Merge pull request #11 from mpowelson/feature/clang_format

Add Clang Formatting

.clang-format

@@ -0,0 +1,68 @@
+---
+BasedOnStyle: Google
+AccessModifierOffset: -2
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AlignAfterOpenBracket: Align
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortFunctionsOnASingleLine: true
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakBeforeMultilineStrings: false
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: false
+BinPackParameters: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+ColumnLimit: 120
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 2
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: false
+DerivePointerBinding: false
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+IndentWidth: 2
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakFirstLessLess: 1000
+PenaltyBreakString: 1
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 90
+PointerBindsToType: true
+SortIncludes: false
+SpaceAfterControlStatementKeyword: true
+SpaceAfterCStyleCast: false
+SpaceBeforeAssignmentOperators: true
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles: false
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+Standard: Auto
+TabWidth: 2
+UseTab: Never
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping: {
+    AfterClass: 'true'
+    AfterControlStatement: 'true'
+    AfterEnum : 'true'
+    AfterFunction : 'true'
+    AfterNamespace : 'true'
+    AfterStruct : 'true'
+    AfterUnion : 'true'
+    BeforeCatch : 'true'
+    BeforeElse : 'true'
+    IndentBraces : 'false'
+}
+...

.run-clang-format

@@ -0,0 +1,2 @@
+#!/bin/bash
+find . -type f -regex '.*\.\(cpp\|hpp\|cc\|cxx\|h\|hxx\)' -exec clang-format-8 -style=file -i {} \;

.travis.yml

@@ -17,6 +17,18 @@ env:
 
 jobs:
   include:
+    - os: linux
+      dist: bionic
+      language: cpp
+      env:
+      - ROS_DISTRO="melodic"
+      - CLANG_FORMAT_CHECK=file
+      - CLANG_FORMAT_VERSION=8
+      - AFTER_SCRIPT=""
+      - BADGE=clang-format
+      cache:
+        directories:
+          - $HOME/.ccache
     - os: linux
       dist: xenial
       language: cpp

opp_area_selection/include/opp_area_selection/area_selector.h

@@ -1,12 +1,12 @@
-/* 
+/*
  * Copyright 2019 Southwest Research Institute
  *
  * 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.
@@ -29,56 +29,50 @@
 
 namespace opp_area_selection
 {
-
 struct FittedPlane
 {
   Eigen::Vector3d normal = Eigen::Vector3d::UnitZ();
   Eigen::Vector3d origin = Eigen::Vector3d::Zero();
 };
 
 /**
- * @brief The AreaSelector class takes a set of 3D points defining a closed polygon and attempts to identify which points
- * in a published point cloud lie within the bounds of that polygon. The class fits a plane to the input points, projects the
- * input points/polygon onto the fitted plane, extrudes a volume defined by the projected polygon to the extents of the searched
- * point cloud, and finds the points in the searched point cloud within the volume. If multiple clusters of points are found, the
- * cluster closest to the centroid of the input points is selected.
+ * @brief The AreaSelector class takes a set of 3D points defining a closed polygon and attempts to identify which
+ * points in a published point cloud lie within the bounds of that polygon. The class fits a plane to the input points,
+ * projects the input points/polygon onto the fitted plane, extrudes a volume defined by the projected polygon to the
+ * extents of the searched point cloud, and finds the points in the searched point cloud within the volume. If multiple
+ * clusters of points are found, the cluster closest to the centroid of the input points is selected.
  */
 class AreaSelector
 {
 public:
   /**
    * @brief AreaSelector class constructor
    */
-  AreaSelector()
-  {
-  }
+  AreaSelector() {}
 
   /**
    * @brief Finds the points that lie within the selection boundary
    * @param roi_cloud_msg
-   * @return Returns false if there are less than 3 selection boundary points or if there are no search points; otherwise returns true.
+   * @return Returns false if there are less than 3 selection boundary points or if there are no search points;
+   * otherwise returns true.
    */
-  std::vector<int> getRegionOfInterest(
-      const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud,
-      const std::vector<Eigen::Vector3d>& points,
-      const AreaSelectorParameters& params);
+  std::vector<int> getRegionOfInterest(const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud,
+                                       const std::vector<Eigen::Vector3d>& points,
+                                       const AreaSelectorParameters& params);
 
 protected:
-  boost::optional<FittedPlane> fitPlaneToPoints(
-      const std::vector<Eigen::Vector3d>& points,
-      const AreaSelectorParameters& params);
+  boost::optional<FittedPlane> fitPlaneToPoints(const std::vector<Eigen::Vector3d>& points,
+                                                const AreaSelectorParameters& params);
 
-  pcl::PointCloud<pcl::PointXYZ>::Ptr projectPointsOntoPlane(
-      const std::vector<Eigen::Vector3d>& points,
-      const FittedPlane& plane);
+  pcl::PointCloud<pcl::PointXYZ>::Ptr projectPointsOntoPlane(const std::vector<Eigen::Vector3d>& points,
+                                                             const FittedPlane& plane);
 
-  std::vector<int> getPointsInROI(
-      const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud,
-      const pcl::PointCloud<pcl::PointXYZ>::Ptr proj_sel_points,
-      const FittedPlane& plane,
-      const AreaSelectorParameters& params);
+  std::vector<int> getPointsInROI(const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud,
+                                  const pcl::PointCloud<pcl::PointXYZ>::Ptr proj_sel_points,
+                                  const FittedPlane& plane,
+                                  const AreaSelectorParameters& params);
 };
 
-} // namespace opp_area_selection
+}  // namespace opp_area_selection
 
-#endif // OPP_AREA_SELECTION_AREA_SELECTOR_H
+#endif  // OPP_AREA_SELECTION_AREA_SELECTOR_H

opp_area_selection/include/opp_area_selection/area_selector_parameters.h

@@ -1,12 +1,12 @@
-/* 
+/*
  * Copyright 2019 Southwest Research Institute
  *
  * 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.
@@ -21,7 +21,6 @@
 
 namespace opp_area_selection
 {
-
 struct AreaSelectorParameters
 {
   double cluster_tolerance = 0.25;
@@ -33,10 +32,8 @@ struct AreaSelectorParameters
   int region_growing_nneighbors = 10;
   double region_growing_smoothness = 5.0;
   double region_growing_curvature = 1.0;
-
 };
 
-} // namespace opp_area_selection
-
-#endif // OPP_AREA_SELECTION_AREA_SELECTOR_PARAMETERS_H
+}  // namespace opp_area_selection
 
+#endif  // OPP_AREA_SELECTION_AREA_SELECTOR_PARAMETERS_H

opp_area_selection/include/opp_area_selection/filter.h

@@ -21,27 +21,24 @@
 
 namespace opp_area_selection
 {
-
 namespace data_filtering
 {
-
 template <typename PointT>
 using Cloud = typename pcl::PointCloud<PointT>;
 
 template <typename PointT>
 using CloudPtr = typename Cloud<PointT>::Ptr;
 
 template <typename PointT>
-bool planeFit(
-    const CloudPtr<PointT> input_cloud,
-    Cloud<PointT>& output_cloud,
-    pcl::ModelCoefficients::Ptr plane_coefficients,
-    const double threshold = 0.025);
+bool planeFit(const CloudPtr<PointT> input_cloud,
+              Cloud<PointT>& output_cloud,
+              pcl::ModelCoefficients::Ptr plane_coefficients,
+              const double threshold = 0.025);
 
-} // end namespace data_filtering
+}  // end namespace data_filtering
 
-} // end namespace opp_area_selection
+}  // end namespace opp_area_selection
 
 #include "opp_area_selection/filter_impl.h"
 
-#endif // OPP_AREA_SELECTION_FILTER_H
+#endif  // OPP_AREA_SELECTION_FILTER_H

opp_area_selection/include/opp_area_selection/filter_impl.h

@@ -28,18 +28,16 @@
 
 namespace opp_area_selection
 {
-
 namespace data_filtering
 {
-
-template<typename PointT>
+template <typename PointT>
 bool planeFit(const CloudPtr<PointT> input_cloud,
               Cloud<PointT>& output_cloud,
               pcl::ModelCoefficients::Ptr plane_coefficients,
               const double threshold)
 {
   pcl::ExtractIndices<PointT> extract;
-  pcl::PointIndices::Ptr plane_inliers (new pcl::PointIndices);
+  pcl::PointIndices::Ptr plane_inliers(new pcl::PointIndices);
   pcl::SACSegmentation<PointT> seg;
 
   // Set segmentation parameters
@@ -52,12 +50,15 @@ bool planeFit(const CloudPtr<PointT> input_cloud,
   // Extract best fit cylinder inliers and calculate cylinder coefficients
   seg.segment(*plane_inliers, *plane_coefficients);
 
-  if(plane_inliers->indices.size() == 0)
+  if (plane_inliers->indices.size() == 0)
   {
     ROS_ERROR("Unable to fit a plane to the data");
     return false;
   }
-  ROS_DEBUG_NAMED("[a5::data_filtering]", "Plane fit: %lu input points, %lu output points", input_cloud->points.size(), plane_inliers->indices.size());
+  ROS_DEBUG_NAMED("[a5::data_filtering]",
+                  "Plane fit: %lu input points, %lu output points",
+                  input_cloud->points.size(),
+                  plane_inliers->indices.size());
 
   // Create new point cloud from
   extract.setInputCloud(input_cloud);
@@ -68,8 +69,8 @@ bool planeFit(const CloudPtr<PointT> input_cloud,
   return true;
 }
 
-} // end namespace data_filtering
+}  // end namespace data_filtering
 
-} // end namespace opp_area_selection
+}  // end namespace opp_area_selection
 
-#endif // OPP_AREA_SELECTION_FILTER_IMPL_H
+#endif  // OPP_AREA_SELECTION_FILTER_IMPL_H