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refactor(ndt_scan_matcher): fixed as pointed out by clang-tidy #4270

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merged 5 commits into from
Jul 14, 2023
Merged

refactor(ndt_scan_matcher): fixed as pointed out by clang-tidy #4270

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d57b9d2
Fixed as pointed out by clang-tidy
SakodaShintaro Jul 13, 2023
b70158a
Updated NOLINT comment message
SakodaShintaro Jul 13, 2023
bcd0216
Merge remote-tracking branch 'origin' into refactor/lint_ndt_scan_mat…
SakodaShintaro Jul 13, 2023
d53d030
Merge branch 'main' into refactor/lint_ndt_scan_matcher
SakodaShintaro Jul 13, 2023
3e018bc
Renamed "initial_pose_msg_in_map_frame"
SakodaShintaro Jul 14, 2023
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17 changes: 9 additions & 8 deletions localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,9 +85,10 @@ class NDTScanMatcher : public rclcpp::Node
const std_srvs::srv::SetBool::Request::SharedPtr req,
std_srvs::srv::SetBool::Response::SharedPtr res);

void callback_sensor_points(sensor_msgs::msg::PointCloud2::ConstSharedPtr pointcloud2_msg_ptr);
void callback_sensor_points(
sensor_msgs::msg::PointCloud2::ConstSharedPtr sensor_points_msg_in_sensor_frame);
void callback_initial_pose(
geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr pose_conv_msg_ptr);
geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr initial_pose_msg_ptr);
void callback_regularization_pose(
geometry_msgs::msg::PoseWithCovarianceStamped::ConstSharedPtr pose_conv_msg_ptr);

Expand All @@ -96,9 +97,9 @@ class NDTScanMatcher : public rclcpp::Node
const geometry_msgs::msg::PoseWithCovarianceStamped & initial_pose_with_cov);

void transform_sensor_measurement(
const std::string source_frame, const std::string target_frame,
const pcl::shared_ptr<pcl::PointCloud<PointSource>> sensor_points_input_ptr,
pcl::shared_ptr<pcl::PointCloud<PointSource>> sensor_points_output_ptr);
const std::string & source_frame, const std::string & target_frame,
const pcl::shared_ptr<pcl::PointCloud<PointSource>> & sensor_points_input_ptr,
pcl::shared_ptr<pcl::PointCloud<PointSource>> & sensor_points_output_ptr);

void publish_tf(
const rclcpp::Time & sensor_ros_time, const geometry_msgs::msg::Pose & result_pose_msg);
Expand All @@ -107,18 +108,18 @@ class NDTScanMatcher : public rclcpp::Node
const bool is_converged);
void publish_point_cloud(
const rclcpp::Time & sensor_ros_time, const std::string & frame_id,
const pcl::shared_ptr<pcl::PointCloud<PointSource>> & sensor_points_mapTF_ptr);
const pcl::shared_ptr<pcl::PointCloud<PointSource>> & sensor_points_in_map_ptr);
void publish_marker(
const rclcpp::Time & sensor_ros_time, const std::vector<geometry_msgs::msg::Pose> & pose_array);
void publish_initial_to_result_distances(
const rclcpp::Time & sensor_ros_msg, const geometry_msgs::msg::Pose & result_pose_msg,
const rclcpp::Time & sensor_ros_time, const geometry_msgs::msg::Pose & result_pose_msg,
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Thank you so much for finding this...!

const geometry_msgs::msg::PoseWithCovarianceStamped & initial_pose_cov_msg,
const geometry_msgs::msg::PoseWithCovarianceStamped & initial_pose_old_msg,
const geometry_msgs::msg::PoseWithCovarianceStamped & initial_pose_new_msg);

bool validate_num_iteration(const int iter_num, const int max_iter_num);
bool validate_score(
const double score, const double score_threshold, const std::string score_name);
const double score, const double score_threshold, const std::string & score_name);
bool validate_converged_param(
const double & transform_probability, const double & nearest_voxel_transformation_likelihood);

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