refactor(ndt scan matcher): apply static analysis

[YamatoAndo]

Description

Fixed some of the points raised by clang-tidy, cpplint and cppcheck.

However, I have not fix the following warings.

• function 'callback_sensor_points_main' has cognitive complexity
• do not access members of unions

I will try to fix these warning at another time.

Tests performed

I use the following script to see result of clang-tidy and cpplint.

#!/bin/bash
set -eux

TARGET_DIR=$1

current_dir=$(basename $(pwd))
if [[ ! $current_dir =~ ^(autoware|pilot-auto) ]]; then
    echo "This script must be run in a directory with a prefix of autoware or pilot-auto."
    exit 1
fi

set +eux
export CPLUS_INCLUDE_PATH=/usr/include/c++/11:/usr/include/x86_64-linux-gnu/c++/11:$CPLUS_INCLUDE_PATH
set -eux

fdfind -e cpp -e hpp --full-path ${TARGET_DIR} | xargs -P $(nproc) -I{} cpplint {}
fdfind -e cpp -e hpp --full-path ${TARGET_DIR} | xargs -P $(nproc) -I{} clang-tidy -p build/ {}

before PR

yamato_ando@dpc2108002:~/autoware$ ./check_linter.sh ndt_scan_matcher
+ TARGET_DIR=ndt_scan_matcher
+++ pwd
++ basename /home/yamato_ando/autoware
+ current_dir=autoware
+ [[ ! autoware =~ ^(autoware|pilot-auto) ]]
+ set +eux
+ fdfind -e cpp -e hpp --full-path ndt_scan_matcher
++ nproc
+ xargs -P 20 '-I{}' cpplint '{}'
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/src/particle.cpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/include/ndt_scan_matcher/particle.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/test/stub_sensor_pcd_publisher.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/src/diagnostics_module.cpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_cases/standard_sequence_for_initial_pose_estimation.cpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/include/ndt_scan_matcher/diagnostics_module.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/test/stub_trigger_node_client.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/test/stub_initialpose_client.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_cases/once_initialize_at_out_of_map_then_initialize_correctly.cpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/test/stub_pcd_loader.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/src/map_update_module.cpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_fixture.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
+ fdfind -e cpp -e hpp --full-path ndt_scan_matcher
++ nproc
+ xargs -P 20 '-I{}' clang-tidy -p build/ '{}'
5204 warnings generated.
Suppressed 5204 warnings (5204 in non-user code).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
26943 warnings and 11 errors generated.
Error while processing /home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp.
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:55:8: error: use of undeclared identifier 'geometry_msgs' [clang-diagnostic-error]
inline geometry_msgs::msg::PoseWithCovarianceStamped make_pose(const float x, const float y)
       ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:57:3: error: use of undeclared identifier 'geometry_msgs' [clang-diagnostic-error]
  geometry_msgs::msg::PoseWithCovarianceStamped pose{};
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:57:49: warning: variable 'pose' is not initialized [cppcoreguidelines-init-variables]
  geometry_msgs::msg::PoseWithCovarianceStamped pose{};
                                                ^
                                                     = 0
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:77:8: error: use of undeclared identifier 'sensor_msgs' [clang-diagnostic-error]
inline sensor_msgs::msg::PointCloud2 make_default_sensor_pcd()
       ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:80:8: error: no member named 'VoxelGrid' in namespace 'pcl' [clang-diagnostic-error]
  pcl::VoxelGrid<pcl::PointXYZ> vg;
  ~~~~~^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:80:31: error: expected '(' for function-style cast or type construction [clang-diagnostic-error]
  pcl::VoxelGrid<pcl::PointXYZ> vg;
                 ~~~~~~~~~~~~~^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:80:33: error: use of undeclared identifier 'vg' [clang-diagnostic-error]
  pcl::VoxelGrid<pcl::PointXYZ> vg;
                                ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:81:3: error: use of undeclared identifier 'vg' [clang-diagnostic-error]
  vg.setInputCloud(cloud.makeShared());
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:82:3: error: use of undeclared identifier 'vg' [clang-diagnostic-error]
  vg.setLeafSize(1.0, 1.0, 1.0);
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:83:3: error: use of undeclared identifier 'vg' [clang-diagnostic-error]
  vg.filter(cloud);
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:84:3: error: use of undeclared identifier 'sensor_msgs' [clang-diagnostic-error]
  sensor_msgs::msg::PointCloud2 input_cloud;
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:84:33: warning: variable 'input_cloud' is not initialized [cppcoreguidelines-init-variables]
  sensor_msgs::msg::PointCloud2 input_cloud;
                                ^
                                            = 0
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:85:8: error: no member named 'toROSMsg' in namespace 'pcl' [clang-diagnostic-error]
  pcl::toROSMsg(cloud, input_cloud);
  ~~~~~^
Suppressed 26952 warnings (26941 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
Found compiler error(s).
13450 warnings generated.
Suppressed 13461 warnings (13450 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
13245 warnings generated.
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/include/ndt_scan_matcher/diagnostics_module.hpp:30:8: warning: invalid case style for function 'addKeyValue' [readability-identifier-naming]
  void addKeyValue(const diagnostic_msgs::msg::KeyValue & key_value_msg);
       ^~~~~~~~~~~
       add_key_value
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/include/ndt_scan_matcher/diagnostics_module.hpp:32:8: warning: invalid case style for function 'addKeyValue' [readability-identifier-naming]
  void addKeyValue(const std::string & key, const T & value);
       ^~~~~~~~~~~
       add_key_value
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/include/ndt_scan_matcher/diagnostics_module.hpp:33:8: warning: invalid case style for function 'updateLevelAndMessage' [readability-identifier-naming]
  void updateLevelAndMessage(const int8_t level, const std::string & message);
       ^~~~~~~~~~~~~~~~~~~~~
       update_level_and_message
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/include/ndt_scan_matcher/diagnostics_module.hpp:37:3: warning: function 'createDiagnosticsArray' should be marked [[nodiscard]] [modernize-use-nodiscard]
  diagnostic_msgs::msg::DiagnosticArray createDiagnosticsArray(
  ^
  [[nodiscard]] 
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/include/ndt_scan_matcher/diagnostics_module.hpp:37:41: warning: invalid case style for function 'createDiagnosticsArray' [readability-identifier-naming]
  diagnostic_msgs::msg::DiagnosticArray createDiagnosticsArray(
                                        ^~~~~~~~~~~~~~~~~~~~~~
                                        create_diagnostics_array
Suppressed 13251 warnings (13240 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
13505 warnings generated.
Suppressed 13516 warnings (13505 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
13762 warnings generated.
Suppressed 13773 warnings (13762 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
13799 warnings generated.
Suppressed 13810 warnings (13799 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
39806 warnings and 11 errors generated.
Error while processing /home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/stub_pcd_loader.hpp.
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/stub_pcd_loader.hpp:67:13: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      point.x += offset_x;
            ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/stub_pcd_loader.hpp:68:13: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      point.y += offset_y;
            ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/stub_pcd_loader.hpp:75:97: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      pcd_map_cell_with_id.metadata.min_x = std::min(pcd_map_cell_with_id.metadata.min_x, point.x);
                                                                                                ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/stub_pcd_loader.hpp:76:97: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      pcd_map_cell_with_id.metadata.min_y = std::min(pcd_map_cell_with_id.metadata.min_y, point.y);
                                                                                                ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/stub_pcd_loader.hpp:77:97: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      pcd_map_cell_with_id.metadata.max_x = std::max(pcd_map_cell_with_id.metadata.max_x, point.x);
                                                                                                ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/stub_pcd_loader.hpp:78:97: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      pcd_map_cell_with_id.metadata.max_y = std::max(pcd_map_cell_with_id.metadata.max_y, point.y);
                                                                                                ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:55:8: error: use of undeclared identifier 'geometry_msgs' [clang-diagnostic-error]
inline geometry_msgs::msg::PoseWithCovarianceStamped make_pose(const float x, const float y)
       ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:57:3: error: use of undeclared identifier 'geometry_msgs' [clang-diagnostic-error]
  geometry_msgs::msg::PoseWithCovarianceStamped pose{};
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:77:8: error: use of undeclared identifier 'sensor_msgs' [clang-diagnostic-error]
inline sensor_msgs::msg::PointCloud2 make_default_sensor_pcd()
       ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:80:8: error: no member named 'VoxelGrid' in namespace 'pcl' [clang-diagnostic-error]
  pcl::VoxelGrid<pcl::PointXYZ> vg;
  ~~~~~^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:80:31: error: expected '(' for function-style cast or type construction [clang-diagnostic-error]
  pcl::VoxelGrid<pcl::PointXYZ> vg;
                 ~~~~~~~~~~~~~^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:80:33: error: use of undeclared identifier 'vg' [clang-diagnostic-error]
  pcl::VoxelGrid<pcl::PointXYZ> vg;
                                ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:81:3: error: use of undeclared identifier 'vg' [clang-diagnostic-error]
  vg.setInputCloud(cloud.makeShared());
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:82:3: error: use of undeclared identifier 'vg' [clang-diagnostic-error]
  vg.setLeafSize(1.0, 1.0, 1.0);
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:83:3: error: use of undeclared identifier 'vg' [clang-diagnostic-error]
  vg.filter(cloud);
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:84:3: error: use of undeclared identifier 'sensor_msgs' [clang-diagnostic-error]
  sensor_msgs::msg::PointCloud2 input_cloud;
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp:85:8: error: no member named 'toROSMsg' in namespace 'pcl' [clang-diagnostic-error]
  pcl::toROSMsg(cloud, input_cloud);
  ~~~~~^
Suppressed 39822 warnings (39800 in non-user code, 22 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
Found compiler error(s).
30991 warnings generated.
Suppressed 31004 warnings (30991 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
52204 warnings generated.
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp:75:10: warning: constructor does not initialize these fields: output_pose_covariance [cppcoreguidelines-pro-type-member-init]
  struct Covariance
         ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp:79:12: warning: constructor does not initialize these fields: enable [cppcoreguidelines-pro-type-member-init]
    struct CovarianceEstimation
           ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp:94:3: warning: constructor does not initialize these fields: sensor_points, initial_pose_estimation, validation, score_estimation, dynamic_map_loading [cppcoreguidelines-pro-type-member-init]
  explicit HyperParameters(rclcpp::Node * node)
  ^
Suppressed 52214 warnings (52201 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
66178 warnings generated.
Suppressed 66191 warnings (66178 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
67325 warnings generated.
Suppressed 67338 warnings (67325 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
72405 warnings generated.
Suppressed 72419 warnings (72405 in non-user code, 14 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
75559 warnings generated.
Suppressed 75600 warnings (75559 in non-user code, 41 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
75559 warnings generated.
Suppressed 75600 warnings (75559 in non-user code, 41 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
75538 warnings generated.
Suppressed 75578 warnings (75538 in non-user code, 40 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
119224 warnings generated.
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:296:22: warning: function 'callback_sensor_points_main' has cognitive complexity of 28 (threshold 25) [readability-function-cognitive-complexity]
bool NDTScanMatcher::callback_sensor_points_main(
                     ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:308:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (sensor_points_size == 0) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:321:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (sensor_points_delay_time_sec > param_.validation.lidar_topic_timeout_sec) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:351:5: note: +1, including nesting penalty of 0, nesting level increased to 1
  } catch (const std::exception & ex) {
    ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:365:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  for (const auto & point : sensor_points_in_baselink_frame->points) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:371:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (max_distance < param_.sensor_points.required_distance) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:388:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (!is_activated_) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:404:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (!is_succeed_interpolate_initial_pose) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:417:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (param_.ndt_regularization_enable) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:424:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (!is_set_map_points) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:441:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  for (const auto & pose_matrix : ndt_result.transformation_array) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:449:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (!is_ok_iteration_num) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:462:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (is_local_optimal_solution_oscillation) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:475:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (param_.score_estimation.converged_param_type == ConvergedParamType::TRANSFORM_PROBABILITY) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:478:10: note: +1, nesting level increased to 1
  } else if (
         ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:484:5: note: +1, nesting level increased to 1
  } else {
    ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:493:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (!is_ok_score) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:503:86: note: +1
  bool is_converged = (is_ok_iteration_num || is_local_optimal_solution_oscillation) && is_ok_score;
                                                                                     ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:503:44: note: +1
  bool is_converged = (is_ok_iteration_num || is_local_optimal_solution_oscillation) && is_ok_score;
                                           ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:515:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (is_converged && param_.covariance.covariance_estimation.enable) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:515:20: note: +1
  if (is_converged && param_.covariance.covariance_estimation.enable) {
                   ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:526:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (distance_initial_to_result > warn_distance_initial_to_result) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:540:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (exe_time > param_.validation.critical_upper_bound_exe_time_ms) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:569:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (param_.score_estimation.no_ground_points.enable) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:573:5: note: +2, including nesting penalty of 1, nesting level increased to 2
    for (std::size_t i = 0; i < sensor_points_in_map_ptr->size(); i++) {
    ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:575:7: note: +3, including nesting penalty of 2, nesting level increased to 3
      if (
      ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:366:46: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
    const double distance = std::hypot(point.x, point.y, point.z);
                                             ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:366:55: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
    const double distance = std::hypot(point.x, point.y, point.z);
                                                      ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:366:64: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
    const double distance = std::hypot(point.x, point.y, point.z);
                                                               ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:756:40: warning: method 'rotate_covariance' can be made static [readability-convert-member-functions-to-static]
std::array<double, 36> NDTScanMatcher::rotate_covariance(
                                       ^
Suppressed 119234 warnings (119219 in non-user code, 15 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.

~/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher$ cppcheck --enable=warning --enable=style --enable=performance --enable=portability --enable=unusedFunction --inconclusive --check-level=exhaustive .
Checking src/diagnostics_module.cpp ...
1/6 files checked 4% done
Checking src/map_update_module.cpp ...
2/6 files checked 19% done
Checking src/ndt_scan_matcher_core.cpp ...
src/ndt_scan_matcher_core.cpp:639:38: style: Variable 'ex' can be declared as reference to const [constVariableReference]
  } catch (tf2::TransformException & ex) {
                                     ^
Checking src/ndt_scan_matcher_core.cpp: ROS_DISTRO_GALACTIC...
3/6 files checked 88% done
Checking src/particle.cpp ...
4/6 files checked 92% done
Checking test/test_cases/once_initialize_at_out_of_map_then_initialize_correctly.cpp ...
Checking test/test_cases/once_initialize_at_out_of_map_then_initialize_correctly.cpp: ROS_DISTRO_GALACTIC...
5/6 files checked 96% done
Checking test/test_cases/standard_sequence_for_initial_pose_estimation.cpp ...
Checking test/test_cases/standard_sequence_for_initial_pose_estimation.cpp: ROS_DISTRO_GALACTIC...
6/6 files checked 100% done
test/test_fixture.hpp:38:0: style: The function 'SetUp' is never used. [unusedFunction]
  void SetUp() override
^

---

after PR

yamato_ando@dpc2108002:~/autoware$ ./check_linter.sh ndt_scan_matcher
+ TARGET_DIR=ndt_scan_matcher
+++ pwd
++ basename /home/yamato_ando/autoware
+ current_dir=autoware
+ [[ ! autoware =~ ^(autoware|pilot-auto) ]]
+ set +eux
+ fdfind -e cpp -e hpp --full-path ndt_scan_matcher
++ nproc
+ xargs -P 20 '-I{}' cpplint '{}'
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/test/stub_initialpose_client.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_cases/once_initialize_at_out_of_map_then_initialize_correctly.cpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/src/particle.cpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/include/ndt_scan_matcher/particle.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/test/stub_sensor_pcd_publisher.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/include/ndt_scan_matcher/diagnostics_module.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_cases/standard_sequence_for_initial_pose_estimation.cpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/src/diagnostics_module.cpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/test/stub_trigger_node_client.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_util.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/test/stub_pcd_loader.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/src/map_update_module.cpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/test/test_fixture.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/include/ndt_scan_matcher/hyper_parameters.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp
Done processing ./src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
+ fdfind -e cpp -e hpp --full-path ndt_scan_matcher
++ nproc
+ xargs -P 20 '-I{}' clang-tidy -p build/ '{}'
5204 warnings generated.
Suppressed 5204 warnings (5204 in non-user code).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
13505 warnings generated.
Suppressed 13516 warnings (13505 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
13450 warnings generated.
Suppressed 13461 warnings (13450 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
13762 warnings generated.
Suppressed 13773 warnings (13762 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
13240 warnings generated.
Suppressed 13251 warnings (13240 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
13794 warnings generated.
Suppressed 13805 warnings (13794 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
42986 warnings generated.
Suppressed 43008 warnings (42986 in non-user code, 22 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
43409 warnings generated.
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/stub_pcd_loader.hpp:67:13: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      point.x += offset_x;
            ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/stub_pcd_loader.hpp:68:13: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      point.y += offset_y;
            ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/stub_pcd_loader.hpp:75:97: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      pcd_map_cell_with_id.metadata.min_x = std::min(pcd_map_cell_with_id.metadata.min_x, point.x);
                                                                                                ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/stub_pcd_loader.hpp:76:97: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      pcd_map_cell_with_id.metadata.min_y = std::min(pcd_map_cell_with_id.metadata.min_y, point.y);
                                                                                                ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/stub_pcd_loader.hpp:77:97: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      pcd_map_cell_with_id.metadata.max_x = std::max(pcd_map_cell_with_id.metadata.max_x, point.x);
                                                                                                ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/test/stub_pcd_loader.hpp:78:97: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
      pcd_map_cell_with_id.metadata.max_y = std::max(pcd_map_cell_with_id.metadata.max_y, point.y);
                                                                                                ^
Suppressed 43425 warnings (43403 in non-user code, 22 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
52200 warnings generated.
Suppressed 52213 warnings (52200 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
30991 warnings generated.
Suppressed 31004 warnings (30991 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
66169 warnings generated.
Suppressed 66182 warnings (66169 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
67315 warnings generated.
Suppressed 67328 warnings (67315 in non-user code, 13 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
72396 warnings generated.
Suppressed 72410 warnings (72396 in non-user code, 14 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
75550 warnings generated.
Suppressed 75591 warnings (75550 in non-user code, 41 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
75550 warnings generated.
Suppressed 75591 warnings (75550 in non-user code, 41 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
75529 warnings generated.
Suppressed 75569 warnings (75529 in non-user code, 40 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
119213 warnings generated.
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:318:22: warning: function 'callback_sensor_points_main' has cognitive complexity of 28 (threshold 25) [readability-function-cognitive-complexity]
bool NDTScanMatcher::callback_sensor_points_main(
                     ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:330:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (sensor_points_size == 0) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:343:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (sensor_points_delay_time_sec > param_.validation.lidar_topic_timeout_sec) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:373:5: note: +1, including nesting penalty of 0, nesting level increased to 1
  } catch (const std::exception & ex) {
    ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:387:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  for (const auto & point : sensor_points_in_baselink_frame->points) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:393:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (max_distance < param_.sensor_points.required_distance) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:410:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (!is_activated_) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:426:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (!is_succeed_interpolate_initial_pose) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:439:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (param_.ndt_regularization_enable) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:446:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (!is_set_map_points) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:463:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  for (const auto & pose_matrix : ndt_result.transformation_array) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:471:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (!is_ok_iteration_num) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:485:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (is_local_optimal_solution_oscillation) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:499:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (param_.score_estimation.converged_param_type == ConvergedParamType::TRANSFORM_PROBABILITY) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:502:10: note: +1, nesting level increased to 1
  } else if (
         ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:508:5: note: +1, nesting level increased to 1
  } else {
    ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:517:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (!is_ok_score) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:527:86: note: +1
  bool is_converged = (is_ok_iteration_num || is_local_optimal_solution_oscillation) && is_ok_score;
                                                                                     ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:527:44: note: +1
  bool is_converged = (is_ok_iteration_num || is_local_optimal_solution_oscillation) && is_ok_score;
                                           ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:539:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (is_converged && param_.covariance.covariance_estimation.enable) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:539:20: note: +1
  if (is_converged && param_.covariance.covariance_estimation.enable) {
                   ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:550:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (distance_initial_to_result > warn_distance_initial_to_result) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:564:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (exe_time > param_.validation.critical_upper_bound_exe_time_ms) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:593:3: note: +1, including nesting penalty of 0, nesting level increased to 1
  if (param_.score_estimation.no_ground_points.enable) {
  ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:597:5: note: +2, including nesting penalty of 1, nesting level increased to 2
    for (std::size_t i = 0; i < sensor_points_in_map_ptr->size(); i++) {
    ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:599:7: note: +3, including nesting penalty of 2, nesting level increased to 3
      if (
      ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:388:46: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
    const double distance = std::hypot(point.x, point.y, point.z);
                                             ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:388:55: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
    const double distance = std::hypot(point.x, point.y, point.z);
                                                      ^
/home/yamato_ando/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp:388:64: warning: do not access members of unions; use (boost::)variant instead [cppcoreguidelines-pro-type-union-access]
    const double distance = std::hypot(point.x, point.y, point.z);
                                                               ^
Suppressed 119224 warnings (119209 in non-user code, 15 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.

~/autoware/src/universe/autoware.universe/localization/ndt_scan_matcher$ cppcheck --enable=warning --enable=style --enable=performance --enable=portability --enable=unusedFunction --inconclusive --check-level=exhaustive .
Checking src/diagnostics_module.cpp ...
1/6 files checked 4% done
Checking src/map_update_module.cpp ...
2/6 files checked 19% done
Checking src/ndt_scan_matcher_core.cpp ...
Checking src/ndt_scan_matcher_core.cpp: ROS_DISTRO_GALACTIC...
3/6 files checked 88% done
Checking src/particle.cpp ...
4/6 files checked 92% done
Checking test/test_cases/once_initialize_at_out_of_map_then_initialize_correctly.cpp ...
Checking test/test_cases/once_initialize_at_out_of_map_then_initialize_correctly.cpp: ROS_DISTRO_GALACTIC...
5/6 files checked 96% done
Checking test/test_cases/standard_sequence_for_initial_pose_estimation.cpp ...
Checking test/test_cases/standard_sequence_for_initial_pose_estimation.cpp: ROS_DISTRO_GALACTIC...
6/6 files checked 100% done
test/test_fixture.hpp:38:0: style: The function 'SetUp' is never used. [unusedFunction]
  void SetUp() override

Effects on system behavior

Not applicable.

Interface changes

Pre-review checklist for the PR author

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After all checkboxes are checked, anyone who has write access can merge the PR.

[SakodaShintaro]

There are still some linter issues, but the fixes in this pull request are a clear improvement, so I think it’s good.