pcl_pt.x = pt.x(); |
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do not access members of unions; use (boost::)variant instead
| continue; | ||
| } | ||
| pcl::PointXYZ pcl_pt; | ||
| pcl_pt.x = pt.x(); |
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narrowing conversion from double to float
| } | ||
| pcl::PointXYZ pcl_pt; | ||
| pcl_pt.x = pt.x(); | ||
| pcl_pt.y = pt.y(); |
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do not access members of unions; use (boost::)variant instead
| } | ||
| pcl::PointXYZ pcl_pt; | ||
| pcl_pt.x = pt.x(); | ||
| pcl_pt.y = pt.y(); |
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narrowing conversion from double to float
| pcl::PointXYZ pcl_pt; | ||
| pcl_pt.x = pt.x(); | ||
| pcl_pt.y = pt.y(); | ||
| pcl_pt.z = pt.z(); |
There was a problem hiding this comment.
do not access members of unions; use (boost::)variant instead
| pcl::PointXYZ pcl_pt; | ||
| pcl_pt.x = pt.x(); | ||
| pcl_pt.y = pt.y(); | ||
| pcl_pt.z = pt.z(); |
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narrowing conversion from double to float
| continue; | ||
| } | ||
| pcl::PointXYZ pcl_pt; | ||
| pcl_pt.x = pt.x(); |
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do not access members of unions; use (boost::)variant instead
| continue; | ||
| } | ||
| pcl::PointXYZ pcl_pt; | ||
| pcl_pt.x = pt.x(); |
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narrowing conversion from double to float
| } | ||
| pcl::PointXYZ pcl_pt; | ||
| pcl_pt.x = pt.x(); | ||
| pcl_pt.y = pt.y(); |
There was a problem hiding this comment.
do not access members of unions; use (boost::)variant instead
| } | ||
| pcl::PointXYZ pcl_pt; | ||
| pcl_pt.x = pt.x(); | ||
| pcl_pt.y = pt.y(); |
There was a problem hiding this comment.
narrowing conversion from double to float
| pcl::PointXYZ pcl_pt; | ||
| pcl_pt.x = pt.x(); | ||
| pcl_pt.y = pt.y(); | ||
| pcl_pt.z = pt.z(); |
There was a problem hiding this comment.
do not access members of unions; use (boost::)variant instead
| pcl::PointXYZ pcl_pt; | ||
| pcl_pt.x = pt.x(); | ||
| pcl_pt.y = pt.y(); | ||
| pcl_pt.z = pt.z(); |
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narrowing conversion from double to float
| #include <unordered_set> | ||
| #include <vector> | ||
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| using lanelet::utils::getId; |
There was a problem hiding this comment.
using decl getId is unused
| using lanelet::utils::getId; | ||
| using lanelet::utils::to2D; | ||
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| bool loadLaneletMap( |
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invalid case style for function loadLaneletMap
| bool loadLaneletMap( | |
| bool load_lanelet_map( |
| lanelet::LaneletMapPtr llt_map_ptr(new lanelet::LaneletMap); | ||
| lanelet::projection::MGRSProjector projector; | ||
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| if (!loadLaneletMap(llt_map_path, llt_map_ptr, projector)) { |
There was a problem hiding this comment.
invalid case style for function loadLaneletMap
| if (!loadLaneletMap(llt_map_path, llt_map_ptr, projector)) { | |
| if (!load_lanelet_map(llt_map_path, llt_map_ptr, projector)) { |
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| bool exists(std::unordered_set<lanelet::Id> & set, lanelet::Id element) | ||
| { | ||
| return std::find(set.begin(), set.end(), element) != set.end(); |
There was a problem hiding this comment.
this STL algorithm call should be replaced with a container method
| return std::find(set.begin(), set.end(), element) != set.end(); | |
| return set.find(element) != set.end(); |
| return std::find(set.begin(), set.end(), element) != set.end(); | ||
| } | ||
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| lanelet::LineStrings3d convertLineLayerToLineStrings(lanelet::LaneletMapPtr & lanelet_map_ptr) |
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invalid case style for function convertLineLayerToLineStrings
| lanelet::LineStrings3d convertLineLayerToLineStrings(lanelet::LaneletMapPtr & lanelet_map_ptr) | |
| lanelet::LineStrings3d convert_line_layer_to_line_strings(lanelet::LaneletMapPtr & lanelet_map_ptr) |
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| void mergeLines(lanelet::LaneletMapPtr & lanelet_map_ptr) | ||
| { | ||
| auto lines = convertLineLayerToLineStrings(lanelet_map_ptr); |
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invalid case style for function convertLineLayerToLineStrings
| auto lines = convertLineLayerToLineStrings(lanelet_map_ptr); | |
| auto lines = convert_line_layer_to_line_strings(lanelet_map_ptr); |
| return lines; | ||
| } | ||
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| lanelet::ConstPoint3d get3DPointFrom2DArcLength( |
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invalid case style for function get3DPointFrom2DArcLength
| lanelet::ConstPoint3d get3DPointFrom2DArcLength( | |
| lanelet::ConstPoint3d get3_d_point_from2_d_arc_length( |
| { | ||
| auto arc_coordinate = lanelet::geometry::toArcCoordinates(to2D(line), to2D(search_point)); | ||
| std::cout << arc_coordinate.length << " " << arc_coordinate.distance << std::endl; | ||
| return get3DPointFrom2DArcLength(line, arc_coordinate.length).basicPoint(); |
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invalid case style for function get3DPointFrom2DArcLength
| return get3DPointFrom2DArcLength(line, arc_coordinate.length).basicPoint(); | |
| return get3_d_point_from2_d_arc_length(line, arc_coordinate.length).basicPoint(); |
| double ratio = (s - accumulated_distance2d) / distance2d; | ||
| auto interpolated_pt = prev_pt.basicPoint() * (1 - ratio) + pt.basicPoint() * ratio; | ||
| std::cout << interpolated_pt << std::endl; | ||
| return lanelet::ConstPoint3d( |
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avoid repeating the return type from the declaration; use a braced initializer list instead
| prev_pt = pt; | ||
| } | ||
| RCLCPP_ERROR(rclcpp::get_logger("merge_close_lines"), "interpolation failed"); | ||
| return lanelet::ConstPoint3d(); |
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avoid repeating the return type from the declaration; use a braced initializer list instead
| return lanelet::ConstPoint3d(); | |
| return {}; |
| return lanelet::ConstPoint3d(); | ||
| } | ||
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| double getLineLength(const lanelet::ConstLineString3d & line) |
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invalid case style for function getLineLength
| double getLineLength(const lanelet::ConstLineString3d & line) | |
| double get_line_length(const lanelet::ConstLineString3d & line) |
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| double getLineLength(const lanelet::ConstLineString3d & line) | ||
| { | ||
| return boost::geometry::length(line.basicLineString()); |
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narrowing conversion from typename default_length_result<vector<Matrix<double, 3, 1, 0>>>::type (aka long double) to double
| return boost::geometry::length(line.basicLineString()); | ||
| } | ||
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| bool areLinesSame( |
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invalid case style for function areLinesSame
| bool areLinesSame( | |
| bool are_lines_same( |
| auto line_i = lines.at(i); | ||
| for (size_t j = 0; j < i; j++) { | ||
| auto line_j = lines.at(j); | ||
| if (areLinesSame(line_i, line_j)) { |
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invalid case style for function areLinesSame
| if (areLinesSame(line_i, line_j)) { | |
| if (are_lines_same(line_i, line_j)) { |
| sum_distance += boost::geometry::distance(pt.basicPoint(), line1); | ||
| } | ||
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| double avg_distance = sum_distance / (line1.size() + line2.size()); |
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narrowing conversion from unsigned long to double
| if (avg_distance < 1.0) { | ||
| return true; | ||
| } else { | ||
| return false; | ||
| } |
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redundant boolean literal in conditional return statement
| if (avg_distance < 1.0) { | |
| return true; | |
| } else { | |
| return false; | |
| } | |
| return avg_distance < 1.0; |
| std::cout << line1 << " " << line2 << " " << avg_distance << std::endl; | ||
| if (avg_distance < 1.0) { | ||
| return true; | ||
| } else { |
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do not use else after return
| } | ||
| } | ||
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| lanelet::BasicPoint3d getClosestPointOnLine( |
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invalid case style for function getClosestPointOnLine
| lanelet::BasicPoint3d getClosestPointOnLine( | |
| lanelet::BasicPoint3d get_closest_point_on_line( |
| lanelet::Points3d new_points; | ||
| for (const auto & p1 : line1) { | ||
| lanelet::BasicPoint3d p1_basic_point = p1.basicPoint(); | ||
| lanelet::BasicPoint3d p2_basic_point = getClosestPointOnLine(p1, line2); |
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invalid case style for function getClosestPointOnLine
| lanelet::BasicPoint3d p2_basic_point = getClosestPointOnLine(p1, line2); | |
| lanelet::BasicPoint3d p2_basic_point = get_closest_point_on_line(p1, line2); |
| return get3DPointFrom2DArcLength(line, arc_coordinate.length).basicPoint(); | ||
| } | ||
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| lanelet::LineString3d mergeTwoLines( |
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invalid case style for function mergeTwoLines
| lanelet::LineString3d mergeTwoLines( | |
| lanelet::LineString3d merge_two_lines( |
| for (size_t j = 0; j < i; j++) { | ||
| auto line_j = lines.at(j); | ||
| if (areLinesSame(line_i, line_j)) { | ||
| auto merged_line = mergeTwoLines(line_i, line_j); |
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invalid case style for function mergeTwoLines
| auto merged_line = mergeTwoLines(line_i, line_j); | |
| auto merged_line = merge_two_lines(line_i, line_j); |
| { | ||
| lanelet::Points3d new_points; | ||
| for (const auto & p1 : line1) { | ||
| lanelet::BasicPoint3d p1_basic_point = p1.basicPoint(); |
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the variable p1_basic_point is copy-constructed from a const reference but is only used as const reference; consider making it a const reference
| lanelet::BasicPoint3d p1_basic_point = p1.basicPoint(); | |
| const lanelet::BasicPoint3d& p1_basic_point = p1.basicPoint(); |
| lanelet::Point3d new_point(lanelet::utils::getId(), new_basic_point); | ||
| new_points.push_back(new_point); | ||
| } | ||
| return lanelet::LineString3d(lanelet::utils::getId(), new_points); |
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avoid repeating the return type from the declaration; use a braced initializer list instead
| return lanelet::LineString3d(lanelet::utils::getId(), new_points); | ||
| } | ||
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| void copyData(lanelet::LineString3d & dst, lanelet::LineString3d & src) |
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invalid case style for function copyData
| void copyData(lanelet::LineString3d & dst, lanelet::LineString3d & src) | |
| void copy_data(lanelet::LineString3d & dst, lanelet::LineString3d & src) |
| copyData(line_i, merged_line); | ||
| copyData(line_j, merged_line); |
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invalid case style for function copyData
| copyData(line_i, merged_line); | |
| copyData(line_j, merged_line); | |
| copy_data(line_i, merged_line); | |
| copy_data(line_j, merged_line); |
| } | ||
| } | ||
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| void mergeLines(lanelet::LaneletMapPtr & lanelet_map_ptr) |
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invalid case style for function mergeLines
| void mergeLines(lanelet::LaneletMapPtr & lanelet_map_ptr) | |
| void merge_lines(lanelet::LaneletMapPtr & lanelet_map_ptr) |
| return EXIT_FAILURE; | ||
| } | ||
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| mergeLines(llt_map_ptr); |
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invalid case style for function mergeLines
| mergeLines(llt_map_ptr); | |
| merge_lines(llt_map_ptr); |
| } | ||
| } | ||
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| int main(int argc, char * argv[]) |
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an exception may be thrown in function main which should not throw exceptions
| #include <unordered_set> | ||
| #include <vector> | ||
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| bool loadLaneletMap( |
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invalid case style for function loadLaneletMap
| bool loadLaneletMap( | |
| bool load_lanelet_map( |
| lanelet::LaneletMapPtr llt_map_ptr(new lanelet::LaneletMap); | ||
| lanelet::projection::MGRSProjector projector; | ||
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| if (!loadLaneletMap(llt_map_path, llt_map_ptr, projector)) { |
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invalid case style for function loadLaneletMap
| if (!loadLaneletMap(llt_map_path, llt_map_ptr, projector)) { | |
| if (!load_lanelet_map(llt_map_path, llt_map_ptr, projector)) { |
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| bool exists(std::unordered_set<lanelet::Id> & set, lanelet::Id element) | ||
| { | ||
| return std::find(set.begin(), set.end(), element) != set.end(); |
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this STL algorithm call should be replaced with a container method
| return std::find(set.begin(), set.end(), element) != set.end(); | |
| return set.find(element) != set.end(); |
| return std::find(set.begin(), set.end(), element) != set.end(); | ||
| } | ||
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| lanelet::Points3d convertPointsLayerToPoints(lanelet::LaneletMapPtr & lanelet_map_ptr) |
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invalid case style for function convertPointsLayerToPoints
| lanelet::Points3d convertPointsLayerToPoints(lanelet::LaneletMapPtr & lanelet_map_ptr) | |
| lanelet::Points3d convert_points_layer_to_points(lanelet::LaneletMapPtr & lanelet_map_ptr) |
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| void mergePoints(lanelet::LaneletMapPtr & lanelet_map_ptr) | ||
| { | ||
| const auto & points = convertPointsLayerToPoints(lanelet_map_ptr); |
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invalid case style for function convertPointsLayerToPoints
| const auto & points = convertPointsLayerToPoints(lanelet_map_ptr); | |
| const auto & points = convert_points_layer_to_points(lanelet_map_ptr); |
| // return lanelet::LineString3d(lanelet::utils::getId(), new_points); | ||
| // } | ||
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| void mergePoints(lanelet::LaneletMapPtr & lanelet_map_ptr) |
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invalid case style for function mergePoints
| void mergePoints(lanelet::LaneletMapPtr & lanelet_map_ptr) | |
| void merge_points(lanelet::LaneletMapPtr & lanelet_map_ptr) |
| return EXIT_FAILURE; | ||
| } | ||
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| mergePoints(llt_map_ptr); |
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invalid case style for function mergePoints
| mergePoints(llt_map_ptr); | |
| merge_points(llt_map_ptr); |
| } | ||
| } | ||
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| int main(int argc, char * argv[]) |
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an exception may be thrown in function main which should not throw exceptions
| #include <unordered_set> | ||
| #include <vector> | ||
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| bool loadLaneletMap( |
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invalid case style for function loadLaneletMap
| bool loadLaneletMap( | |
| bool load_lanelet_map( |
| lanelet::LaneletMapPtr llt_map_ptr(new lanelet::LaneletMap); | ||
| lanelet::projection::MGRSProjector projector; | ||
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| if (!loadLaneletMap(llt_map_path, llt_map_ptr, projector)) { |
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invalid case style for function loadLaneletMap
| if (!loadLaneletMap(llt_map_path, llt_map_ptr, projector)) { | |
| if (!load_lanelet_map(llt_map_path, llt_map_ptr, projector)) { |
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| bool exists(std::unordered_set<lanelet::Id> & set, lanelet::Id element) | ||
| { | ||
| return std::find(set.begin(), set.end(), element) != set.end(); |
There was a problem hiding this comment.
this STL algorithm call should be replaced with a container method
| return std::find(set.begin(), set.end(), element) != set.end(); | |
| return set.find(element) != set.end(); |
| return std::find(set.begin(), set.end(), element) != set.end(); | ||
| } | ||
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| lanelet::Points3d convertPointsLayerToPoints(lanelet::LaneletMapPtr & lanelet_map_ptr) |
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invalid case style for function convertPointsLayerToPoints
| lanelet::Points3d convertPointsLayerToPoints(lanelet::LaneletMapPtr & lanelet_map_ptr) | |
| lanelet::Points3d convert_points_layer_to_points(lanelet::LaneletMapPtr & lanelet_map_ptr) |
| return points; | ||
| } | ||
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| lanelet::LineStrings3d convertLineLayerToLineStrings(lanelet::LaneletMapPtr & lanelet_map_ptr) |
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invalid case style for function convertLineLayerToLineStrings
| lanelet::LineStrings3d convertLineLayerToLineStrings(lanelet::LaneletMapPtr & lanelet_map_ptr) | |
| lanelet::LineStrings3d convert_line_layer_to_line_strings(lanelet::LaneletMapPtr & lanelet_map_ptr) |
| return lines; | ||
| } | ||
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| void removeUnreferencedGeometry(lanelet::LaneletMapPtr & lanelet_map_ptr) |
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invalid case style for function removeUnreferencedGeometry
| void removeUnreferencedGeometry(lanelet::LaneletMapPtr & lanelet_map_ptr) | |
| void remove_unreferenced_geometry(lanelet::LaneletMapPtr & lanelet_map_ptr) |
| if (!loadLaneletMap(llt_map_path, llt_map_ptr, projector)) { | ||
| return EXIT_FAILURE; | ||
| } | ||
| removeUnreferencedGeometry(llt_map_ptr); |
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invalid case style for function removeUnreferencedGeometry
| removeUnreferencedGeometry(llt_map_ptr); | |
| remove_unreferenced_geometry(llt_map_ptr); |
| void removeUnreferencedGeometry(lanelet::LaneletMapPtr & lanelet_map_ptr) | ||
| { | ||
| lanelet::LaneletMapPtr new_map(new lanelet::LaneletMap); | ||
| for (auto llt : lanelet_map_ptr->laneletLayer) { |
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loop variable is copied but only used as const reference; consider making it a const reference
| for (auto llt : lanelet_map_ptr->laneletLayer) { | |
| for (const auto& llt : lanelet_map_ptr->laneletLayer) { |
| #include <unordered_set> | ||
| #include <vector> | ||
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| bool loadLaneletMap( |
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invalid case style for function loadLaneletMap
| bool loadLaneletMap( | |
| bool load_lanelet_map( |
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| pcl::PointCloud<pcl::PointXYZ>::Ptr pcd_map_ptr(new pcl::PointCloud<pcl::PointXYZ>); | ||
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| if (!loadLaneletMap(llt_map_path, llt_map_ptr, projector)) { |
There was a problem hiding this comment.
invalid case style for function loadLaneletMap
| if (!loadLaneletMap(llt_map_path, llt_map_ptr, projector)) { | |
| if (!load_lanelet_map(llt_map_path, llt_map_ptr, projector)) { |
| return true; | ||
| } | ||
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| bool loadPCDMap(const std::string & pcd_map_path, pcl::PointCloud<pcl::PointXYZ>::Ptr & pcd_map_ptr) |
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invalid case style for function loadPCDMap
| bool loadPCDMap(const std::string & pcd_map_path, pcl::PointCloud<pcl::PointXYZ>::Ptr & pcd_map_ptr) | |
| bool load_pcd_map(const std::string & pcd_map_path, pcl::PointCloud<pcl::PointXYZ>::Ptr & pcd_map_ptr) |
| if (!loadLaneletMap(llt_map_path, llt_map_ptr, projector)) { | ||
| return EXIT_FAILURE; | ||
| } | ||
| if (!loadPCDMap(pcd_map_path, pcd_map_ptr)) { |
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invalid case style for function loadPCDMap
| if (!loadPCDMap(pcd_map_path, pcd_map_ptr)) { | |
| if (!load_pcd_map(pcd_map_path, pcd_map_ptr)) { |
| return true; | ||
| } | ||
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| void transformMaps( |
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invalid case style for function transformMaps
| void transformMaps( | |
| void transform_maps( |
| node->declare_parameter<std::string>("mgrs_grid", projector.getProjectedMGRSGrid()); | ||
| std::cout << "using mgrs grid: " << mgrs_grid << std::endl; | ||
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| transformMaps(pcd_map_ptr, llt_map_ptr, affine); |
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invalid case style for function transformMaps
| transformMaps(pcd_map_ptr, llt_map_ptr, affine); | |
| transform_maps(pcd_map_ptr, llt_map_ptr, affine); |
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| void transformMaps( | ||
| pcl::PointCloud<pcl::PointXYZ>::Ptr & pcd_map_ptr, lanelet::LaneletMapPtr & lanelet_map_ptr, | ||
| const Eigen::Affine3d affine) |
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the const qualified parameter affine is copied for each invocation; consider making it a reference
| const Eigen::Affine3d affine) | |
| const Eigen::Affine3d& affine) |
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| { | ||
| for (auto & pt : pcd_map_ptr->points) { | ||
| Eigen::Vector3d eigen_pt(pt.x, pt.y, pt.z); |
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do not access members of unions; use (boost::)variant instead
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| { | ||
| for (auto & pt : pcd_map_ptr->points) { | ||
| Eigen::Vector3d eigen_pt(pt.x, pt.y, pt.z); |
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do not access members of unions; use (boost::)variant instead
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| { | ||
| for (auto & pt : pcd_map_ptr->points) { | ||
| Eigen::Vector3d eigen_pt(pt.x, pt.y, pt.z); |
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do not access members of unions; use (boost::)variant instead
| for (auto & pt : pcd_map_ptr->points) { | ||
| Eigen::Vector3d eigen_pt(pt.x, pt.y, pt.z); | ||
| auto transformed_pt = affine * eigen_pt; | ||
| pt.x = transformed_pt.x(); |
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do not access members of unions; use (boost::)variant instead
| for (auto & pt : pcd_map_ptr->points) { | ||
| Eigen::Vector3d eigen_pt(pt.x, pt.y, pt.z); | ||
| auto transformed_pt = affine * eigen_pt; | ||
| pt.x = transformed_pt.x(); |
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narrowing conversion from Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 1, 0>, 1>::Scalar (aka double) to float
| Eigen::Vector3d eigen_pt(pt.x, pt.y, pt.z); | ||
| auto transformed_pt = affine * eigen_pt; | ||
| pt.x = transformed_pt.x(); | ||
| pt.y = transformed_pt.y(); |
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do not access members of unions; use (boost::)variant instead
| Eigen::Vector3d eigen_pt(pt.x, pt.y, pt.z); | ||
| auto transformed_pt = affine * eigen_pt; | ||
| pt.x = transformed_pt.x(); | ||
| pt.y = transformed_pt.y(); |
There was a problem hiding this comment.
narrowing conversion from Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 1, 0>, 1>::Scalar (aka double) to float
| auto transformed_pt = affine * eigen_pt; | ||
| pt.x = transformed_pt.x(); | ||
| pt.y = transformed_pt.y(); | ||
| pt.z = transformed_pt.z(); |
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do not access members of unions; use (boost::)variant instead
| auto transformed_pt = affine * eigen_pt; | ||
| pt.x = transformed_pt.x(); | ||
| pt.y = transformed_pt.y(); | ||
| pt.z = transformed_pt.z(); |
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narrowing conversion from Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 1, 0>, 1>::Scalar (aka double) to float
| } | ||
| } | ||
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| Eigen::Affine3d createAffineMatrixFromXYZRPY( |
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invalid case style for function createAffineMatrixFromXYZRPY
| Eigen::Affine3d createAffineMatrixFromXYZRPY( | |
| Eigen::Affine3d create_affine_matrix_from_xyzrpy( |
| if (!loadPCDMap(pcd_map_path, pcd_map_ptr)) { | ||
| return EXIT_FAILURE; | ||
| } | ||
| Eigen::Affine3d affine = createAffineMatrixFromXYZRPY(x, y, z, roll, pitch, yaw); |
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invalid case style for function createAffineMatrixFromXYZRPY
| Eigen::Affine3d affine = createAffineMatrixFromXYZRPY(x, y, z, roll, pitch, yaw); | |
| Eigen::Affine3d affine = create_affine_matrix_from_xyzrpy(x, y, z, roll, pitch, yaw); |
| return trans * rot; | ||
| } | ||
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| int main(int argc, char * argv[]) |
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an exception may be thrown in function main which should not throw exceptions
THIS IF FOR TESTING UPDATED CI
DO NOT MERGE THIS PULL REQUEST!!!!