Merge branch 'feature/kuroko_description' into develop

.clang-format

@@ -0,0 +1,75 @@
+---
+BasedOnStyle:  Google
+ColumnLimit:    120
+MaxEmptyLinesToKeep: 1
+SortIncludes: false
+
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+NamespaceIndentation: None
+ContinuationIndentWidth: 4
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+
+AllowAllParametersOfDeclarationOnNextLine: false
+ExperimentalAutoDetectBinPacking: false
+ObjCSpaceBeforeProtocolList: true
+Cpp11BracedListStyle: false
+
+AllowShortBlocksOnASingleLine: true
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortCaseLabelsOnASingleLine: false
+
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+
+BinPackParameters: true
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+
+PenaltyExcessCharacter: 50
+PenaltyBreakBeforeFirstCallParameter: 30
+PenaltyBreakComment: 1000
+PenaltyBreakFirstLessLess: 10
+PenaltyBreakString: 100
+PenaltyReturnTypeOnItsOwnLine: 50
+
+SpacesBeforeTrailingComments: 2
+SpacesInParentheses: false
+SpacesInAngles:  false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterCStyleCast: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping:
+    AfterCaseLabel: true
+    AfterClass: true
+    AfterControlStatement: true
+    AfterEnum: true
+    AfterFunction: true
+    AfterNamespace: true
+    AfterStruct: true
+    AfterUnion: true
+    BeforeCatch: true
+    BeforeElse: true
+    IndentBraces: false
+...

.clang-tidy

@@ -0,0 +1,56 @@
+---
+Checks:          '-*,
+                  performance-*,
+                  llvm-namespace-comment,
+                  modernize-redundant-void-arg,
+                  modernize-use-nullptr,
+                  modernize-use-default,
+                  modernize-use-override,
+                  modernize-loop-convert,
+                  modernize-make-shared,
+                  modernize-make-unique,
+                  modernize-avoid-bind,
+                  misc-unused-parameters,
+                  readability-named-parameter,
+                  readability-redundant-smartptr-get,
+                  readability-redundant-string-cstr,
+                  readability-simplify-boolean-expr,
+                  readability-container-size-empty,
+                  readability-identifier-naming,
+                  '
+HeaderFilterRegex: ''
+AnalyzeTemporaryDtors: false
+CheckOptions:
+  - key:             llvm-namespace-comment.ShortNamespaceLines
+    value:           '10'
+  - key:             llvm-namespace-comment.SpacesBeforeComments
+    value:           '2'
+  - key:             misc-unused-parameters.StrictMode
+    value:           '1'
+  - key:             readability-braces-around-statements.ShortStatementLines
+    value:           '2'
+  # type names
+  - key:             readability-identifier-naming.ClassCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.EnumCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.UnionCase
+    value:           CamelCase
+  # method names
+  - key:             readability-identifier-naming.MethodCase
+    value:           camelBack
+  # variable names
+  - key:             readability-identifier-naming.VariableCase
+    value:           lower_case
+  - key:             readability-identifier-naming.ClassMemberSuffix
+    value:           '_'
+  # const static or global variables are UPPER_CASE
+  - key:             readability-identifier-naming.EnumConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.StaticConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.ClassConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.GlobalVariableCase
+    value:           UPPER_CASE
+...

.cmake-format

@@ -0,0 +1,264 @@
+# ----------------------------------
+# Options affecting listfile parsing
+# ----------------------------------
+with section("parse"):
+
+    # Specify structure for custom cmake functions
+    additional_commands = {
+        # 'find_package': {
+        #     'kwargs': {
+        #         'COMPONENTS': '*'}},
+        'add_message_files': {
+            'kwargs': {
+                'FILES': '*'}},
+        'add_service_files': {
+            'kwargs': {
+                'FILES': '*'}},
+        'add_action_files': {
+            'kwargs': {
+                'FILES': '*'}},
+        'generate_messages': {
+            'kwargs': {
+                'DEPENDENCIES': '*'}},
+        'catkin_package': {
+            'kwargs': {
+                'INCLUDE_DIRS': '*',
+                'LIBRARIES': '*',
+                'CATKIN_DEPENDS': '*',
+                'DEPENDS': '*'}},
+        'catkin_install_python': {
+            'kwargs': {
+                'PROGRAMS': '*',
+                'DESTINATION': '*'}}}
+
+    # Override configurations per-command where available
+    override_spec = {}
+
+    # Specify variable tags.
+    vartags = []
+
+    # Specify property tags.
+    proptags = []
+
+# -----------------------------
+# Options affecting formatting.
+# -----------------------------
+with section("format"):
+
+    # Disable formatting entirely, making cmake-format a no-op
+    disable = False
+
+    # How wide to allow formatted cmake files
+    line_width = 120
+
+    # How many spaces to tab for indent
+    tab_size = 2
+
+    # If true, lines are indented using tab characters (utf-8 0x09) instead of
+    # <tab_size> space characters (utf-8 0x20). In cases where the layout would
+    # require a fractional tab character, the behavior of the  fractional
+    # indentation is governed by <fractional_tab_policy>
+    use_tabchars = False
+
+    # If <use_tabchars> is True, then the value of this variable indicates how
+    # fractional indentions are handled during whitespace replacement. If set to
+    # 'use-space', fractional indentation is left as spaces (utf-8 0x20). If set
+    # to `round-up` fractional indentation is replaced with a single tab character
+    # (utf-8 0x09) effectively shifting the column to the next tabstop
+    fractional_tab_policy = 'use-space'
+
+    # If an argument group contains more than this many sub-groups (parg or kwarg
+    # groups) then force it to a vertical layout.
+    max_subgroups_hwrap = 2
+
+    # If a positional argument group contains more than this many arguments, then
+    # force it to a vertical layout.
+    max_pargs_hwrap = 2
+
+    # If a cmdline positional group consumes more than this many lines without
+    # nesting, then invalidate the layout (and nest)
+    max_rows_cmdline = 2
+
+    # If true, separate flow control names from their parentheses with a space
+    separate_ctrl_name_with_space = False
+
+    # If true, separate function names from parentheses with a space
+    separate_fn_name_with_space = False
+
+    # If a statement is wrapped to more than one line, than dangle the closing
+    # parenthesis on its own line.
+    dangle_parens = True
+
+    # If the trailing parenthesis must be 'dangled' on its on line, then align it
+    # to this reference: `prefix`: the start of the statement,  `prefix-indent`:
+    # the start of the statement, plus one indentation  level, `child`: align to
+    # the column of the arguments
+    dangle_align = 'prefix'
+
+    # If the statement spelling length (including space and parenthesis) is
+    # smaller than this amount, then force reject nested layouts.
+    min_prefix_chars = 4
+
+    # If the statement spelling length (including space and parenthesis) is larger
+    # than the tab width by more than this amount, then force reject un-nested
+    # layouts.
+    max_prefix_chars = 10
+
+    # If a candidate layout is wrapped horizontally but it exceeds this many
+    # lines, then reject the layout.
+    max_lines_hwrap = 2
+
+    # What style line endings to use in the output.
+    line_ending = 'unix'
+
+    # Format command names consistently as 'lower' or 'upper' case
+    command_case = 'canonical'
+
+    # Format keywords consistently as 'lower' or 'upper' case
+    keyword_case = 'unchanged'
+
+    # A list of command names which should always be wrapped
+    always_wrap = ['install', 'catkin_install_python']
+
+    # If true, the argument lists which are known to be sortable will be sorted
+    # lexicographicall
+    enable_sort = True
+
+    # If true, the parsers may infer whether or not an argument list is sortable
+    # (without annotation).
+    autosort = False
+
+    # By default, if cmake-format cannot successfully fit everything into the
+    # desired linewidth it will apply the last, most agressive attempt that it
+    # made. If this flag is True, however, cmake-format will print error, exit
+    # with non-zero status code, and write-out nothing
+    require_valid_layout = False
+
+    # A dictionary mapping layout nodes to a list of wrap decisions. See the
+    # documentation for more information.
+    layout_passes = {}
+
+# ------------------------------------------------
+# Options affecting comment reflow and formatting.
+# ------------------------------------------------
+with section("markup"):
+
+    # What character to use for bulleted lists
+    bullet_char = '*'
+
+    # What character to use as punctuation after numerals in an enumerated list
+    enum_char = '.'
+
+    # If comment markup is enabled, don't reflow the first comment block in each
+    # listfile. Use this to preserve formatting of your copyright/license
+    # statements.
+    first_comment_is_literal = False
+
+    # If comment markup is enabled, don't reflow any comment block which matches
+    # this (regex) pattern. Default is `None` (disabled).
+    literal_comment_pattern = None
+
+    # Regular expression to match preformat fences in comments default=
+    # ``r'^\s*([`~]{3}[`~]*)(.*)$'``
+    fence_pattern = '^\\s*([`~]{3}[`~]*)(.*)$'
+
+    # Regular expression to match rulers in comments default=
+    # ``r'^\s*[^\w\s]{3}.*[^\w\s]{3}$'``
+    ruler_pattern = '^\\s*[^\\w\\s]{3}.*[^\\w\\s]{3}$'
+
+    # If a comment line matches starts with this pattern then it is explicitly a
+    # trailing comment for the preceeding argument. Default is '#<'
+    explicit_trailing_pattern = '#<'
+
+    # If a comment line starts with at least this many consecutive hash
+    # characters, then don't lstrip() them off. This allows for lazy hash rulers
+    # where the first hash char is not separated by space
+    hashruler_min_length = 10
+
+    # If true, then insert a space between the first hash char and remaining hash
+    # chars in a hash ruler, and normalize its length to fill the column
+    canonicalize_hashrulers = True
+
+    # enable comment markup parsing and reflow
+    enable_markup = False
+
+# ----------------------------
+# Options affecting the linter
+# ----------------------------
+with section("lint"):
+
+    # a list of lint codes to disable
+    disabled_codes = []
+
+    # regular expression pattern describing valid function names
+    function_pattern = '[0-9a-z_]+'
+
+    # regular expression pattern describing valid macro names
+    macro_pattern = '[0-9A-Z_]+'
+
+    # regular expression pattern describing valid names for variables with global
+    # (cache) scope
+    global_var_pattern = '[A-Z][0-9A-Z_]+'
+
+    # regular expression pattern describing valid names for variables with global
+    # scope (but internal semantic)
+    internal_var_pattern = '_[A-Z][0-9A-Z_]+'
+
+    # regular expression pattern describing valid names for variables with local
+    # scope
+    local_var_pattern = '[a-z][a-z0-9_]+'
+
+    # regular expression pattern describing valid names for privatedirectory
+    # variables
+    private_var_pattern = '_[0-9a-z_]+'
+
+    # regular expression pattern describing valid names for public directory
+    # variables
+    public_var_pattern = '[A-Z][0-9A-Z_]+'
+
+    # regular expression pattern describing valid names for function/macro
+    # arguments and loop variables.
+    argument_var_pattern = '[a-z][a-z0-9_]+'
+
+    # regular expression pattern describing valid names for keywords used in
+    # functions or macros
+    keyword_pattern = '[A-Z][0-9A-Z_]+'
+
+    # In the heuristic for C0201, how many conditionals to match within a loop in
+    # before considering the loop a parser.
+    max_conditionals_custom_parser = 2
+
+    # Require at least this many newlines between statements
+    min_statement_spacing = 1
+
+    # Require no more than this many newlines between statements
+    max_statement_spacing = 2
+    max_returns = 6
+    max_branches = 12
+    max_arguments = 5
+    max_localvars = 15
+    max_statements = 50
+
+# -------------------------------
+# Options affecting file encoding
+# -------------------------------
+with section("encode"):
+
+    # If true, emit the unicode byte-order mark (BOM) at the start of the file
+    emit_byteorder_mark = False
+
+    # Specify the encoding of the input file. Defaults to utf-8
+    input_encoding = 'utf-8'
+
+    # Specify the encoding of the output file. Defaults to utf-8. Note that cmake
+    # only claims to support utf-8 so be careful when using anything else
+    output_encoding = 'utf-8'
+
+# -------------------------------------
+# Miscellaneous configurations options.
+# -------------------------------------
+with section("misc"):
+
+    # A dictionary containing any per-command configuration overrides. Currently
+    # only `command_case` is supported.
+    per_command = {}