Enable cppcheck lints in behavior_velocity_planner (autowarefoundatio…

…n#159)

* Enable lints in behavior_velocity_planner

* Fix package.xml

planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/CMakeLists.txt

@@ -4,6 +4,8 @@ project(behavior_velocity_planner)
 ### Compile options
 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(-Wno-unused-parameter -Wall -Wextra -Wpedantic)
@@ -211,6 +213,12 @@ target_link_libraries(behavior_velocity_planner_node
 )
 
 ament_export_dependencies(${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 ament_auto_package(INSTALL_TO_SHARE
   launch
   config

planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp

@@ -15,6 +15,7 @@
 
 #include <memory>
 #include <set>
+#include <string>
 
 #include "autoware_planning_msgs/msg/path.hpp"
 #include "autoware_planning_msgs/msg/path_with_lane_id.hpp"

planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/include/scene_module/traffic_light/scene.hpp

@@ -15,6 +15,8 @@
 
 #include <memory>
 #include <string>
+#include <tuple>
+#include <vector>
 
 #include "boost/assert.hpp"
 #include "boost/geometry.hpp"

planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/include/utilization/boost_geometry_helper.hpp

@@ -13,6 +13,7 @@
 // limitations under the License.
 #pragma once
 
+#include <algorithm>
 #include <vector>
 
 #include "boost/assign/list_of.hpp"
@@ -43,11 +44,11 @@ using LineString2d = boost::geometry::model::linestring<Point2d>;
 using Polygon2d =
   boost::geometry::model::polygon<Point2d, false, false>;  // counter-clockwise, open
 
+// cppcheck-suppress unknownMacro
 BOOST_GEOMETRY_REGISTER_POINT_3D(geometry_msgs::msg::Point, double, cs::cartesian, x, y, z)
 BOOST_GEOMETRY_REGISTER_POINT_3D(
   geometry_msgs::msg::PoseWithCovarianceStamped, double, cs::cartesian, pose.pose.position.x,
   pose.pose.position.y, pose.pose.position.z)
-
 BOOST_GEOMETRY_REGISTER_POINT_3D(
   autoware_planning_msgs::msg::PathPoint, double, cs::cartesian, pose.position.x, pose.position.y,
   pose.position.z)
@@ -105,7 +106,7 @@ inline Polygon2d lines2polygon(const LineString2d & left_line, const LineString2
 inline Polygon2d obj2polygon(
   const geometry_msgs::msg::Pose & pose, const geometry_msgs::msg::Vector3 & shape)
 {
-  //rename
+  // rename
   const double x = pose.position.x;
   const double y = pose.position.y;
   const double h = shape.x;
@@ -135,27 +136,27 @@ inline double calcOverlapAreaRate(const Polygon2d & target, const Polygon2d & ba
   /* OverlapAreaRate: common area(target && base) / target area */
 
   if (boost::geometry::within(target, base)) {
-    //target is within base, common area = target area
+    // target is within base, common area = target area
     return 1.0;
   }
 
   if (!boost::geometry::intersects(target, base)) {
-    //target and base has not intersect area
+    // target and base has not intersect area
     return 0.0;
   }
 
-  //calculate intersect polygon
+  // calculate intersect polygon
   std::vector<Polygon2d> intersects;
   boost::geometry::intersection(target, base, intersects);
 
-  //calculate area of polygon
+  // calculate area of polygon
   double intersect_area = 0.0;
   for (const auto intersect : intersects) {
     intersect_area += boost::geometry::area(intersect);
   }
   const double target_area = boost::geometry::area(target);
-  //specification of boost1.65
-  //common area is not intersect area
+  // specification of boost1.65
+  // common area is not intersect area
   const double common_area = target_area - intersect_area;
 
   return common_area / target_area;

planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/include/utilization/interpolate.hpp

@@ -14,6 +14,7 @@
 
 #ifndef BEHAVIOR_VELOCITY_PLANNER_UTILIZATION_INTERPOLATE_H_
 #define BEHAVIOR_VELOCITY_PLANNER_UTILIZATION_INTERPOLATE_H_
+
 #include <cmath>
 #include <vector>
 
@@ -37,7 +38,7 @@ class LinearInterpolate
 bool isIncrease(const std::vector<double> & x);
 bool isValidInput(
   const std::vector<double> & base_index, const std::vector<double> & base_value,
-  const std::vector<double> & return_index, std::vector<double> & return_value);
+  const std::vector<double> & return_index);
 std::vector<double> calcEuclidDist(const std::vector<double> & x, const std::vector<double> & y);
 
 }  // namespace interpolation

planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/include/utilization/interpolation/cubic_spline.hpp

@@ -1,26 +1,23 @@
-/*
- * MIT License
- *
- * Copyright (c) 2018 Forrest
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
- * SOFTWARE.
-*/
+// Copyright 2018 Forrest
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+// THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+// THE SOFTWARE.
+
 #ifndef CUBIC_SPLINE_H
 #define CUBIC_SPLINE_H
 

planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/include/utilization/util.hpp

@@ -1,23 +1,21 @@
-/*
- * Copyright 2015-2019 Autoware Foundation. All rights reserved.
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * 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.
- *
- */
+// Copyright 2015-2019 Autoware Foundation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// 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 COMMON_MATH_PLANNING_UTILS_H
 #define COMMON_MATH_PLANNING_UTILS_H
 
+#include <string>
 #include <vector>
 
 #include "pcl/point_types.h"

planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/package.xml

@@ -29,6 +29,9 @@
   <depend>vehicle_info_util</depend>
   <depend>visualization_msgs</depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_cppcheck</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/main.cpp

@@ -14,6 +14,8 @@
 
 #include "rclcpp/rclcpp.hpp"
 
+#include <memory>
+
 #include "behavior_velocity_planner/node.hpp"
 
 int main(int argc, char ** argv)

planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/node.cpp

@@ -14,6 +14,8 @@
 
 #include <functional>
 
+#include <memory>
+
 #include "behavior_velocity_planner/node.hpp"
 
 #include "pcl/common/transforms.h"

planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/planner_manager.cpp

@@ -13,6 +13,9 @@
 // limitations under the License.
 
 #include "behavior_velocity_planner/planner_manager.hpp"
+
+#include <string>
+#include <memory>
 #include "boost/format.hpp"
 
 namespace

planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/blind_spot/debug.cpp

@@ -11,6 +11,9 @@
 // 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.
+
+#include <string>
+
 #include "scene_module/blind_spot/scene.hpp"
 
 #include "utilization/marker_helper.hpp"

planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/blind_spot/manager.cpp

@@ -11,8 +11,14 @@
 // 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.
+
 #include "scene_module/blind_spot/manager.hpp"
 
+#include <vector>
+#include <set>
+#include <string>
+#include <memory>
+
 #include "lanelet2_core/primitives/BasicRegulatoryElements.h"
 
 #include "utilization/boost_geometry_helper.hpp"

planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/blind_spot/scene.cpp

@@ -11,20 +11,26 @@
 // 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.
+
 #include "scene_module/blind_spot/scene.hpp"
-#include "boost/geometry/algorithms/distance.hpp"
 
-#include "lanelet2_core/geometry/Polygon.h"
-#include "lanelet2_core/primitives/BasicRegulatoryElements.h"
-#include "lanelet2_extension/regulatory_elements/road_marking.hpp"
-#include "lanelet2_extension/utility/query.hpp"
-#include "lanelet2_extension/utility/utilities.hpp"
+#include <memory>
+#include <string>
+#include <algorithm>
+#include <vector>
 
 #include "scene_module/intersection/util.hpp"
 #include "utilization/boost_geometry_helper.hpp"
 #include "utilization/interpolate.hpp"
 #include "utilization/util.hpp"
 
+#include "lanelet2_core/geometry/Polygon.h"
+#include "lanelet2_core/primitives/BasicRegulatoryElements.h"
+#include "lanelet2_extension/regulatory_elements/road_marking.hpp"
+#include "lanelet2_extension/utility/query.hpp"
+#include "lanelet2_extension/utility/utilities.hpp"
+#include "boost/geometry/algorithms/distance.hpp"
+
 namespace bg = boost::geometry;
 
 BlindSpotModule::BlindSpotModule(
@@ -331,7 +337,7 @@ lanelet::ConstLanelet BlindSpotModule::generateHalfLanelet(
   auto half_lanelet = lanelet::Lanelet(lanelet::InvalId, left_bound, right_bound);
   const auto centerline = lanelet::utils::generateFineCenterline(half_lanelet, 5.0);
   half_lanelet.setCenterline(centerline);
-  return half_lanelet;
+  return std::move(half_lanelet);
 }
 
 BlindSpotPolygons BlindSpotModule::generateBlindSpotPolygons(

planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/crosswalk/debug.cpp

@@ -11,6 +11,9 @@
 // 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.
+
+#include <vector>
+
 #include "scene_module/crosswalk/scene_crosswalk.hpp"
 #include "scene_module/crosswalk/scene_walkway.hpp"
 

planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/crosswalk/manager.cpp

@@ -11,8 +11,14 @@
 // 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.
+
 #include "scene_module/crosswalk/manager.hpp"
 
+#include <vector>
+#include <memory>
+#include <set>
+#include <string>
+
 namespace
 {
 std::vector<lanelet::ConstLanelet> getCrosswalksOnPath(

planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_crosswalk.cpp

@@ -11,7 +11,10 @@
 // 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.
+
 #include "scene_module/crosswalk/scene_crosswalk.hpp"
+
+#include <vector>
 #include "utilization/util.hpp"
 
 #include <cmath>

planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_walkway.cpp

@@ -11,11 +11,13 @@
 // 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.
+
 #include "scene_module/crosswalk/scene_walkway.hpp"
-#include "utilization/util.hpp"
 
 #include <cmath>
 
+#include "utilization/util.hpp"
+
 namespace bg = boost::geometry;
 using Point = bg::model::d2::point_xy<double>;
 using Polygon = bg::model::polygon<Point, false>;

planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/crosswalk/util.cpp

@@ -11,13 +11,16 @@
 // 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.
+
 #include "scene_module/crosswalk/util.hpp"
-#include "utilization/util.hpp"
 
+#include <algorithm>
 #include <cmath>
 #include <string>
 #include <vector>
 
+#include "utilization/util.hpp"
+
 #include "boost/assert.hpp"
 #include "boost/assign/list_of.hpp"
 #include "boost/geometry.hpp"
@@ -116,8 +119,8 @@ bool insertTargetVelocityPoint(
     target_point_with_lane_id.point.pose.position.x = target_point.x();
     target_point_with_lane_id.point.pose.position.y = target_point.y();
     if (insert_target_point_idx > 0) {
-      //calculate z-position of the target point (Internal division point of point1/point2)
-      //if insert_target_point_idx is zero, use z-position of target_velocity_point_idx
+      // calculate z-position of the target point (Internal division point of point1/point2)
+      // if insert_target_point_idx is zero, use z-position of target_velocity_point_idx
       const double internal_div_ratio =
         (point1 - target_point).norm() /
         ((point1 - target_point).norm() + (point2 - target_point).norm());

planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/detection_area/debug.cpp

@@ -11,6 +11,7 @@
 // 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.
+
 #include "scene_module/detection_area/scene.hpp"
 
 #include "tf2_geometry_msgs/tf2_geometry_msgs.h"