refactor(map_tf_generator): apply static analysis

map/map_tf_generator/include/map_tf_generator/uniform_random.hpp

@@ -18,7 +18,7 @@
 #include <random>
 #include <vector>
 
-std::vector<size_t> UniformRandom(const size_t max_exclusive, const size_t n)
+std::vector<size_t> inline uniform_random(const size_t max_exclusive, const size_t n)
 {
   std::default_random_engine generator;
   std::uniform_int_distribution<size_t> distribution(0, max_exclusive - 1);

map/map_tf_generator/src/pcd_map_tf_generator_node.cpp

@@ -26,22 +26,22 @@
 
 #include <memory>
 #include <string>
+#include <variant>
 
-constexpr size_t N_SAMPLES = 20;
+constexpr size_t n_samples = 20;
 
 class PcdMapTFGeneratorNode : public rclcpp::Node
 {
 public:
   using PointCloud = pcl::PointCloud<pcl::PointXYZ>;
   explicit PcdMapTFGeneratorNode(const rclcpp::NodeOptions & options)
-  : Node("pcd_map_tf_generator", options)
+  : Node("pcd_map_tf_generator", options),
+    map_frame_(declare_parameter<std::string>("map_frame")),
+    viewer_frame_(declare_parameter<std::string>("viewer_frame"))
   {
-    map_frame_ = declare_parameter<std::string>("map_frame");
-    viewer_frame_ = declare_parameter<std::string>("viewer_frame");
-
     sub_ = create_subscription<sensor_msgs::msg::PointCloud2>(
       "pointcloud_map", rclcpp::QoS{1}.transient_local(),
-      std::bind(&PcdMapTFGeneratorNode::onPointCloud, this, std::placeholders::_1));
+      std::bind(&PcdMapTFGeneratorNode::on_point_cloud, this, std::placeholders::_1));
 
     static_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(this);
   }
@@ -53,7 +53,7 @@
 
   std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_broadcaster_;
 
-  void onPointCloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr clouds_ros)
+  void on_point_cloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr clouds_ros)
   {
     // fix random seed to produce the same viewer position every time
     // 3939 is just the author's favorite number
@@ -62,32 +62,32 @@
     PointCloud clouds;
     pcl::fromROSMsg<pcl::PointXYZ>(*clouds_ros, clouds);
 
-    const std::vector<size_t> indices = UniformRandom(clouds.size(), N_SAMPLES);
+    const std::vector<size_t> indices = uniform_random(clouds.size(), n_samples);
     double coordinate[3] = {0, 0, 0};
     for (const auto i : indices) {
       coordinate[0] += clouds.points[i].x;
       coordinate[1] += clouds.points[i].y;
       coordinate[2] += clouds.points[i].z;
     }
-    coordinate[0] = coordinate[0] / indices.size();
-    coordinate[1] = coordinate[1] / indices.size();
-    coordinate[2] = coordinate[2] / indices.size();
-
-    geometry_msgs::msg::TransformStamped static_transformStamped;
-    static_transformStamped.header.stamp = this->now();
-    static_transformStamped.header.frame_id = map_frame_;
-    static_transformStamped.child_frame_id = viewer_frame_;
-    static_transformStamped.transform.translation.x = coordinate[0];
-    static_transformStamped.transform.translation.y = coordinate[1];
-    static_transformStamped.transform.translation.z = coordinate[2];
+    coordinate[0] = coordinate[0] / static_cast<double>(indices.size());
+    coordinate[1] = coordinate[1] / static_cast<double>(indices.size());
+    coordinate[2] = coordinate[2] / static_cast<double>(indices.size());
+
+    geometry_msgs::msg::TransformStamped static_transform_stamped;
+    static_transform_stamped.header.stamp = this->now();
+    static_transform_stamped.header.frame_id = map_frame_;
+    static_transform_stamped.child_frame_id = viewer_frame_;
+    static_transform_stamped.transform.translation.x = coordinate[0];
+    static_transform_stamped.transform.translation.y = coordinate[1];
+    static_transform_stamped.transform.translation.z = coordinate[2];
     tf2::Quaternion quat;
     quat.setRPY(0, 0, 0);
-    static_transformStamped.transform.rotation.x = quat.x();
-    static_transformStamped.transform.rotation.y = quat.y();
-    static_transformStamped.transform.rotation.z = quat.z();
-    static_transformStamped.transform.rotation.w = quat.w();
+    static_transform_stamped.transform.rotation.x = quat.x();
+    static_transform_stamped.transform.rotation.y = quat.y();
+    static_transform_stamped.transform.rotation.z = quat.z();
+    static_transform_stamped.transform.rotation.w = quat.w();
 
-    static_broadcaster_->sendTransform(static_transformStamped);
+    static_broadcaster_->sendTransform(static_transform_stamped);
 
     RCLCPP_INFO_STREAM(
       get_logger(), "broadcast static tf. map_frame:"

map/map_tf_generator/src/vector_map_tf_generator_node.cpp

@@ -29,14 +29,13 @@
 {
 public:
   explicit VectorMapTFGeneratorNode(const rclcpp::NodeOptions & options)
-  : Node("vector_map_tf_generator", options)
+  : Node("vector_map_tf_generator", options),
+    map_frame_(declare_parameter<std::string>("map_frame")),
+    viewer_frame_(declare_parameter<std::string>("viewer_frame"))
   {
-    map_frame_ = declare_parameter<std::string>("map_frame");
-    viewer_frame_ = declare_parameter<std::string>("viewer_frame");
-
     sub_ = create_subscription<autoware_map_msgs::msg::LaneletMapBin>(
       "vector_map", rclcpp::QoS{1}.transient_local(),
-      std::bind(&VectorMapTFGeneratorNode::onVectorMap, this, std::placeholders::_1));
+      std::bind(&VectorMapTFGeneratorNode::on_vector_map, this, std::placeholders::_1));
 
     static_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(this);
   }
@@ -49,7 +48,7 @@
   std::shared_ptr<tf2_ros::StaticTransformBroadcaster> static_broadcaster_;
   std::shared_ptr<lanelet::LaneletMap> lanelet_map_ptr_;
 
-  void onVectorMap(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg)
+  void on_vector_map(const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg)
   {
     lanelet_map_ptr_ = std::make_shared<lanelet::LaneletMap>();
     lanelet::utils::conversion::fromBinMsg(*msg, lanelet_map_ptr_);
@@ -66,27 +65,27 @@
       points_z.push_back(point_z);
     }
     const double coordinate_x =
-      std::accumulate(points_x.begin(), points_x.end(), 0.0) / points_x.size();
+      std::accumulate(points_x.begin(), points_x.end(), 0.0) / static_cast<double>(points_x.size());
     const double coordinate_y =
-      std::accumulate(points_y.begin(), points_y.end(), 0.0) / points_y.size();
+      std::accumulate(points_y.begin(), points_y.end(), 0.0) / static_cast<double>(points_y.size());
     const double coordinate_z =
-      std::accumulate(points_z.begin(), points_z.end(), 0.0) / points_z.size();
+      std::accumulate(points_z.begin(), points_z.end(), 0.0) / static_cast<double>(points_z.size());
 
-    geometry_msgs::msg::TransformStamped static_transformStamped;
-    static_transformStamped.header.stamp = this->now();
-    static_transformStamped.header.frame_id = map_frame_;
-    static_transformStamped.child_frame_id = viewer_frame_;
-    static_transformStamped.transform.translation.x = coordinate_x;
-    static_transformStamped.transform.translation.y = coordinate_y;
-    static_transformStamped.transform.translation.z = coordinate_z;
+    geometry_msgs::msg::TransformStamped static_transform_stamped;
+    static_transform_stamped.header.stamp = this->now();
+    static_transform_stamped.header.frame_id = map_frame_;
+    static_transform_stamped.child_frame_id = viewer_frame_;
+    static_transform_stamped.transform.translation.x = coordinate_x;
+    static_transform_stamped.transform.translation.y = coordinate_y;
+    static_transform_stamped.transform.translation.z = coordinate_z;
     tf2::Quaternion quat;
     quat.setRPY(0, 0, 0);
-    static_transformStamped.transform.rotation.x = quat.x();
-    static_transformStamped.transform.rotation.y = quat.y();
-    static_transformStamped.transform.rotation.z = quat.z();
-    static_transformStamped.transform.rotation.w = quat.w();
+    static_transform_stamped.transform.rotation.x = quat.x();
+    static_transform_stamped.transform.rotation.y = quat.y();
+    static_transform_stamped.transform.rotation.z = quat.z();
+    static_transform_stamped.transform.rotation.w = quat.w();
 
-    static_broadcaster_->sendTransform(static_transformStamped);
+    static_broadcaster_->sendTransform(static_transform_stamped);
 
     RCLCPP_INFO_STREAM(
       get_logger(), "broadcast static tf. map_frame:"

map/map_tf_generator/test/test_uniform_random.cpp

@@ -21,10 +21,10 @@ using testing::Each;
 using testing::Ge;
 using testing::Lt;
 
-TEST(UniformRandom, UniformRandom)
+TEST(uniform_random, uniform_random)
 {
   {
-    const std::vector<size_t> random = UniformRandom(4, 0);
+    const std::vector<size_t> random = uniform_random(4, 0);
     ASSERT_EQ(random.size(), static_cast<size_t>(0));
   }
 
@@ -35,7 +35,7 @@ TEST(UniformRandom, UniformRandom)
     const size_t max_exclusive = 4;
 
     for (int i = 0; i < 50; i++) {
-      const std::vector<size_t> random = UniformRandom(4, 10);
+      const std::vector<size_t> random = uniform_random(4, 10);
       ASSERT_EQ(random.size(), 10U);
       ASSERT_THAT(random, Each(AllOf(Ge(min_inclusive), Lt(max_exclusive))));  // in range [0, 4)
     }