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fix clang-tidy
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Signed-off-by: Takayuki Murooka <[email protected]>
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@takayuki5168
takayuki5168 committed Jun 15, 2024
1 parent 475bbaa commit f1127e8
Showing 1 changed file with 22 additions and 31 deletions.
53 changes: 22 additions & 31 deletions tmp/lanelet2_extension_python/src/utility.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,9 +45,8 @@ lanelet::Optional<lanelet::ConstPolygon3d> lineStringWithWidthToPolygon(
lanelet::ConstPolygon3d poly{};
if (lanelet::utils::lineStringWithWidthToPolygon(linestring, &poly)) {
return poly;
} else {
return {};
}
return {};
}

lanelet::Optional<lanelet::ConstPolygon3d> lineStringToPolygon(
Expand All @@ -56,9 +55,8 @@ lanelet::Optional<lanelet::ConstPolygon3d> lineStringToPolygon(
lanelet::ConstPolygon3d poly{};
if (lanelet::utils::lineStringToPolygon(linestring, &poly)) {
return poly;
} else {
return {};
}
return {};
}

lanelet::ArcCoordinates getArcCoordinates(
Expand All @@ -69,7 +67,7 @@ lanelet::ArcCoordinates getArcCoordinates(
serialized_msg.reserve(message_header_length + pose_byte.size());
serialized_msg.get_rcl_serialized_message().buffer_length = pose_byte.size();
for (size_t i = 0; i < pose_byte.size(); ++i) {
serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i];
serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i].c_str();
}
geometry_msgs::msg::Pose pose;
static rclcpp::Serialization<geometry_msgs::msg::Pose> serializer;
Expand All @@ -84,7 +82,7 @@ double getLaneletAngle(const lanelet::ConstLanelet & lanelet, const std::string
serialized_msg.reserve(message_header_length + point_byte.size());
serialized_msg.get_rcl_serialized_message().buffer_length = point_byte.size();
for (size_t i = 0; i < point_byte.size(); ++i) {
serialized_msg.get_rcl_serialized_message().buffer[i] = point_byte[i];
serialized_msg.get_rcl_serialized_message().buffer[i] = point_byte[i].c_str();
}
geometry_msgs::msg::Point point;
static rclcpp::Serialization<geometry_msgs::msg::Point> serializer;
Expand All @@ -100,7 +98,7 @@ bool isInLanelet(
serialized_msg.reserve(message_header_length + pose_byte.size());
serialized_msg.get_rcl_serialized_message().buffer_length = pose_byte.size();
for (size_t i = 0; i < pose_byte.size(); ++i) {
serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i];
serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i].c_str();
}
geometry_msgs::msg::Pose pose;
static rclcpp::Serialization<geometry_msgs::msg::Pose> serializer;
Expand All @@ -116,7 +114,7 @@ std::vector<double> getClosestCenterPose(
serialized_point_msg.reserve(message_header_length + search_point_byte.size());
serialized_point_msg.get_rcl_serialized_message().buffer_length = search_point_byte.size();
for (size_t i = 0; i < search_point_byte.size(); ++i) {
serialized_point_msg.get_rcl_serialized_message().buffer[i] = search_point_byte[i];
serialized_point_msg.get_rcl_serialized_message().buffer[i] = search_point_byte[i].c_str();
}
geometry_msgs::msg::Point search_point;
static rclcpp::Serialization<geometry_msgs::msg::Point> serializer_point;
Expand All @@ -137,7 +135,7 @@ double getLateralDistanceToCenterline(
serialized_msg.reserve(message_header_length + pose_byte.size());
serialized_msg.get_rcl_serialized_message().buffer_length = pose_byte.size();
for (size_t i = 0; i < pose_byte.size(); ++i) {
serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i];
serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i].c_str();
}
geometry_msgs::msg::Pose pose;
static rclcpp::Serialization<geometry_msgs::msg::Pose> serializer;
Expand All @@ -153,7 +151,7 @@ double getLateralDistanceToClosestLanelet(
serialized_msg.reserve(message_header_length + pose_byte.size());
serialized_msg.get_rcl_serialized_message().buffer_length = pose_byte.size();
for (size_t i = 0; i < pose_byte.size(); ++i) {
serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i];
serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i].c_str();
}
geometry_msgs::msg::Pose pose;
static rclcpp::Serialization<geometry_msgs::msg::Pose> serializer;
Expand All @@ -180,9 +178,8 @@ lanelet::Optional<lanelet::ConstLanelet> getLinkedLanelet(
if (lanelet::utils::query::getLinkedLanelet(
parking_space, all_road_lanelets, all_parking_lots, &linked_lanelet)) {
return linked_lanelet;
} else {
return {};
}
return {};
}

lanelet::Optional<lanelet::ConstLanelet> getLinkedLanelet(
Expand All @@ -192,9 +189,8 @@ lanelet::Optional<lanelet::ConstLanelet> getLinkedLanelet(
lanelet::ConstLanelet linked_lanelet;
if (lanelet::utils::query::getLinkedLanelet(parking_space, lanelet_map_ptr, &linked_lanelet)) {
return linked_lanelet;
} else {
return {};
}
return {};
}

lanelet::Optional<lanelet::ConstPolygon3d> getLinkedParkingLot(
Expand All @@ -203,9 +199,8 @@ lanelet::Optional<lanelet::ConstPolygon3d> getLinkedParkingLot(
lanelet::ConstPolygon3d linked_parking_lot;
if (lanelet::utils::query::getLinkedParkingLot(lanelet, all_parking_lots, &linked_parking_lot)) {
return linked_parking_lot;
} else {
return {};
}
return {};
}

lanelet::Optional<lanelet::ConstPolygon3d> getLinkedParkingLot(
Expand All @@ -215,9 +210,8 @@ lanelet::Optional<lanelet::ConstPolygon3d> getLinkedParkingLot(
if (lanelet::utils::query::getLinkedParkingLot(
current_position, all_parking_lots, &linked_parking_lot)) {
return linked_parking_lot;
} else {
return {};
}
return {};
}

lanelet::Optional<lanelet::ConstPolygon3d> getLinkedParkingLot(
Expand All @@ -228,9 +222,8 @@ lanelet::Optional<lanelet::ConstPolygon3d> getLinkedParkingLot(
if (lanelet::utils::query::getLinkedParkingLot(
parking_space, all_parking_lots, &linked_parking_lot)) {
return linked_parking_lot;
} else {
return {};
}
return {};
}

lanelet::ConstLanelets getLaneletsWithinRange_point(
Expand All @@ -241,7 +234,7 @@ lanelet::ConstLanelets getLaneletsWithinRange_point(
serialized_msg.reserve(message_header_length + point_byte.size());
serialized_msg.get_rcl_serialized_message().buffer_length = point_byte.size();
for (size_t i = 0; i < point_byte.size(); ++i) {
serialized_msg.get_rcl_serialized_message().buffer[i] = point_byte[i];
serialized_msg.get_rcl_serialized_message().buffer[i] = point_byte[i].c_str();
}
geometry_msgs::msg::Point point;
static rclcpp::Serialization<geometry_msgs::msg::Point> serializer;
Expand All @@ -258,7 +251,7 @@ lanelet::ConstLanelets getLaneChangeableNeighbors_point(
serialized_msg.reserve(message_header_length + point_byte.size());
serialized_msg.get_rcl_serialized_message().buffer_length = point_byte.size();
for (size_t i = 0; i < point_byte.size(); ++i) {
serialized_msg.get_rcl_serialized_message().buffer[i] = point_byte[i];
serialized_msg.get_rcl_serialized_message().buffer[i] = point_byte[i].c_str();
}
geometry_msgs::msg::Point point;
static rclcpp::Serialization<geometry_msgs::msg::Point> serializer;
Expand All @@ -275,7 +268,7 @@ lanelet::ConstLanelets getAllNeighbors_point(
serialized_msg.reserve(message_header_length + point_byte.size());
serialized_msg.get_rcl_serialized_message().buffer_length = point_byte.size();
for (size_t i = 0; i < point_byte.size(); ++i) {
serialized_msg.get_rcl_serialized_message().buffer[i] = point_byte[i];
serialized_msg.get_rcl_serialized_message().buffer[i] = point_byte[i].c_str();
}
geometry_msgs::msg::Point point;
static rclcpp::Serialization<geometry_msgs::msg::Point> serializer;
Expand All @@ -291,17 +284,16 @@ lanelet::Optional<lanelet::ConstLanelet> getClosestLanelet(
serialized_msg.reserve(message_header_length + pose_byte.size());
serialized_msg.get_rcl_serialized_message().buffer_length = pose_byte.size();
for (size_t i = 0; i < pose_byte.size(); ++i) {
serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i];
serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i].c_str();
}
geometry_msgs::msg::Pose pose;
static rclcpp::Serialization<geometry_msgs::msg::Pose> serializer;
serializer.deserialize_message(&serialized_msg, &pose);
lanelet::ConstLanelet closest_lanelet{};
if (lanelet::utils::query::getClosestLanelet(lanelets, pose, &closest_lanelet)) {
return closest_lanelet;
} else {
return {};
}
return {};
}

lanelet::Optional<lanelet::ConstLanelet> getClosestLaneletWithConstrains(
Expand All @@ -314,7 +306,7 @@ lanelet::Optional<lanelet::ConstLanelet> getClosestLaneletWithConstrains(
serialized_msg.reserve(message_header_length + pose_byte.size());
serialized_msg.get_rcl_serialized_message().buffer_length = pose_byte.size();
for (size_t i = 0; i < pose_byte.size(); ++i) {
serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i];
serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i].c_str();
}
geometry_msgs::msg::Pose pose;
static rclcpp::Serialization<geometry_msgs::msg::Pose> serializer;
Expand All @@ -323,9 +315,8 @@ lanelet::Optional<lanelet::ConstLanelet> getClosestLaneletWithConstrains(
if (lanelet::utils::query::getClosestLaneletWithConstrains(
lanelets, pose, &closest_lanelet, dist_threshold, yaw_threshold)) {
return closest_lanelet;
} else {
return {};
}
return {};
}

lanelet::ConstLanelets getCurrentLanelets_point(
Expand All @@ -336,7 +327,7 @@ lanelet::ConstLanelets getCurrentLanelets_point(
serialized_msg.reserve(message_header_length + point_byte.size());
serialized_msg.get_rcl_serialized_message().buffer_length = point_byte.size();
for (size_t i = 0; i < point_byte.size(); ++i) {
serialized_msg.get_rcl_serialized_message().buffer[i] = point_byte[i];
serialized_msg.get_rcl_serialized_message().buffer[i] = point_byte[i].c_str();
}
geometry_msgs::msg::Point point;
static rclcpp::Serialization<geometry_msgs::msg::Point> serializer;
Expand All @@ -354,7 +345,7 @@ lanelet::ConstLanelets getCurrentLanelets_pose(
serialized_msg.reserve(message_header_length + pose_byte.size());
serialized_msg.get_rcl_serialized_message().buffer_length = pose_byte.size();
for (size_t i = 0; i < pose_byte.size(); ++i) {
serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i];
serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i].c_str();
}
geometry_msgs::msg::Pose pose;
static rclcpp::Serialization<geometry_msgs::msg::Pose> serializer;
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