Add linters to obstacle_avoidance_planner (autowarefoundation#158)

* Added linters to obstacle_avoidance_planner

* Fix header issues

* Fix linting issues

* Fix more linting issues

* Fix even more linting issues

* Final linting fixes

* Fix dependencies

* Use ament_cmake_cppcheck and ament_cmake_cpplint

planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/CMakeLists.txt

@@ -3,6 +3,8 @@ project(obstacle_avoidance_planner)
 
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
@@ -37,6 +39,11 @@ target_link_libraries(obstacle_avoidance_planner_node
   ${OpenCV_LIBRARIES}
 )
 
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 ament_auto_package(
   INSTALL_TO_SHARE
     launch

planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/debug.hpp

@@ -11,8 +11,17 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef DEBUG_OBSTACLEA_AVOIDANCE_PLANNER_H
-#define DEBUG_OBSTACLEA_AVOIDANCE_PLANNER_H
+#ifndef OBSTACLE_AVOIDANCE_PLANNER__DEBUG_HPP_
+#define OBSTACLE_AVOIDANCE_PLANNER__DEBUG_HPP_
+
+#include <string>
+#include <vector>
+
+#include "autoware_perception_msgs/msg/dynamic_object.hpp"
+#include "autoware_planning_msgs/msg/trajectory_point.hpp"
+#include "nav_msgs/msg/occupancy_grid.hpp"
+#include "opencv2/core.hpp"
+#include "visualization_msgs/msg/marker_array.hpp"
 
 struct ConstrainRectangle;
 struct Bounds;
@@ -83,4 +92,4 @@ visualization_msgs::msg::MarkerArray getVirtualWallTextMarkerArray(
 
 nav_msgs::msg::OccupancyGrid getDebugCostmap(
   const cv::Mat & clearance_map, const nav_msgs::msg::OccupancyGrid & occupancy_grid);
-#endif
+#endif  // OBSTACLE_AVOIDANCE_PLANNER__DEBUG_HPP_

planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/eb_path_optimizer.hpp

@@ -11,22 +11,23 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef EB_PATH_OPTIMIZER_H
-#define EB_PATH_OPTIMIZER_H
+#ifndef OBSTACLE_AVOIDANCE_PLANNER__EB_PATH_OPTIMIZER_HPP_
+#define OBSTACLE_AVOIDANCE_PLANNER__EB_PATH_OPTIMIZER_HPP_
 
-#include "boost/optional/optional_fwd.hpp"
-
-#include "eigen3/Eigen/Core"
-
-#include "opencv2/core.hpp"
+#include <memory>
+#include <vector>
 
+#include "rclcpp/clock.hpp"
 #include "autoware_perception_msgs/msg/dynamic_object.hpp"
 #include "autoware_planning_msgs/msg/path.hpp"
 #include "autoware_planning_msgs/msg/path_point.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
-#include "geometry_msgs/msg/pose.hpp"
+#include "boost/optional/optional_fwd.hpp"
+#include "eigen3/Eigen/Core"
 #include "geometry_msgs/msg/point.hpp"
+#include "geometry_msgs/msg/pose.hpp"
 #include "nav_msgs/msg/map_meta_data.hpp"
+#include "opencv2/core.hpp"
 
 struct Bounds;
 struct MPTParam;
@@ -276,14 +277,13 @@ class EBPathOptimizer
   ConstrainRectangle getConstrainRectangle(
     const Anchor & anchor, const int & nearest_idx,
     const std::vector<geometry_msgs::msg::Point> & interpolated_points,
-    const cv::Mat & clearance_map,
-    const nav_msgs::msg::MapMetaData & map_info) const;
+    const cv::Mat & clearance_map, const nav_msgs::msg::MapMetaData & map_info) const;
 
   ConstrainRectangle getConstrainRectangle(
     const std::vector<std::vector<int>> & occupancy_map,
     const std::vector<std::vector<geometry_msgs::msg::Point>> & occupancy_points,
-    const Anchor & anchor,
-    const nav_msgs::msg::MapMetaData & map_info, const cv::Mat & only_objects_clearance_map) const;
+    const Anchor & anchor, const nav_msgs::msg::MapMetaData & map_info,
+    const cv::Mat & only_objects_clearance_map) const;
 
   ConstrainRectangle getConstrainRectangle(
     const std::vector<autoware_planning_msgs::msg::PathPoint> & path_points, const Anchor & anchor,
@@ -300,9 +300,8 @@ class EBPathOptimizer
   OccupancyMaps getOccupancyMaps(
     const std::vector<std::vector<geometry_msgs::msg::Point>> & occupancy_points,
     const geometry_msgs::msg::Pose & origin_pose,
-    const geometry_msgs::msg::Point & origin_point_in_image,
-    const cv::Mat & clearance_map, const cv::Mat & only_objects_clearance_map,
-    const nav_msgs::msg::MapMetaData & map_info) const;
+    const geometry_msgs::msg::Point & origin_point_in_image, const cv::Mat & clearance_map,
+    const cv::Mat & only_objects_clearance_map, const nav_msgs::msg::MapMetaData & map_info) const;
 
   int getStraightLineIdx(
     const std::vector<geometry_msgs::msg::Point> & interpolated_points, const int farrest_point_idx,
@@ -311,23 +310,22 @@ class EBPathOptimizer
 
   int getEndPathIdx(
     const std::vector<autoware_planning_msgs::msg::PathPoint> & path_points,
-    const int begin_path_idx,
-    const double required_trajectory_length);
+    const int begin_path_idx, const double required_trajectory_length);
 
   int getEndPathIdxInsideArea(
     const geometry_msgs::msg::Pose & ego_pose,
     const std::vector<autoware_planning_msgs::msg::PathPoint> & path_points,
-    const int begin_path_idx,
-    const cv::Mat & drivable_area, const nav_msgs::msg::MapMetaData & map_info);
+    const int begin_path_idx, const cv::Mat & drivable_area,
+    const nav_msgs::msg::MapMetaData & map_info);
 
   boost::optional<std::vector<ConstrainRectangle>> getPostProcessedConstrainRectangles(
     const bool enable_avoidance, const std::vector<ConstrainRectangle> & object_constrains,
     const std::vector<ConstrainRectangle> & road_constrains,
     const std::vector<ConstrainRectangle> & only_smooth_constrains,
     const std::vector<geometry_msgs::msg::Point> & interpolated_points,
     const std::vector<autoware_planning_msgs::msg::PathPoint> & path_points,
-    const int farrest_point_idx,
-    const int num_fixed_points, const int straight_idx, DebugData * debug_data) const;
+    const int farrest_point_idx, const int num_fixed_points, const int straight_idx,
+    DebugData * debug_data) const;
 
   boost::optional<std::vector<ConstrainRectangle>> getValidConstrainRectangles(
     const std::vector<ConstrainRectangle> & constrains,
@@ -422,8 +420,8 @@ class EBPathOptimizer
 
   std::vector<double> solveQP(const OptMode & opt_mode);
 
-  bool isFixingPathPoint(const std::vector<autoware_planning_msgs::msg::PathPoint> & path_points)
-  const;
+  bool isFixingPathPoint(
+    const std::vector<autoware_planning_msgs::msg::PathPoint> & path_points) const;
 
   std::vector<autoware_planning_msgs::msg::TrajectoryPoint> calculateTrajectory(
     const std::vector<geometry_msgs::msg::Point> & padded_interpolated_points,
@@ -450,4 +448,4 @@ class EBPathOptimizer
     DebugData * debug_data);
 };
 
-#endif
+#endif  // OBSTACLE_AVOIDANCE_PLANNER__EB_PATH_OPTIMIZER_HPP_

planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/marker_helper.hpp

@@ -11,7 +11,8 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#pragma once
+#ifndef OBSTACLE_AVOIDANCE_PLANNER__MARKER_HELPER_HPP_
+#define OBSTACLE_AVOIDANCE_PLANNER__MARKER_HELPER_HPP_
 
 #include "visualization_msgs/msg/marker_array.hpp"
 
@@ -46,3 +47,4 @@ inline void appendMarkerArray(
     marker_array->markers.push_back(marker);
   }
 }
+#endif  // OBSTACLE_AVOIDANCE_PLANNER__MARKER_HELPER_HPP_

planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/mpt_optimizer.hpp

@@ -37,10 +37,17 @@
  * SOFTWARE.
  */
 
-#ifndef MPTOPTIMIZER_H
-#define MPTOPTIMIZER_H
+#ifndef OBSTACLE_AVOIDANCE_PLANNER__MPT_OPTIMIZER_HPP_
+#define OBSTACLE_AVOIDANCE_PLANNER__MPT_OPTIMIZER_HPP_
 
+#include <memory>
+#include <vector>
+
+#include "autoware_planning_msgs/msg/path_point.hpp"
 #include "autoware_planning_msgs/msg/trajectory_point.hpp"
+#include "boost/optional/optional_fwd.hpp"
+#include "eigen3/Eigen/Core"
+#include "nav_msgs/msg/map_meta_data.hpp"
 
 namespace cv
 {
@@ -73,10 +80,10 @@ struct ReferencePoint
   double s = 0;
   geometry_msgs::msg::Pose top_pose;
   geometry_msgs::msg::Pose mid_pose;
-  double delta_yaw_from_p1;
-  double delta_yaw_from_p2;
+  double delta_yaw_from_p1 = 0;
+  double delta_yaw_from_p2 = 0;
   bool is_fix = false;
-  double fixing_lat;
+  double fixing_lat = 0;
 };
 
 struct Bounds
@@ -158,8 +165,7 @@ class MPTOptimizer
   std::vector<ReferencePoint> convertToReferencePoints(
     const std::vector<autoware_planning_msgs::msg::TrajectoryPoint> & points,
     const geometry_msgs::msg::Pose & ego_pose,
-    const std::unique_ptr<Trajectories> & prev_mpt_points,
-    DebugData * debug_data) const;
+    const std::unique_ptr<Trajectories> & prev_mpt_points, DebugData * debug_data) const;
 
   std::vector<ReferencePoint> getReferencePoints(
     const geometry_msgs::msg::Pose & origin_pose, const geometry_msgs::msg::Pose & ego_pose,
@@ -222,7 +228,7 @@ class MPTOptimizer
     const double initial_value, const CVMaps & maps,
     const bool search_expanding_side = false) const;
 
-  //TODO: refactor replace all relevant funcs
+  // TODO(unknown): refactor replace all relevant funcs
   double getClearance(
     const cv::Mat & clearance_map, const geometry_msgs::msg::Point & map_point,
     const nav_msgs::msg::MapMetaData & map_info, const double default_dist = 0.0) const;
@@ -251,4 +257,4 @@ class MPTOptimizer
     const geometry_msgs::msg::Pose & ego_pose, DebugData * debug_data);
 };
 
-#endif
+#endif  // OBSTACLE_AVOIDANCE_PLANNER__MPT_OPTIMIZER_HPP_

planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/node.hpp

@@ -11,25 +11,28 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef NODE_H
-#define NODE_H
+#ifndef OBSTACLE_AVOIDANCE_PLANNER__NODE_HPP_
+#define OBSTACLE_AVOIDANCE_PLANNER__NODE_HPP_
 
-#include "boost/optional/optional_fwd.hpp"
+#include <memory>
 #include <mutex>
+#include <vector>
 
+#include "autoware_perception_msgs/msg/dynamic_object_array.hpp"
 #include "autoware_planning_msgs/msg/enable_avoidance.hpp"
 #include "autoware_planning_msgs/msg/is_avoidance_possible.hpp"
 #include "autoware_planning_msgs/msg/path.hpp"
 #include "autoware_planning_msgs/msg/path_point.hpp"
-#include "autoware_planning_msgs/msg/trajectory_point.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
-#include "autoware_perception_msgs/msg/dynamic_object_array.hpp"
-#include "geometry_msgs/msg/pose.hpp"
+#include "autoware_planning_msgs/msg/trajectory_point.hpp"
+#include "boost/optional/optional_fwd.hpp"
 #include "geometry_msgs/msg/point.hpp"
-#include "geometry_msgs/msg/twist_stamped.hpp"
+#include "geometry_msgs/msg/pose.hpp"
 #include "geometry_msgs/msg/twist.hpp"
+#include "geometry_msgs/msg/twist_stamped.hpp"
 #include "nav_msgs/msg/map_meta_data.hpp"
 #include "nav_msgs/msg/occupancy_grid.hpp"
+#include "rclcpp/rclcpp.hpp"
 #include "visualization_msgs/msg/marker_array.hpp"
 
 namespace ros
@@ -123,11 +126,12 @@ class ObstacleAvoidancePlanner : public rclcpp::Node
 
   void initialize();
 
-  //generate fine trajectory
+  // generate fine trajectory
   std::vector<autoware_planning_msgs::msg::TrajectoryPoint> generatePostProcessedTrajectory(
     const geometry_msgs::msg::Pose & ego_pose,
     const std::vector<autoware_planning_msgs::msg::PathPoint> & path_points,
-    const std::vector<autoware_planning_msgs::msg::TrajectoryPoint> & merged_optimized_points) const;
+    const std::vector<autoware_planning_msgs::msg::TrajectoryPoint> & merged_optimized_points)
+  const;
 
   bool needReplan(
     const geometry_msgs::msg::Pose & ego_pose,
@@ -192,9 +196,8 @@ class ObstacleAvoidancePlanner : public rclcpp::Node
 
   boost::optional<int> getStopIdx(
     const std::vector<autoware_planning_msgs::msg::PathPoint> & path_points,
-    const Trajectories & trajs,
-    const nav_msgs::msg::MapMetaData & map_info, const cv::Mat & road_clearance_map,
-    DebugData * debug_data) const;
+    const Trajectories & trajs, const nav_msgs::msg::MapMetaData & map_info,
+    const cv::Mat & road_clearance_map, DebugData * debug_data) const;
 
   void declareObstacleAvoidancePlannerParameters();
 
@@ -206,4 +209,4 @@ class ObstacleAvoidancePlanner : public rclcpp::Node
   ~ObstacleAvoidancePlanner();
 };
 
-#endif
+#endif  // OBSTACLE_AVOIDANCE_PLANNER__NODE_HPP_

planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/include/obstacle_avoidance_planner/process_cv.hpp

@@ -11,12 +11,17 @@
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
 // limitations under the License.
-#ifndef PROCESS_CV_H
-#define PROCESS_CV_H
+#ifndef OBSTACLE_AVOIDANCE_PLANNER__PROCESS_CV_HPP_
+#define OBSTACLE_AVOIDANCE_PLANNER__PROCESS_CV_HPP_
 
+#include <vector>
+
+#include "autoware_perception_msgs/msg/dynamic_object.hpp"
 #include "autoware_planning_msgs/msg/path.hpp"
-#include "geometry_msgs/msg/point32.hpp"
 #include "boost/optional/optional_fwd.hpp"
+#include "geometry_msgs/msg/point32.hpp"
+#include "obstacle_avoidance_planner/eb_path_optimizer.hpp"
+#include "opencv2/core.hpp"
 
 namespace util
 {
@@ -84,8 +89,7 @@ bool isAvoidingObject(
 std::vector<cv::Point> getCVPolygon(
   const autoware_perception_msgs::msg::DynamicObject & object, const PolygonPoints & polygon_points,
   const std::vector<autoware_planning_msgs::msg::PathPoint> & path_points,
-  const cv::Mat & clearance_map,
-  const nav_msgs::msg::MapMetaData & map_info);
+  const cv::Mat & clearance_map, const nav_msgs::msg::MapMetaData & map_info);
 
 std::vector<cv::Point> getDefaultCVPolygon(
   const std::vector<geometry_msgs::msg::Point> & points_in_image);
@@ -119,13 +123,13 @@ double getDistance(
 
 boost::optional<int> getStopIdx(
   const std::vector<util::Footprint> & vehicle_footprints,
-  const geometry_msgs::msg::Pose & ego_pose,
-  const cv::Mat & road_clearance_map, const nav_msgs::msg::MapMetaData & map_info);
+  const geometry_msgs::msg::Pose & ego_pose, const cv::Mat & road_clearance_map,
+  const nav_msgs::msg::MapMetaData & map_info);
 
 CVMaps getMaps(
   const autoware_planning_msgs::msg::Path & path,
   const std::vector<autoware_perception_msgs::msg::DynamicObject> & objects,
   const double max_avoiding_objects_velocity_ms, const double center_line_width,
   DebugData * debug_data);
 }  // namespace process_cv
-#endif
+#endif  // OBSTACLE_AVOIDANCE_PLANNER__PROCESS_CV_HPP_