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refactor(perception_util): refactor moving unnamed namespace from include file to src file #2028

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merged 6 commits into from
Oct 8, 2022
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refactor(perception_util): refactor moving unnamed namespace from include file to src file #2028

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041b6cd
fix include path
scepter914 Oct 6, 2022
eb4d67a
move unnamed namespace to src file
scepter914 Oct 6, 2022
d7f668c
fix template function
scepter914 Oct 6, 2022
d4aa0fd
fix unnamed namespace
scepter914 Oct 6, 2022
61f3767
delete comment
scepter914 Oct 6, 2022
c689587
Merge branch 'main' into refactor/perception_util_namespace
scepter914 Oct 7, 2022
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4 changes: 2 additions & 2 deletions common/perception_utils/include/perception_utils/conversion.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,8 +15,8 @@
#ifndef PERCEPTION_UTILS__CONVERSION_HPP_
#define PERCEPTION_UTILS__CONVERSION_HPP_

#include "autoware_auto_perception_msgs/msg/detected_objects.hpp"
#include "autoware_auto_perception_msgs/msg/tracked_objects.hpp"
#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
#include <autoware_auto_perception_msgs/msg/tracked_objects.hpp>

namespace perception_utils
{
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2 changes: 1 addition & 1 deletion common/perception_utils/include/perception_utils/predicted_path_utils.hpp
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Expand Up @@ -17,7 +17,7 @@

#include "tier4_autoware_utils/geometry/geometry.hpp"

#include "autoware_auto_perception_msgs/msg/predicted_path.hpp"
#include <autoware_auto_perception_msgs/msg/predicted_path.hpp>
#include <geometry_msgs/msg/pose.hpp>

#include <boost/optional.hpp>
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20 changes: 11 additions & 9 deletions common/perception_utils/include/perception_utils/transform.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,24 +15,26 @@
#ifndef PERCEPTION_UTILS__TRANSFORM_HPP_
#define PERCEPTION_UTILS__TRANSFORM_HPP_

#include "geometry_msgs/msg/transform.hpp"
#include <geometry_msgs/msg/transform.hpp>

#include <boost/optional.hpp>

#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>

#ifdef ROS_DISTRO_GALACTIC
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#else
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#endif

#include "boost/optional.hpp"

#include <string>

namespace
// To avoid unnamed namespace function in include file and to write template function in include
// file, avoid unnamed namespace
// "detail" name is used in boost library as same reason.
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namespace detail
{
[[maybe_unused]] boost::optional<geometry_msgs::msg::Transform> getTransform(
[[maybe_unused]] inline boost::optional<geometry_msgs::msg::Transform> getTransform(
const tf2_ros::Buffer & tf_buffer, const std::string & source_frame_id,
const std::string & target_frame_id, const rclcpp::Time & time)
{
Expand All @@ -46,7 +48,7 @@ namespace
return boost::none;
}
}
} // namespace
} // namespace detail

namespace perception_utils
{
Expand All @@ -64,8 +66,8 @@ bool transformObjects(
tf2::Transform tf_target2objects;
tf2::Transform tf_objects_world2objects;
{
const auto ros_target2objects_world =
getTransform(tf_buffer, input_msg.header.frame_id, target_frame_id, input_msg.header.stamp);
const auto ros_target2objects_world = detail::getTransform(
tf_buffer, input_msg.header.frame_id, target_frame_id, input_msg.header.stamp);
if (!ros_target2objects_world) {
return false;
}
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