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Add common linters to tf2 #258

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Aug 6, 2020
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Add common linters to tf2 #258

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7 changes: 3 additions & 4 deletions tf2/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -41,9 +41,8 @@ install(DIRECTORY include/${PROJECT_NAME}/

# Tests
if(BUILD_TESTING)
# TODO(tfoote) enable linters
# find_package(ament_lint_auto REQUIRED)
# ament_lint_auto_find_test_dependencies()
# TODO(clalancette) enable linters once https://github.com/ament/ament_lint/pull/238 lands

find_package(ament_cmake_gtest)

ament_add_gtest(test_cache_unittest test/cache_unittest.cpp)
Expand Down Expand Up @@ -75,7 +74,7 @@ if(BUILD_TESTING)
endif()

ament_add_gtest(test_time test/test_time.cpp)
if (TARGET test_time)
if(TARGET test_time)
target_link_libraries(test_time tf2)
endif()

Expand Down
298 changes: 164 additions & 134 deletions tf2/include/tf2/buffer_core.h
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103 changes: 51 additions & 52 deletions tf2/include/tf2/buffer_core_interface.h
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Original file line number Diff line number Diff line change
@@ -1,42 +1,40 @@
/*
* Copyright (c) 2019, Open Source Robotics Foundation, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/

// Copyright 2019, Open Source Robotics Foundation, Inc. All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of the Open Source Robotics Foundation nor the names of its
// contributors may be used to endorse or promote products derived from
// this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
#ifndef TF2__BUFFER_CORE_INTERFACE_H_
#define TF2__BUFFER_CORE_INTERFACE_H_

#include <string>
#include <vector>

#include <geometry_msgs/msg/transform_stamped.hpp>
#include "geometry_msgs/msg/transform_stamped.hpp"

#include <tf2/time.h>
#include <tf2/visibility_control.h>
#include "tf2/time.h"
#include "tf2/visibility_control.h"

namespace tf2
{
Expand Down Expand Up @@ -71,9 +69,9 @@ class BufferCoreInterface
TF2_PUBLIC
virtual geometry_msgs::msg::TransformStamped
lookupTransform(
const std::string& target_frame,
const std::string& source_frame,
const tf2::TimePoint& time) const = 0;
const std::string & target_frame,
const std::string & source_frame,
const tf2::TimePoint & time) const = 0;

/**
* \brief Get the transform between two frames by frame ID assuming fixed frame.
Expand All @@ -88,11 +86,11 @@ class BufferCoreInterface
TF2_PUBLIC
virtual geometry_msgs::msg::TransformStamped
lookupTransform(
const std::string& target_frame,
const tf2::TimePoint& target_time,
const std::string& source_frame,
const tf2::TimePoint& source_time,
const std::string& fixed_frame) const = 0;
const std::string & target_frame,
const tf2::TimePoint & target_time,
const std::string & source_frame,
const tf2::TimePoint & source_time,
const std::string & fixed_frame) const = 0;

/**
* \brief Test if a transform is possible.
Expand All @@ -106,10 +104,10 @@ class BufferCoreInterface
TF2_PUBLIC
virtual bool
canTransform(
const std::string& target_frame,
const std::string& source_frame,
const tf2::TimePoint& time,
std::string* error_msg) const = 0;
const std::string & target_frame,
const std::string & source_frame,
const tf2::TimePoint & time,
std::string * error_msg) const = 0;

/**
* \brief Test if a transform is possible.
Expand All @@ -125,21 +123,22 @@ class BufferCoreInterface
TF2_PUBLIC
virtual bool
canTransform(
const std::string& target_frame,
const tf2::TimePoint& target_time,
const std::string& source_frame,
const tf2::TimePoint& source_time,
const std::string& fixed_frame,
std::string* error_msg) const = 0;
const std::string & target_frame,
const tf2::TimePoint & target_time,
const std::string & source_frame,
const tf2::TimePoint & source_time,
const std::string & fixed_frame,
std::string * error_msg) const = 0;

/**
* \brief Get all frames that exist in the system.
* \return all frame names in a vector.
*/
TF2_PUBLIC
virtual std::vector<std::string>
getAllFrameNames() const = 0;
}; // class BufferCoreInterface
}; // class BufferCoreInterface

} // namespace tf2

#endif // TF2__BUFFER_CORE_INTERFACE_H_
#endif // TF2__BUFFER_CORE_INTERFACE_H_
170 changes: 90 additions & 80 deletions tf2/include/tf2/convert.h
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Original file line number Diff line number Diff line change
@@ -1,132 +1,142 @@
/*
* Copyright (c) 2013, Open Source Robotics Foundation
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
// Copyright 2008, Willow Garage, Inc. All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of the Willow Garage nor the names of its
// contributors may be used to endorse or promote products derived from
// this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.

/** \author Tully Foote */

#ifndef TF2_CONVERT_H
#define TF2_CONVERT_H
#ifndef TF2__CONVERT_H_
#define TF2__CONVERT_H_

#include <builtin_interfaces/msg/time.hpp>
#include <string>

#include <tf2/transform_datatypes.h>
#include <tf2/exceptions.h>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <tf2/impl/convert.h>
#include <tf2/visibility_control.h>
#include "builtin_interfaces/msg/time.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "rosidl_runtime_cpp/traits.hpp"
#include "tf2/exceptions.h"
#include "tf2/impl/convert.h"
#include "tf2/transform_datatypes.h"
#include "tf2/visibility_control.h"

#include <rosidl_runtime_cpp/traits.hpp>

namespace tf2 {
namespace tf2
{

/**\brief The templated function expected to be able to do a transform
*
* This is the method which tf2 will use to try to apply a transform for any given datatype.
* \param data_in The data to be transformed.
* \param data_out A reference to the output data. Note this can point to data in and the method should be mutation safe.
* \param transform The transform to apply to data_in to fill data_out.
* \param data_in[in] The data to be transformed.
* \param data_out[inout] A reference to the output data. Note this can point to data in and the method should be mutation safe.
* \param transform[in] The transform to apply to data_in to fill data_out.
*
* This method needs to be implemented by client library developers
*/
template <class T>
void doTransform(const T& data_in, T& data_out, const geometry_msgs::msg::TransformStamped& transform);
template<class T>
void doTransform(
const T & data_in, T & data_out,
const geometry_msgs::msg::TransformStamped & transform);

/**\brief Get the timestamp from data
* \param t The data input.
* \param[in] t The data input.
* \return The timestamp associated with the data.
*/
template <class T>
tf2::TimePoint getTimestamp(const T& t);
template<class T>
tf2::TimePoint getTimestamp(const T & t);

/**\brief Get the frame_id from data
* \param t The data input.
* \param[in] t The data input.
* \return The frame_id associated with the data.
*/
template <class T>
std::string getFrameId(const T& t);


template<class T>
std::string getFrameId(const T & t);

/* An implementation for Stamped<P> datatypes */
template <class P>
tf2::TimePoint getTimestamp(const tf2::Stamped<P>& t)
{
return t.stamp_;
}
/**\brief Get the frame_id from data
*
* An implementation for Stamped<P> datatypes.
*
* \param[in] t The data input.
* \return The frame_id associated with the data.
*/
template<class P>
tf2::TimePoint getTimestamp(const tf2::Stamped<P> & t)
{
return t.stamp_;
}

/* An implementation for Stamped<P> datatypes */
template <class P>
std::string getFrameId(const tf2::Stamped<P>& t)
{
return t.frame_id_;
}
/**\brief Get the frame_id from data
*
* An implementation for Stamped<P> datatypes.
*
* \param[in] t The data input.
* \return The frame_id associated with the data.
*/
template<class P>
std::string getFrameId(const tf2::Stamped<P> & t)
{
return t.frame_id_;
}

/** Function that converts from one type to a ROS message type. It has to be
/**\brief Function that converts from one type to a ROS message type. It has to be
* implemented by each data type in tf2_* (except ROS messages) as it is
* used in the "convert" function.
* \param a an object of whatever type
* \return the conversion as a ROS message
*/
template<typename A, typename B>
B toMsg(const A& a);
B toMsg(const A & a);

/** Function that converts from a ROS message type to another type. It has to be
/**\brief Function that converts from a ROS message type to another type. It has to be
* implemented by each data type in tf2_* (except ROS messages) as it is used
* in the "convert" function.
* \param a a ROS message to convert from
* \param b the object to convert to
*/
template<typename A, typename B>
void fromMsg(const A&, B& b);
void fromMsg(const A &, B & b);

/** Function that converts any type to any type (messages or not).
/**\brief Function that converts any type to any type (messages or not).
* Matching toMsg and from Msg conversion functions need to exist.
* If they don't exist or do not apply (for example, if your two
* classes are ROS messages), just write a specialization of the function.
* \param a an object to convert from
* \param b the object to convert to
*/

template <class A, class B>
void convert(const A& a, B& b)
template<class A, class B>
void convert(const A & a, B & b)
{
impl::Converter<rosidl_generator_traits::is_message<A>::value,
rosidl_generator_traits::is_message<B>::value>::convert(a, b);
rosidl_generator_traits::is_message<B>::value>::convert(a, b);
}

template <class A>
void convert(const A& a1, A& a2)
template<class A>
void convert(const A & a1, A & a2)
{
if(&a1 != &a2)
if (&a1 != &a2) {
a2 = a1;
}
}
} // namespace tf2


}

#endif //TF2_CONVERT_H
#endif // TF2__CONVERT_H_
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