Adding roslint to vector_map and applying suggestions.

Author: Joshua Whitley

vector_map/CMakeLists.txt

@@ -6,6 +6,7 @@ find_package(autoware_build_flags REQUIRED)
 find_package(catkin REQUIRED COMPONENTS
   tf
   geometry_msgs
+  roslint
   vector_map_msgs
   visualization_msgs
 )
@@ -34,6 +35,9 @@ target_link_libraries(${PROJECT_NAME}
   ${catkin_LIBRARIES}
 )
 
+set(ROSLINT_CPP_OPTS "--filter=-build/c++14,-runtime/references")
+roslint_cpp()
+
 ## Install project namespaced headers
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
@@ -44,4 +48,8 @@ install(TARGETS ${PROJECT_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+)
+
+if(CATKIN_ENABLE_TESTING)
+  roslint_add_test()
+endif()

vector_map/include/vector_map/vector_map.h

@@ -17,7 +17,6 @@
 #ifndef VECTOR_MAP_VECTOR_MAP_H
 #define VECTOR_MAP_VECTOR_MAP_H
 
-#include <fstream>
 #include <ros/ros.h>
 #include <geometry_msgs/Point.h>
 #include <geometry_msgs/Quaternion.h>
@@ -56,6 +55,11 @@
 #include <vector_map_msgs/FenceArray.h>
 #include <vector_map_msgs/RailCrossingArray.h>
 
+#include <fstream>
+#include <map>
+#include <string>
+#include <vector>
+
 namespace vector_map
 {
 using vector_map_msgs::Point;
@@ -124,7 +128,7 @@ using vector_map_msgs::WallArray;
 using vector_map_msgs::FenceArray;
 using vector_map_msgs::RailCrossingArray;
 
-using category_t = unsigned long long;
+using category_t = uint32_t;
 
 enum Category : category_t
 {
@@ -297,7 +301,7 @@ std::vector<T> parse(const std::string& csv_file)
 {
   std::ifstream ifs(csv_file.c_str());
   std::string line;
-  std::getline(ifs, line); // remove first line
+  std::getline(ifs, line);  // remove first line
   std::vector<T> objs;
   while (std::getline(ifs, line))
   {
@@ -309,42 +313,6 @@ std::vector<T> parse(const std::string& csv_file)
   return objs;
 }
 
-/* namespace */
-/* { */
-/* void updatePoint(std::map<Key<Point>, Point>& map, const PointArray& msg); */
-/* void updateVector(std::map<Key<Vector>, Vector>& map, const VectorArray& msg); */
-/* void updateLine(std::map<Key<Line>, Line>& map, const LineArray& msg); */
-/* void updateArea(std::map<Key<Area>, Area>& map, const AreaArray& msg); */
-/* void updatePole(std::map<Key<Pole>, Pole>& map, const PoleArray& msg); */
-/* void updateBox(std::map<Key<Box>, Box>& map, const BoxArray& msg); */
-/* void updateDTLane(std::map<Key<DTLane>, DTLane>& map, const DTLaneArray& msg); */
-/* void updateNode(std::map<Key<Node>, Node>& map, const NodeArray& msg); */
-/* void updateLane(std::map<Key<Lane>, Lane>& map, const LaneArray& msg); */
-/* void updateWayArea(std::map<Key<WayArea>, WayArea>& map, const WayAreaArray& msg); */
-/* void updateRoadEdge(std::map<Key<RoadEdge>, RoadEdge>& map, const RoadEdgeArray& msg); */
-/* void updateGutter(std::map<Key<Gutter>, Gutter>& map, const GutterArray& msg); */
-/* void updateCurb(std::map<Key<Curb>, Curb>& map, const CurbArray& msg); */
-/* void updateWhiteLine(std::map<Key<WhiteLine>, WhiteLine>& map, const WhiteLineArray& msg); */
-/* void updateStopLine(std::map<Key<StopLine>, StopLine>& map, const StopLineArray& msg); */
-/* void updateZebraZone(std::map<Key<ZebraZone>, ZebraZone>& map, const ZebraZoneArray& msg); */
-/* void updateCrossWalk(std::map<Key<CrossWalk>, CrossWalk>& map, const CrossWalkArray& msg); */
-/* void updateRoadMark(std::map<Key<RoadMark>, RoadMark>& map, const RoadMarkArray& msg); */
-/* void updateRoadPole(std::map<Key<RoadPole>, RoadPole>& map, const RoadPoleArray& msg); */
-/* void updateRoadSign(std::map<Key<RoadSign>, RoadSign>& map, const RoadSignArray& msg); */
-/* void updateSignal(std::map<Key<Signal>, Signal>& map, const SignalArray& msg); */
-/* void updateStreetLight(std::map<Key<StreetLight>, StreetLight>& map, const StreetLightArray& msg); */
-/* void updateUtilityPole(std::map<Key<UtilityPole>, UtilityPole>& map, const UtilityPoleArray& msg); */
-/* void updateGuardRail(std::map<Key<GuardRail>, GuardRail>& map, const GuardRailArray& msg); */
-/* void updateSideWalk(std::map<Key<SideWalk>, SideWalk>& map, const SideWalkArray& msg); */
-/* void updateDriveOnPortion(std::map<Key<DriveOnPortion>, DriveOnPortion>& map, const DriveOnPortionArray& msg); */
-/* void updateCrossRoad(std::map<Key<CrossRoad>, CrossRoad>& map, const CrossRoadArray& msg); */
-/* void updateSideStrip(std::map<Key<SideStrip>, SideStrip>& map, const SideStripArray& msg); */
-/* void updateCurveMirror(std::map<Key<CurveMirror>, CurveMirror>& map, const CurveMirrorArray& msg); */
-/* void updateWall(std::map<Key<Wall>, Wall>& map, const WallArray& msg); */
-/* void updateFence(std::map<Key<Fence>, Fence>& map, const FenceArray& msg); */
-/* void updateRailCrossing(std::map<Key<RailCrossing>, RailCrossing>& map, const RailCrossingArray& msg); */
-/* } // namespace */
-
 class VectorMap
 {
 private:
@@ -530,7 +498,7 @@ geometry_msgs::Point convertPointToGeomPoint(const Point& point);
 Point convertGeomPointToPoint(const geometry_msgs::Point& geom_point);
 geometry_msgs::Quaternion convertVectorToGeomQuaternion(const Vector& vector);
 Vector convertGeomQuaternionToVector(const geometry_msgs::Quaternion& geom_quaternion);
-} // namespace vector_map
+}  // namespace vector_map
 
 std::ostream& operator<<(std::ostream& os, const vector_map::Point& obj);
 std::ostream& operator<<(std::ostream& os, const vector_map::Vector& obj);
@@ -598,4 +566,4 @@ std::istream& operator>>(std::istream& is, vector_map::Wall& obj);
 std::istream& operator>>(std::istream& is, vector_map::Fence& obj);
 std::istream& operator>>(std::istream& is, vector_map::RailCrossing& obj);
 
-#endif // VECTOR_MAP_VECTOR_MAP_H
+#endif  // VECTOR_MAP_VECTOR_MAP_H

vector_map/lib/vector_map/vector_map.cpp

@@ -17,6 +17,10 @@
 #include <tf/transform_datatypes.h>
 #include <vector_map/vector_map.h>
 
+#include <map>
+#include <string>
+#include <vector>
+
 namespace vector_map
 {
 namespace
@@ -372,7 +376,7 @@ void updateRailCrossing(std::map<Key<RailCrossing>, RailCrossing>& map, const Ra
     map.insert(std::make_pair(Key<RailCrossing>(item.id), item));
   }
 }
-} // namespace
+}  // namespace
 
 bool VectorMap::hasSubscribed(category_t category) const
 {
@@ -1302,7 +1306,7 @@ std_msgs::ColorRGBA createColorRGBA(Color color)
     color_rgba.b = COLOR_VALUE_MAX;
     break;
   default:
-    color_rgba.a = COLOR_VALUE_MIN; // hide color from view
+    color_rgba.a = COLOR_VALUE_MIN;  // hide color from view
     break;
   }
 
@@ -1427,7 +1431,7 @@ visualization_msgs::Marker createAreaMarker(const std::string& ns, int id, Color
   Line line = vmap.findByKey(Key<Line>(area.slid));
   if (line.lid == 0)
     return marker;
-  if (line.blid != 0) // must set beginning line
+  if (line.blid != 0)  // must set beginning line
     return marker;
 
   while (line.flid != 0)
@@ -1611,8 +1615,8 @@ Point convertGeomPointToPoint(const geometry_msgs::Point& geom_point)
 
 geometry_msgs::Quaternion convertVectorToGeomQuaternion(const Vector& vector)
 {
-  double pitch = convertDegreeToRadian(vector.vang - 90); // convert vertical angle to pitch
-  double yaw = convertDegreeToRadian(-vector.hang + 90); // convert horizontal angle to yaw
+  double pitch = convertDegreeToRadian(vector.vang - 90);  // convert vertical angle to pitch
+  double yaw = convertDegreeToRadian(-vector.hang + 90);   // convert horizontal angle to yaw
   return tf::createQuaternionMsgFromRollPitchYaw(0, pitch, yaw);
 }
 
@@ -1626,7 +1630,7 @@ Vector convertGeomQuaternionToVector(const geometry_msgs::Quaternion& geom_quate
   vector.hang = -convertRadianToDegree(yaw) + 90;
   return vector;
 }
-} // namespace vector_map
+}  // namespace vector_map
 
 std::ostream& operator<<(std::ostream& os, const vector_map::Point& obj)
 {

vector_map/package.xml

@@ -11,6 +11,7 @@
 
   <depend>geometry_msgs</depend>
   <depend>tf</depend>
+  <depend>roslint</depend>
   <depend>vector_map_msgs</depend>
   <depend>visualization_msgs</depend>
 </package>