Satisfy cpplint

Signed-off-by: methylDragon <methylDragon@gmail.com>
locusrobotics · Dec 8, 2022 · ba0d7ae · ba0d7ae
1 parent dd92d05
commit ba0d7ae
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Showing 9 changed files with 63 additions and 61 deletions.
diff --git a/fuse_graphs/benchmark/benchmark_create_problem.cpp b/fuse_graphs/benchmark/benchmark_create_problem.cpp
@@ -31,24 +31,22 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  */
-#include <fuse_core/constraint.hpp>
-#include <fuse_core/serialization.hpp>
-#include <fuse_core/uuid.hpp>
-#include <fuse_graphs/hash_graph.hpp>
-
-#include "example_variable.hpp"
-
 #include <benchmark/benchmark.h>
-
-#include <boost/serialization/access.hpp>
-#include <boost/serialization/base_object.hpp>
-#include <boost/serialization/export.hpp>
 #include <ceres/dynamic_autodiff_cost_function.h>
 
 #include <algorithm>
 #include <iterator>
-#include <vector>
 #include <string>
+#include <vector>
+
+#include <boost/serialization/access.hpp>
+#include <boost/serialization/base_object.hpp>
+#include <boost/serialization/export.hpp>
+#include "example_variable.hpp"
+#include <fuse_core/constraint.hpp>
+#include <fuse_core/serialization.hpp>
+#include <fuse_core/uuid.hpp>
+#include <fuse_graphs/hash_graph.hpp>
 
 /**
  * @brief Testable fuse_graphs::HashGraph that exposes the protected createProblem method as public

diff --git a/fuse_graphs/include/fuse_graphs/hash_graph.hpp b/fuse_graphs/include/fuse_graphs/hash_graph.hpp
@@ -34,6 +34,15 @@
 #ifndef FUSE_GRAPHS__HASH_GRAPH_HPP_
 #define FUSE_GRAPHS__HASH_GRAPH_HPP_
 
+#include <ceres/covariance.h>
+#include <ceres/problem.h>
+#include <ceres/solver.h>
+
+#include <unordered_map>
+#include <unordered_set>
+#include <utility>
+#include <vector>
+
 #include <fuse_core/constraint.hpp>
 #include <fuse_core/graph.hpp>
 #include <fuse_core/fuse_macros.hpp>
@@ -48,14 +57,6 @@
 #include <boost/serialization/shared_ptr.hpp>
 #include <boost/serialization/unordered_map.hpp>
 #include <boost/serialization/unordered_set.hpp>
-#include <ceres/covariance.h>
-#include <ceres/problem.h>
-#include <ceres/solver.h>
-
-#include <unordered_map>
-#include <unordered_set>
-#include <utility>
-#include <vector>
 
 
 namespace fuse_graphs
@@ -401,7 +402,8 @@ class HashGraph : public fuse_core::Graph
 
   Constraints constraints_;  //!< The set of all constraints
   CrossReference constraints_by_variable_uuid_;  //!< Index all of the constraints by variable uuids
-  ceres::Problem::Options problem_options_;  //!< User-defined options to be applied to all constructed ceres::Problems
+  ceres::Problem::Options problem_options_;  //!< User-defined options to be applied to all
+                                             //!< constructed ceres::Problems
   Variables variables_;  //!< The set of all variables
   VariableSet variables_on_hold_;  //!< The set of variables that should be held constant
 

diff --git a/fuse_graphs/include/fuse_graphs/hash_graph_params.hpp b/fuse_graphs/include/fuse_graphs/hash_graph_params.hpp
@@ -34,11 +34,11 @@
 #ifndef FUSE_GRAPHS__HASH_GRAPH_PARAMS_HPP_
 #define FUSE_GRAPHS__HASH_GRAPH_PARAMS_HPP_
 
+#include <ceres/problem.h>
+
 #include <fuse_core/ceres_options.hpp>
 #include <fuse_core/node_interfaces/node_interfaces.hpp>
 
-#include <ceres/problem.h>
-
 
 namespace fuse_graphs
 {

diff --git a/fuse_graphs/src/hash_graph.cpp b/fuse_graphs/src/hash_graph.cpp
@@ -31,15 +31,6 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  */
- #include <fuse_graphs/hash_graph.hpp>
-
-#include <fuse_core/uuid.hpp>
-#include <pluginlib/class_list_macros.hpp>
-
-#include <boost/iterator/transform_iterator.hpp>
-#include <boost/serialization/export.hpp>
-#include <rclcpp/clock.hpp>
-
 #include <algorithm>
 #include <functional>
 #include <limits>
@@ -48,6 +39,12 @@
 #include <utility>
 #include <vector>
 
+#include <boost/iterator/transform_iterator.hpp>
+#include <boost/serialization/export.hpp>
+#include <fuse_core/uuid.hpp>
+#include <fuse_graphs/hash_graph.hpp>
+#include <pluginlib/class_list_macros.hpp>
+#include <rclcpp/clock.hpp>
 
 namespace fuse_graphs
 {

diff --git a/fuse_graphs/test/covariance_constraint.hpp b/fuse_graphs/test/covariance_constraint.hpp
@@ -34,6 +34,11 @@
 #ifndef FUSE_GRAPHS__TEST_COVARIANCE_CONSTRAINT_HPP_  // NOLINT{build/header_guard}
 #define FUSE_GRAPHS__TEST_COVARIANCE_CONSTRAINT_HPP_  // NOLINT{build/header_guard}
 
+#include <ceres/cost_function.h>
+
+#include <algorithm>
+#include <string>
+
 #include <fuse_core/constraint.hpp>
 #include <fuse_core/fuse_macros.hpp>
 #include <fuse_core/serialization.hpp>
@@ -42,10 +47,6 @@
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/base_object.hpp>
 #include <boost/serialization/export.hpp>
-#include <ceres/cost_function.h>
-
-#include <algorithm>
-#include <string>
 
 
 /**

diff --git a/fuse_graphs/test/example_constraint.hpp b/fuse_graphs/test/example_constraint.hpp
@@ -34,6 +34,10 @@
 #ifndef FUSE_GRAPHS__TEST_EXAMPLE_CONSTRAINT_HPP_  // NOLINT{build/header_guard}
 #define FUSE_GRAPHS__TEST_EXAMPLE_CONSTRAINT_HPP_  // NOLINT{build/header_guard}
 
+#include <ceres/autodiff_cost_function.h>
+
+#include <string>
+
 #include <fuse_core/constraint.hpp>
 #include <fuse_core/fuse_macros.hpp>
 #include <fuse_core/serialization.hpp>
@@ -42,9 +46,6 @@
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/base_object.hpp>
 #include <boost/serialization/export.hpp>
-#include <ceres/autodiff_cost_function.h>
-
-#include <string>
 
 
 /**

diff --git a/fuse_graphs/test/example_loss.hpp b/fuse_graphs/test/example_loss.hpp
@@ -34,6 +34,9 @@
 #ifndef FUSE_GRAPHS__TEST_EXAMPLE_LOSS_HPP_  // NOLINT{build/header_guard}
 #define FUSE_GRAPHS__TEST_EXAMPLE_LOSS_HPP_  // NOLINT{build/header_guard}
 
+#include <ostream>
+#include <string>
+
 #include <fuse_core/loss.hpp>
 #include <fuse_core/fuse_macros.hpp>
 #include <fuse_core/serialization.hpp>
@@ -42,9 +45,6 @@
 #include <boost/serialization/base_object.hpp>
 #include <boost/serialization/export.hpp>
 
-#include <ostream>
-#include <string>
-
 
 /**
  * @brief Dummy loss implementation for testing

diff --git a/fuse_graphs/test/example_variable.hpp b/fuse_graphs/test/example_variable.hpp
@@ -34,6 +34,8 @@
 #ifndef FUSE_GRAPHS__TEST_EXAMPLE_VARIABLE_HPP_  // NOLINT{build/header_guard}
 #define FUSE_GRAPHS__TEST_EXAMPLE_VARIABLE_HPP_  // NOLINT{build/header_guard}
 
+#include <vector>
+
 #include <fuse_core/serialization.hpp>
 #include <fuse_core/uuid.hpp>
 #include <fuse_core/variable.hpp>
@@ -43,8 +45,6 @@
 #include <boost/serialization/export.hpp>
 #include <boost/serialization/vector.hpp>
 
-#include <vector>
-
 
 /**
  * @brief Dummy variable implementation for testing

diff --git a/fuse_graphs/test/test_hash_graph.cpp b/fuse_graphs/test/test_hash_graph.cpp
@@ -31,16 +31,6 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  */
-#include <fuse_core/constraint.hpp>
-#include <fuse_core/serialization.hpp>
-#include <fuse_core/uuid.hpp>
-#include <fuse_core/variable.hpp>
-#include <fuse_graphs/hash_graph.hpp>
-#include "covariance_constraint.hpp"
-#include "example_constraint.hpp"
-#include "example_loss.hpp"
-#include "example_variable.hpp"
-
 #include <gtest/gtest.h>
 
 #include <algorithm>
@@ -49,6 +39,16 @@
 #include <utility>
 #include <vector>
 
+#include "covariance_constraint.hpp"
+#include "example_constraint.hpp"
+#include "example_loss.hpp"
+#include "example_variable.hpp"
+#include <fuse_core/constraint.hpp>
+#include <fuse_core/serialization.hpp>
+#include <fuse_core/uuid.hpp>
+#include <fuse_core/variable.hpp>
+#include <fuse_graphs/hash_graph.hpp>
+
 /**
  * @brief Test fixture for the HashGraph
  *
@@ -145,7 +145,8 @@ class HashGraphTestFixture : public ::testing::Test
     return constraints_equal;
   }
 
-  std::string failure_description {""};    //!< The last failure description. Empty if no failure happened
+  std::string failure_description {""};    //!< The last failure description. Empty if no failure
+                                           //!< happened
 };
 
 TEST_F(HashGraphTestFixture, AddVariable)
@@ -765,8 +766,10 @@ TEST_F(HashGraphTestFixture, GetCovariance)
     std::vector<std::pair<fuse_core::UUID, fuse_core::UUID>> covariance_requests;
     covariance_requests.emplace_back(x->uuid(), x->uuid());
     covariance_requests.emplace_back(x->uuid(), y->uuid());
-    covariance_requests.emplace_back(y->uuid(), x->uuid());  // Adding both versions Cov(X,Y) and Cov(Y,X)
-    covariance_requests.emplace_back(x->uuid(), y->uuid());  // Adding a duplicate to verify everything still works.
+    covariance_requests.emplace_back(y->uuid(), x->uuid());  // Adding both versions Cov(X,Y) and
+                                                             // Cov(Y,X)
+    covariance_requests.emplace_back(x->uuid(), y->uuid());  // Adding a duplicate to verify
+                                                             // everything still works.
     covariance_requests.emplace_back(z->uuid(), y->uuid());
     std::vector<std::vector<double>> covariance_matrices;
     graph.getCovariance(covariance_requests, covariance_matrices);
@@ -791,12 +794,12 @@ TEST_F(HashGraphTestFixture, GetCovariance)
     // [ ZX (1x2), ZY(1x3), ZZ (1x1)]
     std::vector<double> expected0 = {7.0747e-02, -8.4923e-03, -8.4923e-03, 8.1352e-02};   // XX
     std::vector<double> expected1 =
-    {1.6821e-02, 3.3643e-02, 5.0464e-02, 2.4758e-02, 4.9517e-02, 7.4275e-02};                                     // XY
+    {1.6821e-02, 3.3643e-02, 5.0464e-02, 2.4758e-02, 4.9517e-02, 7.4275e-02};             // XY
     std::vector<double> expected2 =
-    {1.6821e-02, 2.4758e-02, 3.3643e-02, 4.9517e-02, 5.0464e-02, 7.4275e-02};                                     // YX
+    {1.6821e-02, 2.4758e-02, 3.3643e-02, 4.9517e-02, 5.0464e-02, 7.4275e-02};             // YX
     std::vector<double> expected3 =
-    {1.6821e-02, 3.3643e-02, 5.0464e-02, 2.4758e-02, 4.9517e-02, 7.4275e-02};                                     // XY
-    std::vector<double> expected4 = {-6.5325e-05, -1.3065e-04, -1.9598e-04};  // ZY
+    {1.6821e-02, 3.3643e-02, 5.0464e-02, 2.4758e-02, 4.9517e-02, 7.4275e-02};             // XY
+    std::vector<double> expected4 = {-6.5325e-05, -1.3065e-04, -1.9598e-04};              // ZY
 
     ASSERT_EQ(expected0.size(), actual0.size());
     for (size_t i = 0; i < expected0.size(); ++i) {