chore(autonomous_emergency_braking): apply clangd suggestions to aeb (a…

…utowarefoundation#7703)

* apply clangd suggestions

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* add maintainer

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

.github/CODEOWNERS

@@ -45,7 +45,7 @@ common/time_utils/** christopherj.ho@gmail.com shumpei.wakabayashi@tier4.jp tomo
 common/traffic_light_recognition_marker_publisher/** shumpei.wakabayashi@tier4.jp takeshi.miura@tier4.jp tomoya.kimura@tier4.jp
 common/traffic_light_utils/** kotaro.uetake@tier4.jp satoshi.ota@tier4.jp shunsuke.miura@tier4.jp
 common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
-control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp
+control/autoware_autonomous_emergency_braking/** daniel.sanchez@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp kyoichi.sugahara@tier4.jp
 control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 control/autoware_external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/autoware_joy_controller/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp

control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp

@@ -60,7 +60,6 @@ using nav_msgs::msg::Odometry;
 using sensor_msgs::msg::Imu;
 using sensor_msgs::msg::PointCloud2;
 using PointCloud = pcl::PointCloud<pcl::PointXYZ>;
-using autoware::universe_utils::Point2d;
 using autoware::universe_utils::Polygon2d;
 using autoware::vehicle_info_utils::VehicleInfo;
 using diagnostic_updater::DiagnosticStatusWrapper;
@@ -120,12 +119,12 @@ class CollisionDataKeeper
     return this->checkObjectDataExpired(prev_closest_object_, previous_obstacle_keep_time_);
   }
 
-  ObjectData get() const
+  [[nodiscard]] ObjectData get() const
   {
     return (closest_object_.has_value()) ? closest_object_.value() : ObjectData();
   }
 
-  ObjectData getPreviousObjectData() const
+  [[nodiscard]] ObjectData getPreviousObjectData() const
   {
     return (prev_closest_object_.has_value()) ? prev_closest_object_.value() : ObjectData();
   }
@@ -156,20 +155,21 @@ class CollisionDataKeeper
         }),
       obstacle_velocity_history_.end());
     obstacle_velocity_history_.emplace_back(
-      std::make_pair(current_object_velocity, current_object_velocity_time_stamp));
+      current_object_velocity, current_object_velocity_time_stamp);
   }
 
-  std::optional<double> getMedianObstacleVelocity() const
+  [[nodiscard]] std::optional<double> getMedianObstacleVelocity() const
   {
     if (obstacle_velocity_history_.empty()) return std::nullopt;
     std::vector<double> raw_velocities;
+    raw_velocities.reserve(obstacle_velocity_history_.size());
     for (const auto & vel_time_pair : obstacle_velocity_history_) {
       raw_velocities.emplace_back(vel_time_pair.first);
     }
 
     const size_t med1 = (raw_velocities.size() % 2 == 0) ? (raw_velocities.size()) / 2 - 1
-                                                         : (raw_velocities.size()) / 2.0;
-    const size_t med2 = (raw_velocities.size()) / 2.0;
+                                                         : (raw_velocities.size()) / 2;
+    const size_t med2 = (raw_velocities.size()) / 2;
     std::nth_element(raw_velocities.begin(), raw_velocities.begin() + med1, raw_velocities.end());
     const double vel1 = raw_velocities.at(med1);
     std::nth_element(raw_velocities.begin(), raw_velocities.begin() + med2, raw_velocities.end());

control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/utils.hpp

@@ -37,7 +37,6 @@
 
 namespace autoware::motion::control::autonomous_emergency_braking::utils
 {
-using autoware::universe_utils::Point2d;
 using autoware::universe_utils::Polygon2d;
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
@@ -51,7 +50,7 @@ using geometry_msgs::msg::TransformStamped;
  * @param transform_stamped the tf2 transform
  */
 PredictedObject transformObjectFrame(
-  const PredictedObject & input, geometry_msgs::msg::TransformStamped transform_stamped);
+  const PredictedObject & input, geometry_msgs::msg::TransformStamped & transform_stamped);
 
 /**
  * @brief Get the predicted objects polygon as a geometry polygon

control/autoware_autonomous_emergency_braking/src/node.cpp

@@ -54,6 +54,7 @@
 namespace autoware::motion::control::autonomous_emergency_braking
 {
 using autoware::motion::control::autonomous_emergency_braking::utils::convertObjToPolygon;
+using autoware::universe_utils::Point2d;
 using diagnostic_msgs::msg::DiagnosticStatus;
 namespace bg = boost::geometry;
 

control/autoware_autonomous_emergency_braking/src/utils.cpp

@@ -16,7 +16,6 @@
 
 namespace autoware::motion::control::autonomous_emergency_braking::utils
 {
-using autoware::universe_utils::Point2d;
 using autoware::universe_utils::Polygon2d;
 using autoware_perception_msgs::msg::PredictedObject;
 using autoware_perception_msgs::msg::PredictedObjects;
@@ -26,7 +25,7 @@ using geometry_msgs::msg::TransformStamped;
 using geometry_msgs::msg::Vector3;
 
 PredictedObject transformObjectFrame(
-  const PredictedObject & input, geometry_msgs::msg::TransformStamped transform_stamped)
+  const PredictedObject & input, geometry_msgs::msg::TransformStamped & transform_stamped)
 {
   PredictedObject output = input;
   const auto & linear_twist = input.kinematics.initial_twist_with_covariance.twist.linear;
@@ -74,12 +73,12 @@ Polygon2d convertCylindricalObjectToGeometryPolygon(
   const double obj_x = current_pose.position.x;
   const double obj_y = current_pose.position.y;
 
-  constexpr int N = 20;
+  constexpr int n = 20;
   const double r = obj_shape.dimensions.x / 2;
-  object_polygon.outer().reserve(N + 1);
-  for (int i = 0; i < N; ++i) {
+  object_polygon.outer().reserve(n + 1);
+  for (int i = 0; i < n; ++i) {
     object_polygon.outer().emplace_back(
-      obj_x + r * std::cos(2.0 * M_PI / N * i), obj_y + r * std::sin(2.0 * M_PI / N * i));
+      obj_x + r * std::cos(2.0 * M_PI / n * i), obj_y + r * std::sin(2.0 * M_PI / n * i));
   }
 
   object_polygon.outer().push_back(object_polygon.outer().front());