ci(pre-commit): autofix

autowarefoundation · Dec 3, 2021 · 4f9a775 · 4f9a775
1 parent 650ec61
commit 4f9a775
Show file tree

Hide file tree

Showing 12 changed files with 115 additions and 101 deletions.
diff --git a/common/autoware_auto_perception_rviz_plugin/README.md b/common/autoware_auto_perception_rviz_plugin/README.md
@@ -57,6 +57,6 @@ Overwrite prediction results with tracking results.
 
 ## References/External links
 
-[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins
+[1] <https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins>
 
 ## Future extensions / Unimplemented parts
diff --git a/common/autoware_auto_perception_rviz_plugin/include/common/color_alpha_property.hpp b/common/autoware_auto_perception_rviz_plugin/include/common/color_alpha_property.hpp
@@ -14,13 +14,15 @@
 #ifndef COMMON__COLOR_ALPHA_PROPERTY_HPP_
 #define COMMON__COLOR_ALPHA_PROPERTY_HPP_
 
-#include <memory>
 #include <rviz_common/display.hpp>
 #include <rviz_common/properties/color_property.hpp>
 #include <rviz_common/properties/float_property.hpp>
-#include <std_msgs/msg/color_rgba.hpp>
 #include <visibility_control.hpp>
 
+#include <std_msgs/msg/color_rgba.hpp>
+
+#include <memory>
+
 namespace autoware
 {
 namespace rviz_plugins

diff --git a/...utoware_auto_perception_rviz_plugin/include/object_detection/detected_objects_display.hpp b/...utoware_auto_perception_rviz_plugin/include/object_detection/detected_objects_display.hpp
@@ -14,9 +14,10 @@
 #ifndef OBJECT_DETECTION__DETECTED_OBJECTS_DISPLAY_HPP_
 #define OBJECT_DETECTION__DETECTED_OBJECTS_DISPLAY_HPP_
 
-#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
 #include <object_detection/object_polygon_display_base.hpp>
 
+#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
+
 namespace autoware
 {
 namespace rviz_plugins
@@ -25,7 +26,7 @@ namespace object_detection
 {
 /// \brief Class defining rviz plugin to visualize DetectedObjects
 class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC DetectedObjectsDisplay
-  : public ObjectPolygonDisplayBase<autoware_auto_perception_msgs::msg::DetectedObjects>
+: public ObjectPolygonDisplayBase<autoware_auto_perception_msgs::msg::DetectedObjects>
 {
   Q_OBJECT
 

diff --git a/...n/autoware_auto_perception_rviz_plugin/include/object_detection/object_polygon_detail.hpp b/...n/autoware_auto_perception_rviz_plugin/include/object_detection/object_polygon_detail.hpp
@@ -15,20 +15,22 @@
 #ifndef OBJECT_DETECTION__OBJECT_POLYGON_DETAIL_HPP_
 #define OBJECT_DETECTION__OBJECT_POLYGON_DETAIL_HPP_
 
+#include <rclcpp/logging.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <visibility_control.hpp>
+
 #include <autoware_auto_perception_msgs/msg/object_classification.hpp>
 #include <autoware_auto_perception_msgs/msg/predicted_path.hpp>
 #include <autoware_auto_perception_msgs/msg/shape.hpp>
-#include <algorithm>
 #include <geometry_msgs/msg/pose_with_covariance.hpp>
 #include <geometry_msgs/msg/twist.hpp>
 #include <geometry_msgs/msg/twist_with_covariance.hpp>
+#include <visualization_msgs/msg/marker.hpp>
+
+#include <algorithm>
 #include <map>
-#include <rclcpp/logging.hpp>
-#include <rclcpp/rclcpp.hpp>
 #include <string>
 #include <vector>
-#include <visibility_control.hpp>
-#include <visualization_msgs/msg/marker.hpp>
 
 namespace autoware
 {
@@ -53,20 +55,20 @@ struct ObjectPropertyValues
 // Map defining colors according to value of label field in ObjectClassification msg
 const std::map<
   autoware_auto_perception_msgs::msg::ObjectClassification::_label_type, ObjectPropertyValues>
-// Color map is based on cityscapes color
-kDefaultObjectPropertyValues = {
-  {autoware_auto_perception_msgs::msg::ObjectClassification::UNKNOWN,
-    {"UNKNOWN", {255, 255, 255}}},
-  {autoware_auto_perception_msgs::msg::ObjectClassification::CAR, {"CAR", {30, 144, 255}}},
-  {autoware_auto_perception_msgs::msg::ObjectClassification::BUS, {"BUS", {30, 144, 255}}},
-  {autoware_auto_perception_msgs::msg::ObjectClassification::PEDESTRIAN,
-    {"PEDESTRIAN", {255, 192, 203}}},
-  {autoware_auto_perception_msgs::msg::ObjectClassification::BICYCLE, {"CYCLIST", {119, 11, 32}}},
-  {autoware_auto_perception_msgs::msg::ObjectClassification::MOTORCYCLE,
-    {"MOTORCYCLE", {119, 11, 32}}},
-  {autoware_auto_perception_msgs::msg::ObjectClassification::TRAILER,
-    {"TRAILER", {30, 144, 255}}},
-  {autoware_auto_perception_msgs::msg::ObjectClassification::TRUCK, {"TRUCK", {30, 144, 255}}}};
+  // Color map is based on cityscapes color
+  kDefaultObjectPropertyValues = {
+    {autoware_auto_perception_msgs::msg::ObjectClassification::UNKNOWN,
+     {"UNKNOWN", {255, 255, 255}}},
+    {autoware_auto_perception_msgs::msg::ObjectClassification::CAR, {"CAR", {30, 144, 255}}},
+    {autoware_auto_perception_msgs::msg::ObjectClassification::BUS, {"BUS", {30, 144, 255}}},
+    {autoware_auto_perception_msgs::msg::ObjectClassification::PEDESTRIAN,
+     {"PEDESTRIAN", {255, 192, 203}}},
+    {autoware_auto_perception_msgs::msg::ObjectClassification::BICYCLE, {"CYCLIST", {119, 11, 32}}},
+    {autoware_auto_perception_msgs::msg::ObjectClassification::MOTORCYCLE,
+     {"MOTORCYCLE", {119, 11, 32}}},
+    {autoware_auto_perception_msgs::msg::ObjectClassification::TRAILER,
+     {"TRAILER", {30, 144, 255}}},
+    {autoware_auto_perception_msgs::msg::ObjectClassification::TRUCK, {"TRUCK", {30, 144, 255}}}};
 
 /// \brief Convert the given polygon into a marker representing the shape in 3d
 /// \param shape_msg Shape msg to be converted. Corners should be in object-local frame
@@ -182,14 +184,14 @@ inline AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC geometry_msgs::msg::Pose init
 /// \param labels List of ObjectClassificationMsg objects
 /// \param logger_name Name to use for logger in case of a warning (if labels is empty)
 /// \return Id of the best classification, Unknown if there is no best label
-template<typename ClassificationContainerT>
+template <typename ClassificationContainerT>
 AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC
-autoware_auto_perception_msgs::msg::ObjectClassification::_label_type
-get_best_label(ClassificationContainerT labels, const std::string & logger_name)
+  autoware_auto_perception_msgs::msg::ObjectClassification::_label_type
+  get_best_label(ClassificationContainerT labels, const std::string & logger_name)
 {
   const auto best_class_label = std::max_element(
     labels.begin(), labels.end(),
-    [](const auto & a, const auto & b) -> bool {return a.probability < b.probability;});
+    [](const auto & a, const auto & b) -> bool { return a.probability < b.probability; });
   if (best_class_label == labels.end()) {
     RCLCPP_WARN(
       rclcpp::get_logger(logger_name),

diff --git a/...ware_auto_perception_rviz_plugin/include/object_detection/object_polygon_display_base.hpp b/...ware_auto_perception_rviz_plugin/include/object_detection/object_polygon_display_base.hpp
@@ -14,22 +14,24 @@
 #ifndef OBJECT_DETECTION__OBJECT_POLYGON_DISPLAY_BASE_HPP_
 #define OBJECT_DETECTION__OBJECT_POLYGON_DISPLAY_BASE_HPP_
 
-#include <autoware_auto_perception_msgs/msg/object_classification.hpp>
-#include <bitset>
 #include <common/color_alpha_property.hpp>
-#include <list>
-#include <memory>
 #include <object_detection/object_polygon_detail.hpp>
 #include <rviz_common/display.hpp>
 #include <rviz_common/properties/color_property.hpp>
 #include <rviz_common/properties/float_property.hpp>
 #include <rviz_default_plugins/displays/marker/marker_common.hpp>
 #include <rviz_default_plugins/displays/marker_array/marker_array_display.hpp>
-#include <string>
+#include <visibility_control.hpp>
+
+#include <autoware_auto_perception_msgs/msg/object_classification.hpp>
 #include <unique_identifier_msgs/msg/uuid.hpp>
+
+#include <bitset>
+#include <list>
+#include <memory>
+#include <string>
 #include <unordered_map>
 #include <vector>
-#include <visibility_control.hpp>
 
 namespace autoware
 {
@@ -41,9 +43,9 @@ namespace object_detection
 ///        for the plugin and also defines common helper functions that can be used by its derived
 ///        classes.
 /// \tparam MsgT PredictedObjects or TrackedObjects or DetectedObjects type
-template<typename MsgT>
+template <typename MsgT>
 class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
-  : public rviz_common::RosTopicDisplay<MsgT>
+: public rviz_common::RosTopicDisplay<MsgT>
 {
 public:
   using Color = std::array<float, 3U>;
@@ -109,15 +111,15 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
     m_marker_common.load(config);
   }
 
-  void update(float wall_dt, float ros_dt) override {m_marker_common.update(wall_dt, ros_dt);}
+  void update(float wall_dt, float ros_dt) override { m_marker_common.update(wall_dt, ros_dt); }
 
   void reset() override
   {
     RosTopicDisplay::reset();
     m_marker_common.clearMarkers();
   }
 
-  void clear_markers() {m_marker_common.clearMarkers();}
+  void clear_markers() { m_marker_common.clearMarkers(); }
 
   void add_marker(visualization_msgs::msg::Marker::ConstSharedPtr marker_ptr)
   {
@@ -132,7 +134,7 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
   /// \param orientation Orientation of the shape in Object.header.frame_id frame
   /// \param labels List of ObjectClassificationMsg objects
   /// \return Marker ptr. Id and header will have to be set by the caller
-  template<typename ClassificationContainerT>
+  template <typename ClassificationContainerT>
   std::optional<Marker::SharedPtr> get_shape_marker_ptr(
     const autoware_auto_perception_msgs::msg::Shape & shape_msg,
     const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
@@ -152,7 +154,7 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
   /// \param centroid Centroid position of the shape in Object.header.frame_id frame
   /// \param labels List of ObjectClassificationMsg objects
   /// \return Marker ptr. Id and header will have to be set by the caller
-  template<typename ClassificationContainerT>
+  template <typename ClassificationContainerT>
   std::optional<Marker::SharedPtr> get_label_marker_ptr(
     const geometry_msgs::msg::Point & centroid, const geometry_msgs::msg::Quaternion & orientation,
     const ClassificationContainerT & labels) const
@@ -166,7 +168,7 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
     }
   }
 
-  template<typename ClassificationContainerT>
+  template <typename ClassificationContainerT>
   std::optional<Marker::SharedPtr> get_uuid_marker_ptr(
     const unique_identifier_msgs::msg::UUID & uuid, const geometry_msgs::msg::Point & centroid,
     const ClassificationContainerT & labels) const
@@ -190,7 +192,7 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
     }
   }
 
-  template<typename ClassificationContainerT>
+  template <typename ClassificationContainerT>
   std::optional<Marker::SharedPtr> get_velocity_text_marker_ptr(
     const geometry_msgs::msg::Twist & twist, const geometry_msgs::msg::Point & vis_pos,
     const ClassificationContainerT & labels) const
@@ -246,7 +248,7 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
   /// \param labels list of classifications
   /// \return Color and alpha for the best class in the given list. Unknown class is used in
   ///         degenerate cases
-  template<typename ClassificationContainerT>
+  template <typename ClassificationContainerT>
   std_msgs::msg::ColorRGBA get_color_rgba(const ClassificationContainerT & labels) const
   {
     static const std::string kLoggerName("ObjectPolygonDisplayBase");
@@ -262,7 +264,7 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
   /// \tparam ClassificationContainerT Container of ObjectClassification
   /// \param labels list of classifications
   /// \return best label string
-  template<typename ClassificationContainerT>
+  template <typename ClassificationContainerT>
   std::string get_best_label(const ClassificationContainerT & labels) const
   {
     static const std::string kLoggerName("ObjectPolygonDisplayBase");
@@ -287,7 +289,7 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
   get_color_from_uuid(const std::string & uuid) const
   {
     int i = (static_cast<int>(uuid.at(0)) * 4 + static_cast<int>(uuid.at(1))) %
-      static_cast<int>(predicted_path_colors.size());
+            static_cast<int>(predicted_path_colors.size());
 
     std_msgs::msg::ColorRGBA color;
     color.r = predicted_path_colors.at(i).r;

diff --git a/...toware_auto_perception_rviz_plugin/include/object_detection/predicted_objects_display.hpp b/...toware_auto_perception_rviz_plugin/include/object_detection/predicted_objects_display.hpp
@@ -14,12 +14,15 @@
 #ifndef OBJECT_DETECTION__PREDICTED_OBJECTS_DISPLAY_HPP_
 #define OBJECT_DETECTION__PREDICTED_OBJECTS_DISPLAY_HPP_
 
+#include <object_detection/object_polygon_display_base.hpp>
+
 #include <autoware_auto_perception_msgs/msg/predicted_objects.hpp>
+
 #include <boost/uuid/uuid.hpp>
 #include <boost/uuid/uuid_generators.hpp>
+
 #include <list>
 #include <map>
-#include <object_detection/object_polygon_display_base.hpp>
 #include <string>
 #include <vector>
 
@@ -31,7 +34,7 @@ namespace object_detection
 {
 /// \brief Class defining rviz plugin to visualize PredictedObjects
 class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC PredictedObjectsDisplay
-  : public ObjectPolygonDisplayBase<autoware_auto_perception_msgs::msg::PredictedObjects>
+: public ObjectPolygonDisplayBase<autoware_auto_perception_msgs::msg::PredictedObjects>
 {
   Q_OBJECT
 
@@ -65,8 +68,7 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC PredictedObjectsDisplay
     auto itr = id_map.begin();
     while (itr != id_map.end()) {
       if (
-        std::find(tracked_uuids.begin(), tracked_uuids.end(), itr->first) == tracked_uuids.end())
-      {
+        std::find(tracked_uuids.begin(), tracked_uuids.end(), itr->first) == tracked_uuids.end()) {
         unused_marker_ids.push_back(itr->second);
         itr = id_map.erase(itr);
       } else {

diff --git a/...autoware_auto_perception_rviz_plugin/include/object_detection/tracked_objects_display.hpp b/...autoware_auto_perception_rviz_plugin/include/object_detection/tracked_objects_display.hpp
@@ -14,12 +14,15 @@
 #ifndef OBJECT_DETECTION__TRACKED_OBJECTS_DISPLAY_HPP_
 #define OBJECT_DETECTION__TRACKED_OBJECTS_DISPLAY_HPP_
 
+#include <object_detection/object_polygon_display_base.hpp>
+
 #include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>
+
 #include <boost/uuid/uuid.hpp>
 #include <boost/uuid/uuid_generators.hpp>
+
 #include <list>
 #include <map>
-#include <object_detection/object_polygon_display_base.hpp>
 #include <string>
 #include <vector>
 
@@ -31,7 +34,7 @@ namespace object_detection
 {
 /// \brief Class defining rviz plugin to visualize TrackedObjects
 class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC TrackedObjectsDisplay
-  : public ObjectPolygonDisplayBase<autoware_auto_perception_msgs::msg::TrackedObjects>
+: public ObjectPolygonDisplayBase<autoware_auto_perception_msgs::msg::TrackedObjects>
 {
   Q_OBJECT
 
@@ -65,8 +68,7 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC TrackedObjectsDisplay
     auto itr = id_map.begin();
     while (itr != id_map.end()) {
       if (
-        std::find(tracked_uuids.begin(), tracked_uuids.end(), itr->first) == tracked_uuids.end())
-      {
+        std::find(tracked_uuids.begin(), tracked_uuids.end(), itr->first) == tracked_uuids.end()) {
         unused_marker_ids.push_back(itr->second);
         itr = id_map.erase(itr);
       } else {

diff --git a/common/autoware_auto_perception_rviz_plugin/src/common/color_alpha_property.cpp b/common/autoware_auto_perception_rviz_plugin/src/common/color_alpha_property.cpp
@@ -15,6 +15,7 @@
 // Co-developed by Tier IV, Inc. and Apex.AI, Inc.
 
 #include <common/color_alpha_property.hpp>
+
 #include <memory>
 
 namespace autoware

diff --git a/...on/autoware_auto_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp b/...on/autoware_auto_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp
@@ -14,17 +14,17 @@
 //
 // Co-developed by Tier IV, Inc. and Apex.AI, Inc.
 
-#include <memory>
 #include <object_detection/detected_objects_display.hpp>
 
+#include <memory>
+
 namespace autoware
 {
 namespace rviz_plugins
 {
 namespace object_detection
 {
-DetectedObjectsDisplay::DetectedObjectsDisplay()
-: ObjectPolygonDisplayBase("detected_objects") {}
+DetectedObjectsDisplay::DetectedObjectsDisplay() : ObjectPolygonDisplayBase("detected_objects") {}
 
 void DetectedObjectsDisplay::processMessage(DetectedObjects::ConstSharedPtr msg)
 {