Merge pull request #7 from OUXT-Polaris/feature/foxy

enable pass colcon test

include/color_names/color_names.h → include/color_names/color_names.hpp

@@ -25,12 +25,14 @@ THE SOFTWARE.
  * @brief Preset Color names
  */
 
-#ifndef INCLUDE_COLOR_NAMES_COLOR_NAMES_H
-#define INCLUDE_COLOR_NAMES_COLOR_NAMES_H
+#ifndef COLOR_NAMES__COLOR_NAMES_HPP_
+#define COLOR_NAMES__COLOR_NAMES_HPP_
+
+#include <std_msgs/msg/color_rgba.hpp>
 
 #include <cassert>
+#include <string>
 #include <map>
-#include <std_msgs/msg/color_rgba.hpp>
 
 namespace color_names
 {
@@ -40,9 +42,8 @@ std_msgs::msg::ColorRGBA makeColorMsg(std::string preset_name, double alpha = 1.
    */
 std_msgs::msg::ColorRGBA fromHsv(double h, double s, double v, double alpha = 1.0);
 
-///@todo Read data from text data?
-const std::map<std::string, std::array<float, 3>> COLOR_NAME_DICT{
-  //{"COLOR_NAME", {R, G, B}} //template
+const std::map<std::string, std::array<float, 3>> COLOR_NAME_DICT {
+  //  {"COLOR_NAME", {R, G, B}} //template
   {"aliceblue", {0.941176, 0.972549, 1}},
   {"antiquewhite", {0.980392, 0.921569, 0.843137}},
   {"aqua", {0, 1, 1}},
@@ -183,8 +184,9 @@ const std::map<std::string, std::array<float, 3>> COLOR_NAME_DICT{
   {"whitesmoke", {0.960784, 0.960784, 0.960784}},
   {"yellow", {1, 1, 0}},
   {"yellowgreen", {0.603922, 0.803922, 0.196078}},
-  {"ERROR", {0, 0, 0}}};
+  {"ERROR", {0, 0, 0}}
+};
 
 }  // namespace color_names
 
-#endif
+#endif  // COLOR_NAMES__COLOR_NAMES_HPP_

src/color_names.cpp

@@ -1,16 +1,40 @@
-#include <color_names/color_names.h>
+/*
+Copyright (c) 2019 shuhei yoshida
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+
+#include <color_names/color_names.hpp>
+#include <string>
 
 #include <iostream>
 
 namespace color_names
 {
 /**
  * @brief generate std_msgs::msg::ColorRGBA message from hsv values
- * @param h hue 
- * @param s saturation 
+ * @param h hue
+ * @param s saturation
  * @param v value
  * @param alpha alpha value of the color
- * @return std_msgs::msg::ColorRGBA 
+ * @return std_msgs::msg::ColorRGBA
  */
 std_msgs::msg::ColorRGBA fromHsv(double h, double s, double v, double alpha)
 {
@@ -21,8 +45,8 @@ std_msgs::msg::ColorRGBA fromHsv(double h, double s, double v, double alpha)
   float b = v;
   if (s > 0.0f) {
     h *= 6.0f;
-    int i = (int)h;
-    float f = h - (float)i;
+    int i = static_cast<int>(h);
+    float f = h - static_cast<float>(i);
     switch (i) {
       default:
       case 0:
@@ -61,14 +85,14 @@ std_msgs::msg::ColorRGBA fromHsv(double h, double s, double v, double alpha)
  * @brief generate std_msgs::msg::ColorRGBA message from color name
  * @param preset_name the name of the color
  * @param alpha alpha value of the color
- * @return std_msgs::msg::ColorRGBA 
+ * @return std_msgs::msg::ColorRGBA
  */
 std_msgs::msg::ColorRGBA makeColorMsg(std::string preset_name, double alpha)
 {
   std_msgs::msg::ColorRGBA c_msg;
   c_msg.a = alpha;
-  if (c_msg.a < 0.) c_msg.a = 0.;
-  if (c_msg.a > 1.) c_msg.a = 1.;
+  if (c_msg.a < 0.) {c_msg.a = 0.;}
+  if (c_msg.a > 1.) {c_msg.a = 1.;}
 
   auto found_itr = COLOR_NAME_DICT.find(preset_name);
   if (found_itr != COLOR_NAME_DICT.end()) {
@@ -82,4 +106,4 @@ std_msgs::msg::ColorRGBA makeColorMsg(std::string preset_name, double alpha)
   }
   return c_msg;
 }
-}  // namespace color_names
+}  // namespace color_names

src/view_all.cpp

@@ -1,3 +1,26 @@
+/*
+Copyright (c) 2019 shuhei yoshida
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+
 /**
  * @file color_names_node.cpp
  */
@@ -9,12 +32,11 @@
  * @date 2020-07-17
  */
 
-#include <color_names/color_names.h>
-#include <chrono>
+#include <color_names/color_names.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
-using namespace color_names;
-using namespace std::chrono_literals;
+
+#include <chrono>
 
 int main(int argc, char ** argv)
 {
@@ -29,9 +51,8 @@ int main(int argc, char ** argv)
   color_mrk.id = 0;
   int id = 1;
   int count = 0;
-  for (auto && data : COLOR_NAME_DICT) {
+  for (auto && data : color_names::COLOR_NAME_DICT) {
     geometry_msgs::msg::Point p;
-    ///@todo set points in good way, May be need to sort color data by names
     p.x = 0.10 * (count % 10);
     p.y = 0.10 * (count / 10);
     count++;
@@ -49,19 +70,19 @@ int main(int argc, char ** argv)
     m_txt.pose.orientation.w = 1;
     mrks_msg.markers.push_back(m_txt);
 
-    color_mrk.colors.push_back(makeColorMsg(data.first, 1.0));
+    color_mrk.colors.push_back(color_names::makeColorMsg(data.first, 1.0));
     color_mrk.points.push_back(p);
   }
   mrks_msg.markers.push_back(color_mrk);
 
   auto mrks_pub =
     node->create_publisher<visualization_msgs::msg::MarkerArray>("color_sample_marker", 1);
-  rclcpp::WallRate loop_rate(500ms);
+  rclcpp::WallRate loop_rate(std::chrono::milliseconds{500});
   while (rclcpp::ok()) {
     mrks_pub->publish(mrks_msg);
     rclcpp::spin_some(node);
     loop_rate.sleep();
   }
   rclcpp::spin(node);
   return 0;
-}
+}