fix: auto format

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
autowarefoundation · Aug 2, 2022 · 3901ab4 · 3901ab4
1 parent 0beac8d
commit 3901ab4
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Showing 11 changed files with 24 additions and 24 deletions.
diff --git a/localization/pose_initializer/src/map_height_fitter/map_height_fitter_core.cpp b/localization/pose_initializer/src/map_height_fitter/map_height_fitter_core.cpp
@@ -36,14 +36,14 @@ MapHeightFitter::MapHeightFitter() : Node("map_height_fitter"), tf2_listener_(tf
     "fit_map_height", std::bind(&MapHeightFitter::OnFit, this, _1, _2));
 }
 
-void MapHeightFitter::OnMap(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg)
+void MapHeightFitter::on_map(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg)
 {
   map_frame_ = msg->header.frame_id;
   map_cloud_ = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>);
   pcl::fromROSMsg(*msg, *map_cloud_);
 }
 
-double MapHeightFitter::GetGroundHeight(const tf2::Vector3 & point) const
+double MapHeightFitter::get_ground_height(const tf2::Vector3 & point) const
 {
   constexpr double radius = 1.0 * 1.0;
   const double x = point.getX();
@@ -61,7 +61,7 @@ double MapHeightFitter::GetGroundHeight(const tf2::Vector3 & point) const
   return std::isfinite(height) ? height : point.getZ();
 }
 
-void MapHeightFitter::OnFit(
+void MapHeightFitter::on_fit(
   const RequestHeightFitting::Request::SharedPtr req,
   const RequestHeightFitting::Response::SharedPtr res) const
 {
@@ -76,7 +76,7 @@ void MapHeightFitter::OnFit(
       tf2::Transform transform{tf2::Quaternion{}, tf2::Vector3{}};
       tf2::fromMsg(stamped.transform, transform);
       point = transform * point;
-      point.setZ(GetGroundHeight(point));
+      point.setZ(get_ground_height(point));
       point = transform.inverse() * point;
       res->success = true;
     } catch (tf2::TransformException & exception) {

diff --git a/localization/pose_initializer/src/map_height_fitter/map_height_fitter_core.hpp b/localization/pose_initializer/src/map_height_fitter/map_height_fitter_core.hpp
@@ -42,11 +42,11 @@ class MapHeightFitter : public rclcpp::Node
   rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_map_;
   rclcpp::Service<RequestHeightFitting>::SharedPtr srv_fit_;
 
-  void OnMap(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg);
-  void OnFit(
+  void on_map(const sensor_msgs::msg::PointCloud2::ConstSharedPtr msg);
+  void on_fit(
     const RequestHeightFitting::Request::SharedPtr req,
     const RequestHeightFitting::Response::SharedPtr res) const;
-  double GetGroundHeight(const tf2::Vector3 & point) const;
+  double get_ground_height(const tf2::Vector3 & point) const;
 };
 
 #endif  // MAP_HEIGHT_FITTER__MAP_HEIGHT_FITTER_CORE_HPP_
diff --git a/localization/pose_initializer/src/pose_initializer/copy_vector_to_array.hpp b/localization/pose_initializer/src/pose_initializer/copy_vector_to_array.hpp
@@ -23,7 +23,7 @@
 #include <vector>
 
 template <typename T, size_t N>
-void CopyVectorToArray(const std::vector<T> & vector, std::array<T, N> & array)
+void copy_vector_to_array(const std::vector<T> & vector, std::array<T, N> & array)
 {
   if (N != vector.size()) {
     // throws the error to prevent causing an anonymous bug
@@ -37,7 +37,7 @@ void CopyVectorToArray(const std::vector<T> & vector, std::array<T, N> & array)
 }
 
 template <class NodeT>
-std::array<double, 36> GetCovarianceParameter(NodeT * node, const std::string & name)
+std::array<double, 36> get_covariance_parameter(NodeT * node, const std::string & name)
 {
   const auto parameter = node->template declare_parameter<std::vector<double>>(name);
   std::array<double, 36> covariance;

diff --git a/localization/pose_initializer/src/pose_initializer/gnss_module.cpp b/localization/pose_initializer/src/pose_initializer/gnss_module.cpp
@@ -29,7 +29,7 @@ GnssModule::GnssModule(rclcpp::Node * node)
   timeout_ = node->declare_parameter<double>("gnss_pose_timeout");
 }
 
-geometry_msgs::msg::PoseWithCovarianceStamped GnssModule::GetPose() const
+geometry_msgs::msg::PoseWithCovarianceStamped GnssModule::get_pose() const
 {
   using Initialize = localization_interface::Initialize;
 

diff --git a/localization/pose_initializer/src/pose_initializer/gnss_module.hpp b/localization/pose_initializer/src/pose_initializer/gnss_module.hpp
@@ -28,7 +28,7 @@ class GnssModule
 
 public:
   explicit GnssModule(rclcpp::Node * node);
-  PoseWithCovarianceStamped GetPose() const;
+  PoseWithCovarianceStamped get_pose() const;
 
 private:
   rclcpp::Clock::SharedPtr clock_;

diff --git a/localization/pose_initializer/src/pose_initializer/ndt_module.cpp b/localization/pose_initializer/src/pose_initializer/ndt_module.cpp
@@ -28,7 +28,7 @@ NdtModule::NdtModule(rclcpp::Node * node) : logger_(node->get_logger())
   cli_align_ = node->create_client<RequestPoseAlignment>("ndt_align");
 }
 
-PoseWithCovarianceStamped NdtModule::AlignPose(const PoseWithCovarianceStamped & pose)
+PoseWithCovarianceStamped NdtModule::align_pose(const PoseWithCovarianceStamped & pose)
 {
   const auto req = std::make_shared<RequestPoseAlignment::Request>();
   req->pose_with_covariance = pose;

diff --git a/localization/pose_initializer/src/pose_initializer/ndt_module.hpp b/localization/pose_initializer/src/pose_initializer/ndt_module.hpp
@@ -28,7 +28,7 @@ class NdtModule
 
 public:
   explicit NdtModule(rclcpp::Node * node);
-  PoseWithCovarianceStamped AlignPose(const PoseWithCovarianceStamped & pose);
+  PoseWithCovarianceStamped align_pose(const PoseWithCovarianceStamped & pose);
 
 private:
   rclcpp::Logger logger_;

diff --git a/localization/pose_initializer/src/pose_initializer/pose_initializer_core.cpp b/localization/pose_initializer/src/pose_initializer/pose_initializer_core.cpp
@@ -52,14 +52,14 @@ PoseInitializer::~PoseInitializer()
   // to delete gnss module
 }
 
-void PoseInitializer::ChangeState(State::Message::_state_type state)
+void PoseInitializer::change_state(State::Message::_state_type state)
 {
   state_.stamp = now();
   state_.state = state;
   pub_state_->publish(state_);
 }
 
-void PoseInitializer::OnInitialize(
+void PoseInitializer::on_initialize(
   const Initialize::Service::Request::SharedPtr req,
   const Initialize::Service::Response::SharedPtr res)
 {
@@ -69,22 +69,22 @@ void PoseInitializer::OnInitialize(
       Initialize::Service::Response::ERROR_UNSAFE, "The vehicle is not stopped.");
   }
   try {
-    ChangeState(State::Message::INITIALIZING);
+    change_state(State::Message::INITIALIZING);
     auto pose = req->pose.empty() ? GetGnssPose() : req->pose.front();
     if (ndt_) {
       pose = ndt_->AlignPose(pose);
     }
     pose.pose.covariance = output_pose_covariance_;
     pub_reset_->publish(pose);
     res->status.success = true;
-    ChangeState(State::Message::INITIALIZED);
+    change_state(State::Message::INITIALIZED);
   } catch (const ServiceException & error) {
     res->status = error.status();
-    ChangeState(State::Message::UNINITIALIZED);
+    change_state(State::Message::UNINITIALIZED);
   }
 }
 
-geometry_msgs::msg::PoseWithCovarianceStamped PoseInitializer::GetGnssPose()
+geometry_msgs::msg::PoseWithCovarianceStamped PoseInitializer::get_gnss_pose()
 {
   if (gnss_) {
     PoseWithCovarianceStamped pose = gnss_->GetPose();

diff --git a/localization/pose_initializer/src/pose_initializer/pose_initializer_core.hpp b/localization/pose_initializer/src/pose_initializer/pose_initializer_core.hpp
@@ -50,11 +50,11 @@ class PoseInitializer : public rclcpp::Node
   std::unique_ptr<NdtModule> ndt_;
   std::unique_ptr<StopCheckModule> stop_check_;
   double stop_check_duration_;
-  void ChangeState(State::Message::_state_type state);
-  void OnInitialize(
+  void change_state(State::Message::_state_type state);
+  void on_initialize(
     const Initialize::Service::Request::SharedPtr req,
     const Initialize::Service::Response::SharedPtr res);
-  PoseWithCovarianceStamped GetGnssPose();
+  PoseWithCovarianceStamped get_gnss_pose();
 };
 
 #endif  // POSE_INITIALIZER__POSE_INITIALIZER_CORE_HPP_
diff --git a/localization/pose_initializer/src/pose_initializer/stop_check_module.cpp b/localization/pose_initializer/src/pose_initializer/stop_check_module.cpp
@@ -21,7 +21,7 @@ StopCheckModule::StopCheckModule(rclcpp::Node * node, double buffer_duration)
     "stop_check_twist", 1, std::bind(&StopCheckModule::OnTwist, this, std::placeholders::_1));
 }
 
-void StopCheckModule::OnTwist(TwistWithCovarianceStamped::ConstSharedPtr msg)
+void StopCheckModule::on_twist(TwistWithCovarianceStamped::ConstSharedPtr msg)
 {
   TwistStamped twist;
   twist.header = msg->header;

diff --git a/localization/pose_initializer/src/pose_initializer/stop_check_module.hpp b/localization/pose_initializer/src/pose_initializer/stop_check_module.hpp
@@ -30,7 +30,7 @@ class StopCheckModule : public motion_utils::VehicleStopCheckerBase
   using TwistWithCovarianceStamped = geometry_msgs::msg::TwistWithCovarianceStamped;
   using TwistStamped = geometry_msgs::msg::TwistStamped;
   rclcpp::Subscription<TwistWithCovarianceStamped>::SharedPtr sub_twist_;
-  void OnTwist(TwistWithCovarianceStamped::ConstSharedPtr msg);
+  void on_twist(TwistWithCovarianceStamped::ConstSharedPtr msg);
 };
 
 #endif  // POSE_INITIALIZER__STOP_CHECK_MODULE_HPP_