Skip to content

Fixing linter failures in nav2_util #218

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
mkhansenbot merged 2 commits into from Oct 22, 2018
Merged

Fixing linter failures in nav2_util #218

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
f9da6d5
Fixing linter failures in nav2_util
Oct 19, 2018
165b49d
Removing inaccurate comment
Oct 20, 2018
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions nav2_util/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -87,6 +87,9 @@ install(DIRECTORY include/

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
set(ament_cmake_copyright_FOUND TRUE)
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()

Expand Down
14 changes: 8 additions & 6 deletions nav2_util/include/nav2_util/duration_conversions.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -19,12 +19,14 @@

namespace nav2_util
{
// TODO(crdelsey): This functionality should be part of the RCLCPP Duration
// interface. Once that gets integrated, this function can be removed.
inline rclcpp::Duration durationFromSeconds(double seconds)
{
return rclcpp::Duration(static_cast<long>(seconds * 1e9)); // convert to ns
}

// TODO(crdelsey): This functionality should be part of the RCLCPP Duration
// interface. Once that gets integrated, this function can be removed.
inline rclcpp::Duration durationFromSeconds(double seconds)
{
return rclcpp::Duration(static_cast<int64_t>(seconds * 1e9)); // convert to ns
}

} // namespace nav2_util

#endif // NAV2_UTIL__DURATION_CONVERSIONS_H_
6 changes: 3 additions & 3 deletions nav2_util/include/nav2_util/map_loader/map_loader.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -29,8 +29,8 @@

// Author: Brian Gerkey

#ifndef MAP_LOADER__MAPLOADER_HPP_
#define MAP_LOADER__MAPLOADER_HPP_
#ifndef NAV2_UTIL__MAP_LOADER__MAP_LOADER_HPP_
#define NAV2_UTIL__MAP_LOADER__MAP_LOADER_HPP_

#include <string>
#include "nav_msgs/msg/occupancy_grid.hpp"
Expand Down Expand Up @@ -75,4 +75,4 @@ nav_msgs::msg::OccupancyGrid loadMapFromFile(
const geometry_msgs::msg::Twist origin, const MapMode mode = TRINARY);
} // namespace map_loader

#endif // MAP_LOADER__MAPLOADER_HPP_
#endif // NAV2_UTIL__MAP_LOADER__MAP_LOADER_HPP_
7 changes: 2 additions & 5 deletions nav2_util/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -18,12 +18,9 @@
<exec_depend>nav2_msgs</exec_depend>
<exec_depend>nav_msgs</exec_depend>

<test_depend>ament_cmake_cppcheck</test_depend>
<test_depend>ament_cmake_cpplint</test_depend>
<test_depend>ament_cmake_lint_cmake</test_depend>
<test_depend>ament_cmake_pep257</test_depend>
<test_depend>ament_cmake_uncrustify</test_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_cmake_pytest</test_depend>

<export>
<build_type>ament_cmake</build_type>
Expand Down
132 changes: 66 additions & 66 deletions nav2_util/src/costmap.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -135,82 +135,82 @@ vector<uint8_t> Costmap::getTestData(const TestCostmap testCostmapType)
const uint8_t o = free_space;

vector<uint8_t> costmapFree =
// 0 1 2 3 4 5 6 7 8 9
{o, o, o, o, o, o, o, o, o, o, // 0
o, o, o, o, o, o, o, o, o, o, // 1
o, o, o, o, o, o, o, o, o, o, // 2
o, o, o, o, o, o, o, o, o, o, // 3
o, o, o, o, o, o, o, o, o, o, // 4
o, o, o, o, o, o, o, o, o, o, // 5
o, o, o, o, o, o, o, o, o, o, // 6
o, o, o, o, o, o, o, o, o, o, // 7
o, o, o, o, o, o, o, o, o, o, // 8
o, o, o, o, o, o, o, o, o, o}; // 9
// 0 1 2 3 4 5 6 7 8 9
{o, o, o, o, o, o, o, o, o, o, // 0
o, o, o, o, o, o, o, o, o, o, // 1
o, o, o, o, o, o, o, o, o, o, // 2
o, o, o, o, o, o, o, o, o, o, // 3
o, o, o, o, o, o, o, o, o, o, // 4
o, o, o, o, o, o, o, o, o, o, // 5
o, o, o, o, o, o, o, o, o, o, // 6
o, o, o, o, o, o, o, o, o, o, // 7
o, o, o, o, o, o, o, o, o, o, // 8
o, o, o, o, o, o, o, o, o, o}; // 9

vector<uint8_t> costmapBounded =
// 0 1 2 3 4 5 6 7 8 9
{n, n, n, n, n, n, n, n, n, n, // 0
n, o, o, o, o, o, o, o, o, n, // 1
n, o, o, o, o, o, o, o, o, n, // 2
n, o, o, o, o, o, o, o, o, n, // 3
n, o, o, o, o, o, o, o, o, n, // 4
n, o, o, o, o, o, o, o, o, n, // 5
n, o, o, o, o, o, o, o, o, n, // 6
n, o, o, o, o, o, o, o, o, n, // 7
n, o, o, o, o, o, o, o, o, n, // 8
n, n, n, n, n, n, n, n, n, n}; // 9
// 0 1 2 3 4 5 6 7 8 9
{n, n, n, n, n, n, n, n, n, n, // 0
n, o, o, o, o, o, o, o, o, n, // 1
n, o, o, o, o, o, o, o, o, n, // 2
n, o, o, o, o, o, o, o, o, n, // 3
n, o, o, o, o, o, o, o, o, n, // 4
n, o, o, o, o, o, o, o, o, n, // 5
n, o, o, o, o, o, o, o, o, n, // 6
n, o, o, o, o, o, o, o, o, n, // 7
n, o, o, o, o, o, o, o, o, n, // 8
n, n, n, n, n, n, n, n, n, n}; // 9

vector<uint8_t> costmapObstacleBL =
// 0 1 2 3 4 5 6 7 8 9
{n, n, n, n, n, n, n, n, n, n, // 0
n, o, o, o, o, o, o, o, o, n, // 1
n, o, o, o, o, o, o, o, o, n, // 2
n, o, o, o, o, o, o, o, o, n, // 3
n, o, o, o, o, o, o, o, o, n, // 4
n, o, x, x, x, o, o, o, o, n, // 5
n, o, x, x, x, o, o, o, o, n, // 6
n, o, x, x, x, o, o, o, o, n, // 7
n, o, o, o, o, o, o, o, o, n, // 8
n, n, n, n, n, n, n, n, n, n}; // 9
// 0 1 2 3 4 5 6 7 8 9
{n, n, n, n, n, n, n, n, n, n, // 0
n, o, o, o, o, o, o, o, o, n, // 1
n, o, o, o, o, o, o, o, o, n, // 2
n, o, o, o, o, o, o, o, o, n, // 3
n, o, o, o, o, o, o, o, o, n, // 4
n, o, x, x, x, o, o, o, o, n, // 5
n, o, x, x, x, o, o, o, o, n, // 6
n, o, x, x, x, o, o, o, o, n, // 7
n, o, o, o, o, o, o, o, o, n, // 8
n, n, n, n, n, n, n, n, n, n}; // 9

vector<uint8_t> costmapObstacleTL =
// 0 1 2 3 4 5 6 7 8 9
{n, n, n, n, n, n, n, n, n, n, // 0
n, o, o, o, o, o, o, o, o, n, // 1
n, o, x, x, x, o, o, o, o, n, // 2
n, o, x, x, x, o, o, o, o, n, // 3
n, o, x, x, x, o, o, o, o, n, // 4
n, o, o, o, o, o, o, o, o, n, // 5
n, o, o, o, o, o, o, o, o, n, // 6
n, o, o, o, o, o, o, o, o, n, // 7
n, o, o, o, o, o, o, o, o, n, // 8
n, n, n, n, n, n, n, n, n, n}; // 9
// 0 1 2 3 4 5 6 7 8 9
{n, n, n, n, n, n, n, n, n, n, // 0
n, o, o, o, o, o, o, o, o, n, // 1
n, o, x, x, x, o, o, o, o, n, // 2
n, o, x, x, x, o, o, o, o, n, // 3
n, o, x, x, x, o, o, o, o, n, // 4
n, o, o, o, o, o, o, o, o, n, // 5
n, o, o, o, o, o, o, o, o, n, // 6
n, o, o, o, o, o, o, o, o, n, // 7
n, o, o, o, o, o, o, o, o, n, // 8
n, n, n, n, n, n, n, n, n, n}; // 9

vector<uint8_t> costmapMaze =
// 0 1 2 3 4 5 6 7 8 9
{n, n, n, n, n, n, n, n, n, n, // 0
n, o, o, o, o, o, o, o, o, n, // 1
n, x, x, o, x, x, x, o, x, n, // 2
n, o, o, o, o, x, o, o, o, n, // 3
n, o, x, x, o, x, o, x, o, n, // 4
n, o, x, x, o, x, o, x, o, n, // 5
n, o, o, x, o, x, o, x, o, n, // 6
n, x, o, x, o, x, o, x, o, n, // 7
n, o, o, o, o, o, o, x, o, n, // 8
n, n, n, n, n, n, n, n, n, n}; // 9
// 0 1 2 3 4 5 6 7 8 9
{n, n, n, n, n, n, n, n, n, n, // 0
n, o, o, o, o, o, o, o, o, n, // 1
n, x, x, o, x, x, x, o, x, n, // 2
n, o, o, o, o, x, o, o, o, n, // 3
n, o, x, x, o, x, o, x, o, n, // 4
n, o, x, x, o, x, o, x, o, n, // 5
n, o, o, x, o, x, o, x, o, n, // 6
n, x, o, x, o, x, o, x, o, n, // 7
n, o, o, o, o, o, o, x, o, n, // 8
n, n, n, n, n, n, n, n, n, n}; // 9

vector<uint8_t> costmapMaze2 =
// 0 1 2 3 4 5 6 7 8 9
{n, n, n, n, n, n, n, n, n, n, // 0
n, o, o, o, o, o, o, o, o, n, // 1
n, x, x, u, x, x, x, o, x, n, // 2
n, o, o, o, o, o, o, o, u, n, // 3
n, o, x, x, o, x, x, x, u, n, // 4
n, o, x, x, o, o, o, x, u, n, // 5
n, o, o, x, u, x, o, x, u, n, // 6
n, x, o, x, u, x, i, x, u, n, // 7
n, o, o, o, o, o, o, o, o, n, // 8
n, n, n, n, n, n, n, n, n, n}; // 9
// 0 1 2 3 4 5 6 7 8 9
{n, n, n, n, n, n, n, n, n, n, // 0
n, o, o, o, o, o, o, o, o, n, // 1
n, x, x, u, x, x, x, o, x, n, // 2
n, o, o, o, o, o, o, o, u, n, // 3
n, o, x, x, o, x, x, x, u, n, // 4
n, o, x, x, o, o, o, x, u, n, // 5
n, o, o, x, u, x, o, x, u, n, // 6
n, x, o, x, u, x, i, x, u, n, // 7
n, o, o, o, o, o, o, o, o, n, // 8
n, n, n, n, n, n, n, n, n, n}; // 9

switch (testCostmapType) {
case TestCostmap::open_space:
Expand Down
10 changes: 5 additions & 5 deletions nav2_util/src/map_loader/map_loader.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -29,15 +29,15 @@

// Author: Brian Gerkey

#include <cstring>
#include <stdexcept>
#include "nav2_util/map_loader/map_loader.hpp"
#include <stdlib.h>
#include <stdio.h>
#include "nav2_util/map_loader/map_loader.hpp"
#include "tf2/LinearMath/Quaternion.h"

// We use SDL_image to load the image from disk
#include <SDL/SDL_image.h>
#include <string>
#include <stdexcept>
#include "tf2/LinearMath/Quaternion.h"


// compute linear index for given map coords
#define MAP_IDX(sx, i, j) ((sx) * (j) + (i))
Expand Down