refactor based on linter

Signed-off-by: a-maumau <[email protected]>

localization/localization_error_monitor/include/localization_error_monitor/diagnostics.hpp

@@ -20,12 +20,12 @@
 #include <string>
 #include <vector>
 
-diagnostic_msgs::msg::DiagnosticStatus checkLocalizationAccuracy(
+diagnostic_msgs::msg::DiagnosticStatus check_localization_accuracy(
   const double ellipse_size, const double warn_ellipse_size, const double error_ellipse_size);
-diagnostic_msgs::msg::DiagnosticStatus checkLocalizationAccuracyLateralDirection(
+diagnostic_msgs::msg::DiagnosticStatus check_localization_accuracy_lateral_direction(
   const double ellipse_size, const double warn_ellipse_size, const double error_ellipse_size);
 
-diagnostic_msgs::msg::DiagnosticStatus mergeDiagnosticStatus(
+diagnostic_msgs::msg::DiagnosticStatus merge_diagnostic_status(
   const std::vector<diagnostic_msgs::msg::DiagnosticStatus> & stat_array);
 
 #endif  // LOCALIZATION_ERROR_MONITOR__DIAGNOSTICS_HPP_

localization/localization_error_monitor/include/localization_error_monitor/localization_error_monitor.hpp

@@ -52,13 +52,12 @@ class LocalizationErrorMonitor : public rclcpp::Node
   double warn_ellipse_size_lateral_direction_;
   Ellipse ellipse_;
 
-  void onOdom(nav_msgs::msg::Odometry::ConstSharedPtr input_msg);
-  visualization_msgs::msg::Marker createEllipseMarker(
+  void on_odom(nav_msgs::msg::Odometry::ConstSharedPtr input_msg);
+  visualization_msgs::msg::Marker create_ellipse_marker(
     const Ellipse & ellipse, nav_msgs::msg::Odometry::ConstSharedPtr odom);
-  double measureSizeEllipseAlongBodyFrame(const Eigen::Matrix2d & Pinv, double theta);
+  static double measure_size_ellipse_along_body_frame(const Eigen::Matrix2d & Pinv, double theta);
 
 public:
   explicit LocalizationErrorMonitor(const rclcpp::NodeOptions & options);
-  ~LocalizationErrorMonitor() = default;
 };
 #endif  // LOCALIZATION_ERROR_MONITOR__LOCALIZATION_ERROR_MONITOR_HPP_

localization/localization_error_monitor/src/diagnostics.cpp

@@ -17,7 +17,7 @@
 #include <string>
 #include <vector>
 
-diagnostic_msgs::msg::DiagnosticStatus checkLocalizationAccuracy(
+diagnostic_msgs::msg::DiagnosticStatus check_localization_accuracy(
   const double ellipse_size, const double warn_ellipse_size, const double error_ellipse_size)
 {
   diagnostic_msgs::msg::DiagnosticStatus stat;
@@ -41,7 +41,7 @@ diagnostic_msgs::msg::DiagnosticStatus checkLocalizationAccuracy(
   return stat;
 }
 
-diagnostic_msgs::msg::DiagnosticStatus checkLocalizationAccuracyLateralDirection(
+diagnostic_msgs::msg::DiagnosticStatus check_localization_accuracy_lateral_direction(
   const double ellipse_size, const double warn_ellipse_size, const double error_ellipse_size)
 {
   diagnostic_msgs::msg::DiagnosticStatus stat;
@@ -66,7 +66,7 @@ diagnostic_msgs::msg::DiagnosticStatus checkLocalizationAccuracyLateralDirection
 }
 
 // The highest level within the stat_array will be reflected in the merged_stat.
-diagnostic_msgs::msg::DiagnosticStatus mergeDiagnosticStatus(
+diagnostic_msgs::msg::DiagnosticStatus merge_diagnostic_status(
   const std::vector<diagnostic_msgs::msg::DiagnosticStatus> & stat_array)
 {
   diagnostic_msgs::msg::DiagnosticStatus merged_stat;

localization/localization_error_monitor/src/localization_error_monitor.cpp

@@ -45,7 +45,7 @@ LocalizationErrorMonitor::LocalizationErrorMonitor(const rclcpp::NodeOptions & o
     this->declare_parameter<double>("warn_ellipse_size_lateral_direction");
 
   odom_sub_ = this->create_subscription<nav_msgs::msg::Odometry>(
-    "input/odom", 1, std::bind(&LocalizationErrorMonitor::onOdom, this, std::placeholders::_1));
+    "input/odom", 1, std::bind(&LocalizationErrorMonitor::on_odom, this, std::placeholders::_1));
 
   // QoS setup
   rclcpp::QoS durable_qos(1);
@@ -58,7 +58,7 @@ LocalizationErrorMonitor::LocalizationErrorMonitor(const rclcpp::NodeOptions & o
   logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
 }
 
-visualization_msgs::msg::Marker LocalizationErrorMonitor::createEllipseMarker(
+visualization_msgs::msg::Marker LocalizationErrorMonitor::create_ellipse_marker(
   const Ellipse & ellipse, nav_msgs::msg::Odometry::ConstSharedPtr odom)
 {
   tf2::Quaternion quat;
@@ -85,7 +85,7 @@ visualization_msgs::msg::Marker LocalizationErrorMonitor::createEllipseMarker(
   return marker;
 }
 
-void LocalizationErrorMonitor::onOdom(nav_msgs::msg::Odometry::ConstSharedPtr input_msg)
+void LocalizationErrorMonitor::on_odom(nav_msgs::msg::Odometry::ConstSharedPtr input_msg)
 {
   // create xy covariance (2x2 matrix)
   // input geometry_msgs::PoseWithCovariance contain 6x6 matrix
@@ -110,21 +110,21 @@ void LocalizationErrorMonitor::onOdom(nav_msgs::msg::Odometry::ConstSharedPtr in
   ellipse_.P = xy_covariance;
   const double yaw_vehicle = tf2::getYaw(input_msg->pose.pose.orientation);
   ellipse_.size_lateral_direction =
-    scale_ * measureSizeEllipseAlongBodyFrame(ellipse_.P.inverse(), yaw_vehicle);
+    scale_ * measure_size_ellipse_along_body_frame(ellipse_.P.inverse(), yaw_vehicle);
 
-  const auto ellipse_marker = createEllipseMarker(ellipse_, input_msg);
+  const auto ellipse_marker = create_ellipse_marker(ellipse_, input_msg);
   ellipse_marker_pub_->publish(ellipse_marker);
 
   // diagnostics
   std::vector<diagnostic_msgs::msg::DiagnosticStatus> diag_status_array;
   diag_status_array.push_back(
-    checkLocalizationAccuracy(ellipse_.long_radius, warn_ellipse_size_, error_ellipse_size_));
-  diag_status_array.push_back(checkLocalizationAccuracyLateralDirection(
+    check_localization_accuracy(ellipse_.long_radius, warn_ellipse_size_, error_ellipse_size_));
+  diag_status_array.push_back(check_localization_accuracy_lateral_direction(
     ellipse_.size_lateral_direction, warn_ellipse_size_lateral_direction_,
     error_ellipse_size_lateral_direction_));
 
   diagnostic_msgs::msg::DiagnosticStatus diag_merged_status;
-  diag_merged_status = mergeDiagnosticStatus(diag_status_array);
+  diag_merged_status = merge_diagnostic_status(diag_status_array);
   diag_merged_status.name = "localization: " + std::string(this->get_name());
   diag_merged_status.hardware_id = this->get_name();
 
@@ -134,7 +134,7 @@ void LocalizationErrorMonitor::onOdom(nav_msgs::msg::Odometry::ConstSharedPtr in
   diag_pub_->publish(diag_msg);
 }
 
-double LocalizationErrorMonitor::measureSizeEllipseAlongBodyFrame(
+double LocalizationErrorMonitor::measure_size_ellipse_along_body_frame(
   const Eigen::Matrix2d & Pinv, const double theta)
 {
   Eigen::MatrixXd e(2, 1);

localization/localization_error_monitor/test/test_diagnostics.cpp

@@ -24,23 +24,23 @@ TEST(TestLocalizationErrorMonitorDiagnostics, CheckLocalizationAccuracy)
   const double error_ellipse_size = 1.0;
 
   double ellipse_size = 0.0;
-  stat = checkLocalizationAccuracy(ellipse_size, warn_ellipse_size, error_ellipse_size);
+  stat = check_localization_accuracy(ellipse_size, warn_ellipse_size, error_ellipse_size);
   EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK);
 
   ellipse_size = 0.7;
-  stat = checkLocalizationAccuracy(ellipse_size, warn_ellipse_size, error_ellipse_size);
+  stat = check_localization_accuracy(ellipse_size, warn_ellipse_size, error_ellipse_size);
   EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK);
 
   ellipse_size = 0.8;
-  stat = checkLocalizationAccuracy(ellipse_size, warn_ellipse_size, error_ellipse_size);
+  stat = check_localization_accuracy(ellipse_size, warn_ellipse_size, error_ellipse_size);
   EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN);
 
   ellipse_size = 0.9;
-  stat = checkLocalizationAccuracy(ellipse_size, warn_ellipse_size, error_ellipse_size);
+  stat = check_localization_accuracy(ellipse_size, warn_ellipse_size, error_ellipse_size);
   EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN);
 
   ellipse_size = 1.0;
-  stat = checkLocalizationAccuracy(ellipse_size, warn_ellipse_size, error_ellipse_size);
+  stat = check_localization_accuracy(ellipse_size, warn_ellipse_size, error_ellipse_size);
   EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR);
 }
 
@@ -52,28 +52,33 @@ TEST(TestLocalizationErrorMonitorDiagnostics, CheckLocalizationAccuracyLateralDi
   const double error_ellipse_size = 0.3;
 
   double ellipse_size = 0.0;
-  stat =
-    checkLocalizationAccuracyLateralDirection(ellipse_size, warn_ellipse_size, error_ellipse_size);
+  stat = check_localization_accuracy_lateral_direction(
+    ellipse_size, warn_ellipse_size, error_ellipse_size
+  );
   EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK);
 
   ellipse_size = 0.24;
-  stat =
-    checkLocalizationAccuracyLateralDirection(ellipse_size, warn_ellipse_size, error_ellipse_size);
+  stat = check_localization_accuracy_lateral_direction(
+    ellipse_size, warn_ellipse_size, error_ellipse_size
+  );
   EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK);
 
   ellipse_size = 0.25;
-  stat =
-    checkLocalizationAccuracyLateralDirection(ellipse_size, warn_ellipse_size, error_ellipse_size);
+  stat = check_localization_accuracy_lateral_direction(
+    ellipse_size, warn_ellipse_size, error_ellipse_size
+  );
   EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN);
 
   ellipse_size = 0.29;
-  stat =
-    checkLocalizationAccuracyLateralDirection(ellipse_size, warn_ellipse_size, error_ellipse_size);
+  stat = check_localization_accuracy_lateral_direction(
+    ellipse_size, warn_ellipse_size, error_ellipse_size
+  );
   EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN);
 
   ellipse_size = 0.3;
-  stat =
-    checkLocalizationAccuracyLateralDirection(ellipse_size, warn_ellipse_size, error_ellipse_size);
+  stat = check_localization_accuracy_lateral_direction(
+    ellipse_size, warn_ellipse_size, error_ellipse_size
+  );
   EXPECT_EQ(stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR);
 }
 
@@ -86,55 +91,55 @@ TEST(TestLocalizationErrorMonitorDiagnostics, MergeDiagnosticStatus)
   stat_array.at(0).message = "OK";
   stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::OK;
   stat_array.at(1).message = "OK";
-  merged_stat = mergeDiagnosticStatus(stat_array);
+  merged_stat = merge_diagnostic_status(stat_array);
   EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::OK);
   EXPECT_EQ(merged_stat.message, "OK");
 
   stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
   stat_array.at(0).message = "WARN0";
   stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::OK;
   stat_array.at(1).message = "OK";
-  merged_stat = mergeDiagnosticStatus(stat_array);
+  merged_stat = merge_diagnostic_status(stat_array);
   EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN);
   EXPECT_EQ(merged_stat.message, "WARN0");
 
   stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::OK;
   stat_array.at(0).message = "OK";
   stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
   stat_array.at(1).message = "WARN1";
-  merged_stat = mergeDiagnosticStatus(stat_array);
+  merged_stat = merge_diagnostic_status(stat_array);
   EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN);
   EXPECT_EQ(merged_stat.message, "WARN1");
 
   stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
   stat_array.at(0).message = "WARN0";
   stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
   stat_array.at(1).message = "WARN1";
-  merged_stat = mergeDiagnosticStatus(stat_array);
+  merged_stat = merge_diagnostic_status(stat_array);
   EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::WARN);
   EXPECT_EQ(merged_stat.message, "WARN0; WARN1");
 
   stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::OK;
   stat_array.at(0).message = "OK";
   stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
   stat_array.at(1).message = "ERROR1";
-  merged_stat = mergeDiagnosticStatus(stat_array);
+  merged_stat = merge_diagnostic_status(stat_array);
   EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR);
   EXPECT_EQ(merged_stat.message, "ERROR1");
 
   stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
   stat_array.at(0).message = "WARN0";
   stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
   stat_array.at(1).message = "ERROR1";
-  merged_stat = mergeDiagnosticStatus(stat_array);
+  merged_stat = merge_diagnostic_status(stat_array);
   EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR);
   EXPECT_EQ(merged_stat.message, "WARN0; ERROR1");
 
   stat_array.at(0).level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
   stat_array.at(0).message = "ERROR0";
   stat_array.at(1).level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
   stat_array.at(1).message = "ERROR1";
-  merged_stat = mergeDiagnosticStatus(stat_array);
+  merged_stat = merge_diagnostic_status(stat_array);
   EXPECT_EQ(merged_stat.level, diagnostic_msgs::msg::DiagnosticStatus::ERROR);
   EXPECT_EQ(merged_stat.message, "ERROR0; ERROR1");
 }