refactor(tier4_autoware_utils): apply clang-tidy (tier4#1660)

* refactor(tier4_autoware_utils): apply clang-tidy Signed-off-by: h-ohta <hiroki.ota@tier4.jp> * ci(pre-commit): autofix Signed-off-by: h-ohta <hiroki.ota@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
boyali · Sep 28, 2022 · ac34096 · ac34096
1 parent 05eabf3
commit ac34096
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Showing 5 changed files with 14 additions and 20 deletions.
diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_polygon_utils.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/boost_polygon_utils.hpp
@@ -28,7 +28,6 @@
 
 namespace tier4_autoware_utils
 {
-namespace bg = boost::geometry;
 
 bool isClockwise(const Polygon2d & polygon);
 Polygon2d inverseClockwise(const Polygon2d & polygon);

diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/geometry.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/geometry.hpp
@@ -421,7 +421,7 @@ inline geometry_msgs::msg::Transform pose2transform(const geometry_msgs::msg::Po
 }
 
 inline geometry_msgs::msg::TransformStamped pose2transform(
-  const geometry_msgs::msg::PoseStamped & pose, const std::string child_frame_id)
+  const geometry_msgs::msg::PoseStamped & pose, const std::string & child_frame_id)
 {
   geometry_msgs::msg::TransformStamped transform;
   transform.header = pose.header;
@@ -453,7 +453,7 @@ inline Point2d transformPoint(
 }
 
 inline Eigen::Vector3d transformPoint(
-  const Eigen::Vector3d point, const geometry_msgs::msg::Pose pose)
+  const Eigen::Vector3d & point, const geometry_msgs::msg::Pose & pose)
 {
   geometry_msgs::msg::Transform transform;
   transform.translation.x = pose.position.x;
@@ -466,7 +466,7 @@ inline Eigen::Vector3d transformPoint(
 }
 
 inline geometry_msgs::msg::Point transformPoint(
-  const geometry_msgs::msg::Point point, const geometry_msgs::msg::Pose pose)
+  const geometry_msgs::msg::Point & point, const geometry_msgs::msg::Pose & pose)
 {
   const Eigen::Vector3d vec = Eigen::Vector3d(point.x, point.y, point.z);
   auto transformed_vec = transformPoint(vec, pose);
@@ -554,21 +554,21 @@ inline geometry_msgs::msg::Pose inverseTransformPose(
 
 // Transform point in world coordinates to local coordinates
 inline Eigen::Vector3d inverseTransformPoint(
-  const Eigen::Vector3d point, const geometry_msgs::msg::Pose pose)
+  const Eigen::Vector3d & point, const geometry_msgs::msg::Pose & pose)
 {
   const Eigen::Quaterniond q(
     pose.orientation.w, pose.orientation.x, pose.orientation.y, pose.orientation.z);
   const Eigen::Matrix3d R = q.normalized().toRotationMatrix();
 
   const Eigen::Vector3d local_origin(pose.position.x, pose.position.y, pose.position.z);
-  const Eigen::Vector3d local_point = R.transpose() * point - R.transpose() * local_origin;
+  Eigen::Vector3d local_point = R.transpose() * point - R.transpose() * local_origin;
 
   return local_point;
 }
 
 // Transform point in world coordinates to local coordinates
 inline geometry_msgs::msg::Point inverseTransformPoint(
-  const geometry_msgs::msg::Point point, const geometry_msgs::msg::Pose pose)
+  const geometry_msgs::msg::Point & point, const geometry_msgs::msg::Pose & pose)
 {
   const Eigen::Vector3d local_vec =
     inverseTransformPoint(Eigen::Vector3d(point.x, point.y, point.z), pose);
@@ -599,11 +599,7 @@ bool isDrivingForward(const Pose1 & src_pose, const Pose2 & dst_pose)
   // check the first point direction
   const double src_yaw = tf2::getYaw(getPose(src_pose).orientation);
   const double pose_direction_yaw = calcAzimuthAngle(getPoint(src_pose), getPoint(dst_pose));
-  if (std::fabs(normalizeRadian(src_yaw - pose_direction_yaw)) < pi / 2.0) {
-    return true;
-  }
-
-  return false;
+  return std::fabs(normalizeRadian(src_yaw - pose_direction_yaw)) < pi / 2.0;
 }
 
 /**
@@ -700,7 +696,8 @@ geometry_msgs::msg::Pose calcInterpolatedPose(
     }
   } else {
     // Get orientation by spherical linear interpolation
-    tf2::Transform src_tf, dst_tf;
+    tf2::Transform src_tf;
+    tf2::Transform dst_tf;
     tf2::fromMsg(getPose(src_pose), src_tf);
     tf2::fromMsg(getPose(dst_pose), dst_tf);
     const auto & quaternion = tf2::slerp(src_tf.getRotation(), dst_tf.getRotation(), clamped_ratio);

diff --git a/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/pose_deviation.hpp b/common/tier4_autoware_utils/include/tier4_autoware_utils/geometry/pose_deviation.hpp
@@ -24,9 +24,9 @@ namespace tier4_autoware_utils
 {
 struct PoseDeviation
 {
-  double lateral;
-  double longitudinal;
-  double yaw;
+  double lateral{0.0};
+  double longitudinal{0.0};
+  double yaw{0.0};
 };
 
 inline double calcLateralDeviation(

diff --git a/common/tier4_autoware_utils/src/geometry/boost_polygon_utils.cpp b/common/tier4_autoware_utils/src/geometry/boost_polygon_utils.cpp
@@ -33,7 +33,7 @@ void appendPointToPolygon(Polygon2d & polygon, const geometry_msgs::msg::Point &
   bg::append(polygon.outer(), point);
 }
 
-void appendPointToPolygon(Polygon2d & polygon, const Point2d point)
+void appendPointToPolygon(Polygon2d & polygon, const Point2d & point)
 {
   bg::append(polygon.outer(), point);
 }
@@ -160,7 +160,7 @@ Polygon2d toPolygon2d(
   }
 
   // NOTE: push back the first point in order to close polygon
-  if (polygon.outer().size() > 0) {
+  if (!polygon.outer().empty()) {
     appendPointToPolygon(polygon, polygon.outer().front());
   }
 

diff --git a/common/tier4_autoware_utils/test/src/geometry/test_boost_polygon_utils.cpp b/common/tier4_autoware_utils/test/src/geometry/test_boost_polygon_utils.cpp
@@ -19,8 +19,6 @@
 
 #include <gtest/gtest.h>
 
-namespace bg = boost::geometry;
-
 using tier4_autoware_utils::Polygon2d;
 
 namespace