Fix cpplint test in motion_computation to support CI/CD (#2405)

* fix white space

* clang format

* add 2 space and order headers

* fix more

* try again

* reuse cp clang and turn off include order

* Add source link for IncludeCategories

motion_computation/.clang-format

@@ -0,0 +1,47 @@
+---
+# ROS 2 C++ style guidelines
+# Reference: https://github.com/ament/ament_lint/blob/rolling/ament_clang_format/ament_clang_format/configuration/.clang-format
+Language: Cpp
+BasedOnStyle: Google
+
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+ AfterClass: true
+ AfterFunction: true
+ AfterNamespace: true
+ AfterStruct: true
+ AfterEnum: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: false
+SpacesBeforeTrailingComments: 2
+IncludeCategories:
+ # Originally from: https://github.com/usdot-fhwa-stol/autoware.auto/blob/carma-system-4.5.0/AutowareAuto/.clang-format
+ # Main header (e.g. foo.hpp for foo.cpp) automatically assigned priority zero
+
+ # Rules are processed in order, the first match assigns the priority, so more general rules come last
+
+ # C System headers
+ - Regex: '^<.*\.h>'
+ Priority: 1
+ # Eigen headers are not std C++ headers
+ - Regex: '<Eigen/([A-Za-z0-9\Q/-_\E])+>'
+ Priority: 3
+ # Headers in <> without extension; e.g. C++ standard
+ - Regex: '<([A-Za-z0-9\Q/-_\E])+>'
+ Priority: 2
+ # Messages
+ - Regex: '.*_msgs/.*\.hpp'
+ Priority: 4
+ # Headers in "" with file extension; e.g. from the same or another package
+ - Regex: '"([A-Za-z0-9.\Q/-_\E])+"'
+ Priority: 3
+ # Other Packages
+ - Regex: '^<.*/.*\.h.*>'
+ Priority: 3
+IncludeBlocks: Regroup

motion_computation/CPPLINT.cfg

@@ -0,0 +1,4 @@
+# Disable cpplint's include_order check. The checks are inconsistent with ROS 2
+# header files, so we are disabling it until we know more about how the order
+# and C vs. C++ files are validated
+filter=-build/include_order

motion_computation/include/motion_computation/impl/mobility_path_to_external_object_helpers.hpp

@@ -18,16 +18,18 @@
 #include <lanelet2_extension/projection/local_frame_projector.h>
 #include <tf2/LinearMath/Quaternion.h>
 #include <tf2/LinearMath/Vector3.h>
+
+#include <tuple>
+#include <utility>
+
+#include <rclcpp/time.hpp>
+
 #include <carma_perception_msgs/msg/external_object.hpp>
 #include <carma_perception_msgs/msg/predicted_state.hpp>
 #include <geometry_msgs/msg/quaternion.hpp>
-#include <rclcpp/time.hpp>
-#include <tuple>
-#include <utility>
 
 namespace motion_computation
 {
-
 namespace conversion
 {
 namespace impl
@@ -38,11 +40,12 @@ namespace impl
  * \param curr_pt current point
  * \param prev_pt prev_pt. this point is recorded in the state
  * \param prev_time_stamp prev_pt's time stamp. This time is recorded in the state
- * \param curr_time_stamp The timestamp of the second point when used to compute velocity at prev point
+ * \param curr_time_stamp The timestamp of the second point when used to compute velocity at prev
+ * point
  * \param prev_yaw A previous yaw value in radians to use if the two provided points are equivalent
- * \return std::pair<carma_perception_msgs::msg::PredictedState,double> where the first element is the prediction
- * including linear velocity, last_time, orientation filled in and the second element is the yaw in radians used to
- * compute the orientation
+ * \return std::pair<carma_perception_msgs::msg::PredictedState,double> where the first element is
+ * the prediction including linear velocity, last_time, orientation filled in and the second
+ * element is the yaw in radians used to compute the orientation
  */
 std::pair<carma_perception_msgs::msg::PredictedState, double> composePredictedState(
  const tf2::Vector3 & curr_pt, const tf2::Vector3 & prev_pt, const rclcpp::Time & prev_time_stamp,

motion_computation/include/motion_computation/impl/psm_to_external_object_helpers.hpp

@@ -18,20 +18,21 @@
 #include <lanelet2_core/primitives/GPSPoint.h>
 #include <lanelet2_extension/projection/local_frame_projector.h>
 #include <tf2/LinearMath/Quaternion.h>
+
+#include <string>
+#include <vector>
+
+#include <rclcpp/rclcpp.hpp>
+
 #include <carma_perception_msgs/msg/external_object.hpp>
 #include <carma_v2x_msgs/msg/psm.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/pose_with_covariance.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <string>
-#include <vector>
 
 namespace motion_computation
 {
-
 namespace conversion
 {
-
 // Namespace for functionality not meant to be part of public API but valuable
 // to unit test in isolation
 namespace impl

motion_computation/include/motion_computation/message_conversions.hpp

@@ -17,19 +17,20 @@
 
 #include <lanelet2_extension/projection/local_frame_projector.h>
 #include <tf2/LinearMath/Quaternion.h>
+
+#include <string>
+
+#include <rclcpp/rclcpp.hpp>
+
 #include <carma_perception_msgs/msg/external_object.hpp>
 #include <carma_v2x_msgs/msg/bsm.hpp>
 #include <carma_v2x_msgs/msg/mobility_path.hpp>
 #include <carma_v2x_msgs/msg/psm.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <string>
 
 namespace motion_computation
 {
-
 namespace conversion
 {
-
 void convert(
  const carma_v2x_msgs::msg::PSM & in_msg, carma_perception_msgs::msg::ExternalObject & out_msg,
  const std::string & map_frame_id, double pred_period, double pred_step_size,

motion_computation/include/motion_computation/motion_computation_config.hpp

@@ -20,7 +20,6 @@
 
 namespace motion_computation
 {
-
 /**
  * \brief Stuct containing the algorithm configuration values for motion_computation
  */
@@ -29,11 +28,11 @@ struct Config
  double prediction_time_step = 0.1; // Time between predicted states (in seconds)
  double mobility_path_time_step =
  0.1; // Time between received mobility path predicted states (in seconds)
- double prediction_period = 2.0; // Period of prediction (in seconds)
- double cv_x_accel_noise = 9.0; // CV Model X-Axis Acceleration Noise
- double cv_y_accel_noise = 9.0; // CV Model Y-Axis Acceleration Noise
- double prediction_process_noise_max =
- 1000.0; // Maximum expected process noise; used for mapping noise to confidence in [0,1] range
+ double prediction_period = 2.0;  // Period of prediction (in seconds)
+ double cv_x_accel_noise = 9.0;  // CV Model X-Axis Acceleration Noise
+ double cv_y_accel_noise = 9.0;  // CV Model Y-Axis Acceleration Noise
+ double prediction_process_noise_max = 1000.0; // Maximum expected process noise; used for mapping
+  // noise to confidence in [0,1] range
  double prediction_confidence_drop_rate =
  0.95; // Percentage of initial confidence to propagate to next time step
 
@@ -57,7 +56,7 @@ struct Config
  // will occur (objects may be duplicated)
  bool enable_sensor_processing = false;
 
- // True if CTRV motion model should be used for the object type. 
+ // True if CTRV motion model should be used for the object type.
  // False, if CV should be used for all following booleans
  bool enable_ctrv_for_unknown_obj = true;
  bool enable_ctrv_for_motorcycle_obj = true;
@@ -82,8 +81,10 @@ struct Config
  << "enable_sensor_processing: " << c.enable_sensor_processing << std::endl
  << "enable_ctrv_for_unknown_obj: " << c.enable_ctrv_for_unknown_obj << std::endl
  << "enable_ctrv_for_motorcycle_obj: " << c.enable_ctrv_for_motorcycle_obj << std::endl
- << "enable_ctrv_for_small_vehicle_obj: " << c.enable_ctrv_for_small_vehicle_obj << std::endl
- << "enable_ctrv_for_large_vehicle_obj: " << c.enable_ctrv_for_large_vehicle_obj << std::endl
+ << "enable_ctrv_for_small_vehicle_obj: " << c.enable_ctrv_for_small_vehicle_obj
+ << std::endl
+ << "enable_ctrv_for_large_vehicle_obj: " << c.enable_ctrv_for_large_vehicle_obj
+ << std::endl
  << "enable_ctrv_for_pedestrian_obj: " << c.enable_ctrv_for_pedestrian_obj << std::endl
  << "}" << std::endl;
  return output;

motion_computation/include/motion_computation/motion_computation_node.hpp

@@ -17,21 +17,21 @@
 
 #include <lanelet2_extension/projection/local_frame_projector.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#include <carma_perception_msgs/msg/external_object_list.hpp>
-#include <carma_ros2_utils/carma_lifecycle_node.hpp>
-#include <carma_v2x_msgs/msg/mobility_path.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <std_msgs/msg/string.hpp>
 
 #include <functional>
 #include <vector>
 
 #include "motion_computation/motion_computation_config.hpp"
 #include "motion_computation/motion_computation_worker.hpp"
+#include <carma_ros2_utils/carma_lifecycle_node.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <carma_perception_msgs/msg/external_object_list.hpp>
+#include <carma_v2x_msgs/msg/mobility_path.hpp>
+#include <std_msgs/msg/string.hpp>
 
 namespace motion_computation
 {
-
 /**
  * \class MotionComputationNode
  * \brief The class responsible for publishing external object predictions

motion_computation/include/motion_computation/motion_computation_worker.hpp

@@ -19,25 +19,26 @@
 #include <lanelet2_extension/projection/local_frame_projector.h>
 #include <tf2/LinearMath/Transform.h>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#include <carma_perception_msgs/msg/external_object.hpp>
-#include <carma_perception_msgs/msg/external_object_list.hpp>
-#include <carma_v2x_msgs/msg/bsm.hpp>
-#include <carma_v2x_msgs/msg/mobility_path.hpp>
-#include <carma_v2x_msgs/msg/psm.hpp>
-#include <motion_predict/motion_predict.hpp>
-#include <motion_predict/predict_ctrv.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <std_msgs/msg/string.hpp>
 
 #include <functional>
 #include <memory>
 #include <string>
 #include <tuple>
 #include <unordered_map>
 
+#include <motion_predict/motion_predict.hpp>
+#include <motion_predict/predict_ctrv.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+#include <carma_perception_msgs/msg/external_object.hpp>
+#include <carma_perception_msgs/msg/external_object_list.hpp>
+#include <carma_v2x_msgs/msg/bsm.hpp>
+#include <carma_v2x_msgs/msg/mobility_path.hpp>
+#include <carma_v2x_msgs/msg/psm.hpp>
+#include <std_msgs/msg/string.hpp>
+
 namespace motion_computation
 {
-
 /**
  * \class MotionComputationWorker
  * \brief The class containing the primary business logic for the Motion Computation Package
@@ -74,8 +75,9 @@ class MotionComputationWorker
  bool enable_sensor_processing, bool enable_bsm_processing, bool enable_psm_processing,
  bool enable_mobility_path_processing);
  void setDetectionMotionModelFlags(
- bool enable_ctrv_for_unknown_obj, bool enable_ctrv_for_motorcycle_obj, bool enable_ctrv_for_small_vehicle_obj,
- bool enable_ctrv_for_large_vehicle_obj, bool enable_ctrv_for_pedestrian_obj);
+ bool enable_ctrv_for_unknown_obj, bool enable_ctrv_for_motorcycle_obj,
+ bool enable_ctrv_for_small_vehicle_obj, bool enable_ctrv_for_large_vehicle_obj,
+ bool enable_ctrv_for_pedestrian_obj);
 
  // callbacks
  void mobilityPathCallback(const carma_v2x_msgs::msg::MobilityPath::UniquePtr msg);
@@ -91,8 +93,8 @@ class MotionComputationWorker
  void georeferenceCallback(const std_msgs::msg::String::UniquePtr msg);
 
  /**
- * \brief Converts from MobilityPath's predicted points in ECEF to local map and other fields in an ExternalObject
- * object
+ * \brief Converts from MobilityPath's predicted points in ECEF to local map and other fields in
+ * an ExternalObject object
  * \param msg MobilityPath message to convert
  * \return ExternalObject object
  */
@@ -101,9 +103,9 @@ class MotionComputationWorker
 
  /**
  * \brief Appends external objects list behind base_objects. This does not do sensor fusion.
- * When doing so, it drops the predictions points that start before the first prediction is sensor list.
- * And interpolates the remaining predictions points to match the timestep using its average speed
- * between points
+ * When doing so, it drops the predictions points that start before the first prediction is
+ * sensor list. And interpolates the remaining predictions points to match the timestep using its
+ * average speed between points
  * \param base_objects object detections to append to and synchronize with
  * \param new_objects new objects to add and be synchronized
  * \return append and synchronized list of external objects
@@ -113,9 +115,10 @@ class MotionComputationWorker
  carma_perception_msgs::msg::ExternalObjectList new_objects) const;
 
  /*!
- * \brief It cuts ExternalObject's prediction points before the time_to_match. And uses the average
- * velocity in its predictions to match the starting point to the point it would have crossed at time_to_match
- * It uses mobility_path_time_step between prediction points to interpolate.
+ * \brief It cuts ExternalObject's prediction points before the time_to_match. And uses the
+ * average velocity in its predictions to match the starting point to the point it would have
+ * crossed at time_to_match It uses mobility_path_time_step between prediction points to
+ * interpolate.
  * \param path External object with predictions to modify
  * \param time_to_match time stamp to have the object start at
  * \return carma_perception_msgs::msg::ExternalObject
@@ -149,7 +152,7 @@ class MotionComputationWorker
  bool enable_ctrv_for_small_vehicle_obj_ = true;
  bool enable_ctrv_for_large_vehicle_obj_ = true;
  bool enable_ctrv_for_pedestrian_obj_ = false;
- 
+
  // Map frame
  std::string map_frame_id_ = "map";
 

motion_computation/src/bsm_to_external_object_convertor.cpp

@@ -12,20 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <carma_perception_msgs/msg/external_object.hpp>
-#include <motion_computation/impl/psm_to_external_object_helpers.hpp>
-#include <motion_computation/message_conversions.hpp>
-
 #include <algorithm>
 #include <string>
 #include <vector>
 
+#include <motion_computation/impl/psm_to_external_object_helpers.hpp>
+#include <motion_computation/message_conversions.hpp>
+
+#include <carma_perception_msgs/msg/external_object.hpp>
+
 namespace motion_computation
 {
-
 namespace conversion
 {
-
 void convert(
  const carma_v2x_msgs::msg::BSM & in_msg, carma_perception_msgs::msg::ExternalObject & out_msg,
  const std::string & map_frame_id, double pred_period, double pred_step_size,

motion_computation/src/main.cpp

@@ -12,14 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <rclcpp/rclcpp.hpp>
-
 #include <memory>
-
 #include "motion_computation/motion_computation_node.hpp"
+#include <rclcpp/rclcpp.hpp>
 
-int main(int argc, char ** argv)
-{
+int main(int argc, char **argv) {
  rclcpp::init(argc, argv);
 
  auto node = std::make_shared<motion_computation::MotionComputationNode>(rclcpp::NodeOptions());