refactor(mission_planner): apply clang-tidy (#1737)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

planning/mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.cpp

@@ -21,12 +21,12 @@ GoalPoseVisualizer::GoalPoseVisualizer(const rclcpp::NodeOptions & node_options)
 {
   sub_route_ = create_subscription<autoware_auto_planning_msgs::msg::HADMapRoute>(
     "input/route", rclcpp::QoS{1}.transient_local(),
-    std::bind(&GoalPoseVisualizer::echoBackRouteCallback, this, std::placeholders::_1));
+    std::bind(&GoalPoseVisualizer::echo_back_route_callback, this, std::placeholders::_1));
   pub_goal_pose_ = create_publisher<geometry_msgs::msg::PoseStamped>(
     "output/goal_pose", rclcpp::QoS{1}.transient_local());
 }
 
-void GoalPoseVisualizer::echoBackRouteCallback(
+void GoalPoseVisualizer::echo_back_route_callback(
   const autoware_auto_planning_msgs::msg::HADMapRoute::ConstSharedPtr msg)
 {
   geometry_msgs::msg::PoseStamped goal_pose;

planning/mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.hpp

@@ -31,7 +31,7 @@ class GoalPoseVisualizer : public rclcpp::Node
   rclcpp::Subscription<autoware_auto_planning_msgs::msg::HADMapRoute>::SharedPtr sub_route_;
   rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr pub_goal_pose_;
 
-  void echoBackRouteCallback(
+  void echo_back_route_callback(
     const autoware_auto_planning_msgs::msg::HADMapRoute::ConstSharedPtr msg);
 };
 

planning/mission_planner/src/mission_planner/mission_planner.cpp

@@ -40,9 +40,9 @@ MissionPlanner::MissionPlanner(
   using std::placeholders::_1;
 
   goal_subscriber_ = create_subscription<geometry_msgs::msg::PoseStamped>(
-    "input/goal_pose", 10, std::bind(&MissionPlanner::goalPoseCallback, this, _1));
+    "input/goal_pose", 10, std::bind(&MissionPlanner::goal_pose_callback, this, _1));
   checkpoint_subscriber_ = create_subscription<geometry_msgs::msg::PoseStamped>(
-    "input/checkpoint", 10, std::bind(&MissionPlanner::checkpointCallback, this, _1));
+    "input/checkpoint", 10, std::bind(&MissionPlanner::checkpoint_callback, this, _1));
 
   rclcpp::QoS durable_qos{1};
   durable_qos.transient_local();
@@ -52,7 +52,7 @@ MissionPlanner::MissionPlanner(
     create_publisher<visualization_msgs::msg::MarkerArray>("debug/route_marker", durable_qos);
 }
 
-bool MissionPlanner::getEgoVehiclePose(geometry_msgs::msg::PoseStamped * ego_vehicle_pose)
+bool MissionPlanner::get_ego_vehicle_pose(geometry_msgs::msg::PoseStamped * ego_vehicle_pose)
 {
   geometry_msgs::msg::PoseStamped base_link_origin;
   base_link_origin.header.frame_id = base_link_frame_;
@@ -65,12 +65,12 @@ bool MissionPlanner::getEgoVehiclePose(geometry_msgs::msg::PoseStamped * ego_veh
   base_link_origin.pose.orientation.w = 1;
 
   //  transform base_link frame origin to map_frame to get vehicle positions
-  return transformPose(base_link_origin, ego_vehicle_pose, map_frame_);
+  return transform_pose(base_link_origin, ego_vehicle_pose, map_frame_);
 }
 
-bool MissionPlanner::transformPose(
+bool MissionPlanner::transform_pose(
   const geometry_msgs::msg::PoseStamped & input_pose, geometry_msgs::msg::PoseStamped * output_pose,
-  const std::string target_frame)
+  const std::string & target_frame)
 {
   geometry_msgs::msg::TransformStamped transform;
   try {
@@ -84,17 +84,17 @@ bool MissionPlanner::transformPose(
   }
 }
 
-void MissionPlanner::goalPoseCallback(
+void MissionPlanner::goal_pose_callback(
   const geometry_msgs::msg::PoseStamped::ConstSharedPtr goal_msg_ptr)
 {
   // set start pose
-  if (!getEgoVehiclePose(&start_pose_)) {
+  if (!get_ego_vehicle_pose(&start_pose_)) {
     RCLCPP_ERROR(
       get_logger(), "Failed to get ego vehicle pose in map frame. Aborting mission planning");
     return;
   }
   // set goal pose
-  if (!transformPose(*goal_msg_ptr, &goal_pose_, map_frame_)) {
+  if (!transform_pose(*goal_msg_ptr, &goal_pose_, map_frame_)) {
     RCLCPP_ERROR(get_logger(), "Failed to get goal pose in map frame. Aborting mission planning");
     return;
   }
@@ -104,16 +104,16 @@ void MissionPlanner::goalPoseCallback(
   checkpoints_.push_back(start_pose_);
   checkpoints_.push_back(goal_pose_);
 
-  if (!isRoutingGraphReady()) {
+  if (!is_routing_graph_ready()) {
     RCLCPP_ERROR(get_logger(), "RoutingGraph is not ready. Aborting mission planning");
     return;
   }
 
-  autoware_auto_planning_msgs::msg::HADMapRoute route = planRoute();
-  publishRoute(route);
+  autoware_auto_planning_msgs::msg::HADMapRoute route = plan_route();
+  publish_route(route);
 }  // namespace mission_planner
 
-void MissionPlanner::checkpointCallback(
+void MissionPlanner::checkpoint_callback(
   const geometry_msgs::msg::PoseStamped::ConstSharedPtr checkpoint_msg_ptr)
 {
   if (checkpoints_.size() < 2) {
@@ -124,7 +124,7 @@ void MissionPlanner::checkpointCallback(
   }
 
   geometry_msgs::msg::PoseStamped transformed_checkpoint;
-  if (!transformPose(*checkpoint_msg_ptr, &transformed_checkpoint, map_frame_)) {
+  if (!transform_pose(*checkpoint_msg_ptr, &transformed_checkpoint, map_frame_)) {
     RCLCPP_ERROR(
       get_logger(), "Failed to get checkpoint pose in map frame. Aborting mission planning");
     return;
@@ -133,16 +133,17 @@ void MissionPlanner::checkpointCallback(
   // insert checkpoint before goal
   checkpoints_.insert(checkpoints_.end() - 1, transformed_checkpoint);
 
-  autoware_auto_planning_msgs::msg::HADMapRoute route = planRoute();
-  publishRoute(route);
+  autoware_auto_planning_msgs::msg::HADMapRoute route = plan_route();
+  publish_route(route);
 }
 
-void MissionPlanner::publishRoute(const autoware_auto_planning_msgs::msg::HADMapRoute & route) const
+void MissionPlanner::publish_route(
+  const autoware_auto_planning_msgs::msg::HADMapRoute & route) const
 {
   if (!route.segments.empty()) {
     RCLCPP_INFO(get_logger(), "Route successfully planned. Publishing...");
     route_publisher_->publish(route);
-    visualizeRoute(route);
+    visualize_route(route);
   } else {
     RCLCPP_ERROR(get_logger(), "Calculated route is empty!");
   }

planning/mission_planner/src/mission_planner/mission_planner.hpp

@@ -47,11 +47,11 @@ class MissionPlanner : public rclcpp::Node
 
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr marker_publisher_;
 
-  virtual bool isRoutingGraphReady() const = 0;
-  virtual autoware_auto_planning_msgs::msg::HADMapRoute planRoute() = 0;
-  virtual void visualizeRoute(
+  virtual bool is_routing_graph_ready() const = 0;
+  virtual autoware_auto_planning_msgs::msg::HADMapRoute plan_route() = 0;
+  virtual void visualize_route(
     const autoware_auto_planning_msgs::msg::HADMapRoute & route) const = 0;
-  virtual void publishRoute(const autoware_auto_planning_msgs::msg::HADMapRoute & route) const;
+  virtual void publish_route(const autoware_auto_planning_msgs::msg::HADMapRoute & route) const;
 
 private:
   rclcpp::Publisher<autoware_auto_planning_msgs::msg::HADMapRoute>::SharedPtr route_publisher_;
@@ -61,12 +61,13 @@ class MissionPlanner : public rclcpp::Node
   tf2_ros::Buffer tf_buffer_;
   tf2_ros::TransformListener tf_listener_;
 
-  bool getEgoVehiclePose(geometry_msgs::msg::PoseStamped * ego_vehicle_pose);
-  void goalPoseCallback(const geometry_msgs::msg::PoseStamped::ConstSharedPtr goal_msg_ptr);
-  void checkpointCallback(const geometry_msgs::msg::PoseStamped::ConstSharedPtr checkpoint_msg_ptr);
-  bool transformPose(
+  bool get_ego_vehicle_pose(geometry_msgs::msg::PoseStamped * ego_vehicle_pose);
+  void goal_pose_callback(const geometry_msgs::msg::PoseStamped::ConstSharedPtr goal_msg_ptr);
+  void checkpoint_callback(
+    const geometry_msgs::msg::PoseStamped::ConstSharedPtr checkpoint_msg_ptr);
+  bool transform_pose(
     const geometry_msgs::msg::PoseStamped & input_pose,
-    geometry_msgs::msg::PoseStamped * output_pose, const std::string target_frame);
+    geometry_msgs::msg::PoseStamped * output_pose, const std::string & target_frame);
 };
 
 }  // namespace mission_planner