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<!DOCTYPE html>
<html lang="en-US">
<head>
<meta name="msapplication-config" content="/browserconfig.xml"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<meta charset="utf-8"/>
<link rel="apple-touch-icon" type="image/png" href="/apple-touch-icon.png"/>
<link rel="manifest" type="application/manifest+json" href="/site.webmanifest"/>
<link rel="mask-icon" type="image/svg+xml" href="/mask-icon.svg" color="#990000"/>
<link rel="shortcut icon" type="image/png" href="/favicon.png"/>
<title>Drake: Code Style Guide</title>
<meta
name="description"
content="Drake ("dragon" in Middle English) is a C++ toolbox started by the Robot
Locomotion Group at the MIT Computer Science and Artificial Intelligence
Lab (CSAIL). The development team has now grown significantly, with core
development led by the Toyota Research Institute. It is a collection of
tools for analyzing the dynamics of our robots and building control
systems for them, with a heavy emphasis on optimization-based design/
analysis.
"/>
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<h1>Code Style Guide</h1>
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<article class="markdown-body">
<p>This section defines a style guide which should be followed by all code that is
written in Drake. Being consistent with this style will make the code easier to
read, debug, and maintain. To ensure your code is style compliant, consider
using <a href="/code_style_tools.html">tools for complying with coding style</a>.</p>
<p>See also the brief
<a href="/code_review_checklist.html">Code Review Checklist</a>,
where a list of the most frequent problems are collected.</p>
<p>Note: Many of the files in the repository were written before this style guide,
or did not follow it precisely. If you find style errors, go ahead and change
it and submit a pull request.</p>
<h1 id="c-style">C++ Style</h1>
<p>The Drake C++ style guide (which is derived from the Google C++ style guide)
can be found
<a href="https://drake.mit.edu/styleguide/cppguide.html">on its own page</a>.
Its source lives in
<a href="https://github.com/RobotLocomotion/styleguide">the styleguide repository</a>.</p>
<h1 id="python-style">Python Style</h1>
<p>Drake strictly follows <a href="https://www.python.org/dev/peps/pep-0008/">PEP 8 – Style Guide for Python Code</a> except for the specific
clarifications, exceptions, and additional rules noted below. Since PEP 8
incorporates <a href="https://www.python.org/dev/peps/pep-0257/">PEP 257 – Docstring Conventions</a>, Drake follows its
recommendations as well.</p>
<p>Drake also follows the
<a href="https://drake.mit.edu/styleguide/pyguide.html">RobotLocomotion fork</a>
of the Google Python Style Guide. Please refer to that page for the sections
that are adhered to, and the relevant exceptions.</p>
<p>See <a href="/code_style_tools.html">tools for complying with coding style</a> for details
about the automated style checks.</p>
<h2 id="clarifications">Clarifications</h2>
<ul>
<li>External, third-party, and auto-generated source files are not to be checked
for style.</li>
<li>Always prefer long, human-readable variable/method/class names to short
acronyms.</li>
</ul>
<h2 id="exceptions">Exceptions</h2>
<ul>
<li>Lines containing a long URL may be longer than 80 columns if necessary to
avoid splitting the URL.</li>
</ul>
<h2 id="additional-rules">Additional Rules</h2>
<ul>
<li>When importing in-tree modules, always use absolute import paths; explicit
relative import paths are disallowed. See the <a href="https://www.python.org/dev/peps/pep-0008/#imports">PEP 8 discussion of imports</a> for more detail.</li>
<li>Sometimes <code class="language-plaintext highlighter-rouge">__init__.py</code> files are necessary, for Python’s <code class="language-plaintext highlighter-rouge">import</code>
mechanism; these files should be non-empty (via a copyright notice, for
example). Rationale: 0-byte files can be mistakenly perceived as the result
of some error or accident.</li>
<li>When using the <code class="language-plaintext highlighter-rouge">logging</code> module, avoid its lazy-formatting
syntax. Rationale: exceptions raised in lazy formatting get printed to
<code class="language-plaintext highlighter-rouge">stderr</code>, but are otherwise ignored, and thus may escape notice.</li>
<li>Executable Python files should be limited to <em>only</em> scripts which are not run
via Bazel-generated Python proxy scripts. (The proxy scripts are those
run via <code class="language-plaintext highlighter-rouge">bazel run</code>, <code class="language-plaintext highlighter-rouge">bazel test</code>, or <code class="language-plaintext highlighter-rouge">./bazel-bin/...</code>.)
If a script qualifies, use the following “shebang” line:<br />
<code class="language-plaintext highlighter-rouge">#!/usr/bin/env python3</code><br />
Rationale: <code class="language-plaintext highlighter-rouge">/usr/bin/env</code> enables a <code class="language-plaintext highlighter-rouge">PATH</code> search for the Python 3
executable. This is also recommended by
<a href="https://www.python.org/dev/peps/pep-0394/">PEP 394</a>.</li>
</ul>
<h1 id="java-style">Java Style</h1>
<p>We also strictly follow the <a href="https://google.github.io/styleguide/javaguide.html">Google Java Style Guide</a>.
Here are some additional comments:</p>
<ul>
<li>Every class and method should have a brief <code class="language-plaintext highlighter-rouge">_javadoc_</code> associated with it.</li>
<li>All Java classes should be in packages relative to the Drake root,
e.g.: package drake.examples.Pendulum</li>
</ul>
<h1 id="lcm-style">LCM Style</h1>
<ul>
<li>LCM types are under_scored with a leading <code class="language-plaintext highlighter-rouge">lcmt_</code> added. If the type is
specific to a particular robot, then it begins with <code class="language-plaintext highlighter-rouge">lcmt_robotname_</code>.</li>
<li>Variable names in LCM types follow the rules above.</li>
</ul>
<h1 id="shell-script-style">Shell Script Style</h1>
<p>We follow the <a href="https://google.github.io/styleguide/shell.xml">Google Shell Style Guide</a>.</p>
<h1 id="git-commit-message-style">Git Commit Message Style</h1>
<p>For commit messages we require:</p>
<ul>
<li>An empty line between the first line and any subsequent lines. (For
further insight, see
<a href="https://git-scm.com/docs/git-commit#_discussion">git’s commit discussion</a>.)</li>
</ul>
</article>
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