Merge pull request #1430 from tier4/fix/refactor-code

Code Optimization and Refactoring
tier4 · Nov 6, 2024 · 866a553 · 866a553
2 parents 2ec8909 + 1de0e8b
commit 866a553
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Showing 17 changed files with 24 additions and 28 deletions.
diff --git a/common/math/geometry/include/geometry/spline/catmull_rom_spline.hpp b/common/math/geometry/include/geometry/spline/catmull_rom_spline.hpp
@@ -61,6 +61,7 @@ class CatmullRomSpline : public CatmullRomSplineInterface
   auto getPolygon(const double width, const size_t num_points = 30, const double z_offset = 0)
     -> std::vector<geometry_msgs::msg::Point>;
   const std::vector<geometry_msgs::msg::Point> control_points;
+  virtual ~CatmullRomSpline() = default;
 
 private:
   auto getRightBounds(const double width, const size_t num_points = 30, const double z_offset = 0)

diff --git a/common/math/geometry/test/src/quaternion/test_quaternion.cpp b/common/math/geometry/test/src/quaternion/test_quaternion.cpp
@@ -21,8 +21,6 @@
 #include "../expect_eq_macros.hpp"
 #include "../test_utils.hpp"
 
-constexpr double EPS = 1e-6;
-
 /**
  * @note Test result correctness with a basic example.
  */

diff --git a/common/math/geometry/test/src/vector3/test_truncate_custom.cpp b/common/math/geometry/test/src/vector3/test_truncate_custom.cpp
@@ -20,8 +20,6 @@
 
 #include "../expect_eq_macros.hpp"
 
-constexpr double EPS = 1e-6;
-
 /**
  * @brief Custom Vector3 struct using T type with multiplication and division operators
  */

diff --git a/common/math/geometry/test/src/vector3/test_truncate_msg.cpp b/common/math/geometry/test/src/vector3/test_truncate_msg.cpp
@@ -22,8 +22,6 @@
 #include "../expect_eq_macros.hpp"
 #include "../test_utils.hpp"
 
-constexpr double EPS = 1e-6;
-
 TEST(Vector3, truncate_msgVectorBelowMax)
 {
   geometry_msgs::msg::Vector3 vec0 = makeVector(4.0, 4.0, 4.0);

diff --git a/common/status_monitor/src/status_monitor.cpp b/common/status_monitor/src/status_monitor.cpp
@@ -60,7 +60,7 @@ StatusMonitor::~StatusMonitor()
 {
   auto lock = std::scoped_lock<std::mutex>(mutex);
 
-  auto mark_as_exited = [this]() {
+  auto mark_as_exited = []() {
     if (auto iter = statuses.find(std::this_thread::get_id()); iter != std::end(statuses)) {
       std::get<1>(*iter).exited = true;
     }

diff --git a/external/concealer/include/concealer/autoware_universe.hpp b/external/concealer/include/concealer/autoware_universe.hpp
@@ -90,7 +90,7 @@ class AutowareUniverse : public Autoware
     autoware_auto_control_msgs::msg::AckermannControlCommand,
     autoware_auto_vehicle_msgs::msg::GearCommand> override;
 
-  auto getRouteLanelets() const -> std::vector<std::int64_t>;
+  auto getRouteLanelets() const -> std::vector<std::int64_t> override;
 };
 
 }  // namespace concealer

diff --git a/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp b/external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp
@@ -58,7 +58,7 @@ class FieldOperatorApplicationFor<AutowareUniverse>
 : public FieldOperatorApplication,
   public TransitionAssertion<FieldOperatorApplicationFor<AutowareUniverse>>
 {
-  friend class TransitionAssertion<FieldOperatorApplicationFor<AutowareUniverse>>;
+  friend struct TransitionAssertion<FieldOperatorApplicationFor<AutowareUniverse>>;
 
   // clang-format off
   SubscriberWrapper<autoware_auto_control_msgs::msg::AckermannControlCommand>     getAckermannControlCommand;
@@ -178,7 +178,6 @@ class FieldOperatorApplicationFor<AutowareUniverse>
     getLocalizationState("/api/localization/initialization_state", rclcpp::QoS(1).transient_local(), *this),
 #endif
     getMrmState("/api/fail_safe/mrm_state", rclcpp::QoS(1), *this, [this](const auto & v) { receiveMrmState(v); }),
-    getPathWithLaneId("/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id", rclcpp::QoS(1), *this),
     getTrajectory("/api/iv_msgs/planning/scenario_planning/trajectory", rclcpp::QoS(1), *this),
     getTurnIndicatorsCommandImpl("/control/command/turn_indicators_cmd", rclcpp::QoS(1), *this),
     requestClearRoute("/api/routing/clear_route", *this),
@@ -188,7 +187,8 @@ class FieldOperatorApplicationFor<AutowareUniverse>
     // NOTE: /api/routing/set_route_points takes a long time to return. But the specified duration is not decided by any technical reasons.
     requestSetRoutePoints("/api/routing/set_route_points", *this, std::chrono::seconds(10)),
     requestSetRtcAutoMode("/api/external/set/rtc_auto_mode", *this),
-    requestSetVelocityLimit("/api/autoware/set/velocity_limit", *this)
+    requestSetVelocityLimit("/api/autoware/set/velocity_limit", *this),
+    getPathWithLaneId("/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id", rclcpp::QoS(1), *this)
   // clang-format on
   {
   }

diff --git a/external/concealer/src/autoware_universe.cpp b/external/concealer/src/autoware_universe.cpp
@@ -110,7 +110,7 @@ auto AutowareUniverse::updateLocalization() -> void
 
 auto AutowareUniverse::updateVehicleState() -> void
 {
-  setControlModeReport([this]() {
+  setControlModeReport([]() {
     autoware_auto_vehicle_msgs::msg::ControlModeReport message;
     message.mode = autoware_auto_vehicle_msgs::msg::ControlModeReport::AUTONOMOUS;
     return message;

diff --git a/external/concealer/src/field_operator_application.cpp b/external/concealer/src/field_operator_application.cpp
@@ -85,8 +85,8 @@ auto FieldOperatorApplication::shutdownAutoware() -> void
       }
     }();
 
-    const auto timeout = [this]() {
-      auto sigterm_timeout = [this](auto value) {
+    const auto timeout = []() {
+      auto sigterm_timeout = [](auto value) {
         auto node = rclcpp::Node("get_parameter_sigterm_timeout", "simulation");
         node.declare_parameter<int>("sigterm_timeout", value);
         node.get_parameter<int>("sigterm_timeout", value);

diff --git a/external/concealer/src/field_operator_application_for_autoware_universe.cpp b/external/concealer/src/field_operator_application_for_autoware_universe.cpp
@@ -226,7 +226,7 @@ auto FieldOperatorApplicationFor<AutowareUniverse>::sendCooperateCommand(
    *       to avoid sending the same cooperate command when sending multiple commands between updates of cooperate statuses.
    */
   static std::vector<tier4_rtc_msgs::msg::CooperateStatus> used_cooperate_statuses;
-  auto is_used_cooperate_status = [this](const auto & cooperate_status) {
+  auto is_used_cooperate_status = [](const auto & cooperate_status) {
     return std::find_if(
              used_cooperate_statuses.begin(), used_cooperate_statuses.end(),
              [&cooperate_status](const auto & used_cooperate_status) {

diff --git a/simulation/traffic_simulator/src/behavior/follow_waypoint_controller.cpp b/simulation/traffic_simulator/src/behavior/follow_waypoint_controller.cpp
@@ -69,7 +69,9 @@ auto FollowWaypointController::roundTimeToFullStepsWithTolerance(
     throw ControllerError(
       "Value remaining_time_source (", remaining_time_source,
       ") is NaN or inf - it cannot be rounded.");
-  } else if (remaining_time_source >= std::numeric_limits<std::size_t>::max() * step_time) {
+  } else if (
+    remaining_time_source >=
+    static_cast<double>(std::numeric_limits<std::size_t>::max()) * step_time) {
     throw ControllerError(
       "Exceeded the range of the variable type <std::size_t> (", remaining_time_source, "/",
       step_time, ") - the value is too large. Probably the distance to the waypoint is extremely",

diff --git a/simulation/traffic_simulator/src/data_type/entity_status.cpp b/simulation/traffic_simulator/src/data_type/entity_status.cpp
@@ -17,7 +17,7 @@
 
 namespace traffic_simulator
 {
-namespace entity_status
+inline namespace entity_status
 {
 
 CanonicalizedEntityStatus::CanonicalizedEntityStatus(

diff --git a/simulation/traffic_simulator/src/data_type/lanelet_pose.cpp b/simulation/traffic_simulator/src/data_type/lanelet_pose.cpp
@@ -22,7 +22,7 @@
 
 namespace traffic_simulator
 {
-namespace lanelet_pose
+inline namespace lanelet_pose
 {
 CanonicalizedLaneletPose::CanonicalizedLaneletPose(
   const LaneletPose & maybe_non_canonicalized_lanelet_pose,

diff --git a/simulation/traffic_simulator/src/entity/entity_base.cpp b/simulation/traffic_simulator/src/entity/entity_base.cpp
@@ -43,7 +43,7 @@ EntityBase::EntityBase(
       traveled_distance_ += std::abs(getCurrentTwist().linear.x) * step_time_;
       return false;
     },
-    [this]() {}, job::Type::TRAVELED_DISTANCE, true, job::Event::POST_UPDATE);
+    []() {}, job::Type::TRAVELED_DISTANCE, true, job::Event::POST_UPDATE);
 
   if (name != static_cast<EntityStatus>(entity_status).name) {
     THROW_SIMULATION_ERROR(
@@ -62,7 +62,7 @@ EntityBase::EntityBase(
       }
       return false;
     },
-    [this]() {}, job::Type::STAND_STILL_DURATION, true, job::Event::POST_UPDATE);
+    []() {}, job::Type::STAND_STILL_DURATION, true, job::Event::POST_UPDATE);
 }
 
 void EntityBase::appendDebugMarker(visualization_msgs::msg::MarkerArray &) {}
@@ -440,7 +440,7 @@ void EntityBase::requestSpeedChange(double target_speed, bool continuous)
       /**
        * @brief Cancel speed change request.
        */
-      [this]() {}, job::Type::LINEAR_VELOCITY, true, job::Event::POST_UPDATE);
+      []() {}, job::Type::LINEAR_VELOCITY, true, job::Event::POST_UPDATE);
   } else {
     target_speed_ = target_speed;
     job_list_.append(
@@ -480,7 +480,7 @@ void EntityBase::requestSpeedChange(
         target_speed_ = target_speed.getAbsoluteValue(getCanonicalizedStatus(), other_status_);
         return false;
       },
-      [this]() {}, job::Type::LINEAR_VELOCITY, true, job::Event::POST_UPDATE);
+      []() {}, job::Type::LINEAR_VELOCITY, true, job::Event::POST_UPDATE);
   } else {
     job_list_.append(
       /**
@@ -608,7 +608,7 @@ void EntityBase::activateOutOfRangeJob(
      * @brief Checking if the values of velocity, acceleration and jerk are within the acceptable
      * range
      */
-    [this, tolerance, max_velocity, min_velocity, min_acceleration, max_acceleration, min_jerk,
+    [this, max_velocity, min_velocity, min_acceleration, max_acceleration, min_jerk,
      max_jerk](double) {
       const auto velocity = getCurrentTwist().linear.x;
       const auto accel = getCurrentAccel().linear.x;
@@ -633,7 +633,7 @@ void EntityBase::activateOutOfRangeJob(
     /**
      * @brief This job is always ACTIVE
      */
-    [this]() {}, job::Type::OUT_OF_RANGE, true, job::Event::POST_UPDATE);
+    []() {}, job::Type::OUT_OF_RANGE, true, job::Event::POST_UPDATE);
 }
 
 void EntityBase::stopAtCurrentPosition()
@@ -768,7 +768,7 @@ auto EntityBase::requestSynchronize(
       target_speed_ = entity_velocity_to_synchronize();
       return false;
     },
-    [this]() {}, job::Type::LINEAR_ACCELERATION, true, job::Event::POST_UPDATE);
+    []() {}, job::Type::LINEAR_ACCELERATION, true, job::Event::POST_UPDATE);
   return false;
 }
 

diff --git a/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp b/simulation/traffic_simulator/src/hdmap_utils/hdmap_utils.cpp
@@ -535,7 +535,6 @@ auto HdMapUtils::matchToLane(
   const bool include_crosswalk, const double matching_distance, const double reduction_ratio) const
   -> std::optional<lanelet::Id>
 {
-  std::optional<lanelet::Id> id;
   lanelet::matching::Object2d obj;
   obj.pose.translation() = toPoint2d(pose.position);
   obj.pose.linear() =

diff --git a/simulation/traffic_simulator/src/utils/distance.cpp b/simulation/traffic_simulator/src/utils/distance.cpp
@@ -20,7 +20,7 @@
 
 namespace traffic_simulator
 {
-namespace distance
+inline namespace distance
 {
 auto lateralDistance(
   const CanonicalizedLaneletPose & from, const CanonicalizedLaneletPose & to,

diff --git a/simulation/traffic_simulator/src/utils/pose.cpp b/simulation/traffic_simulator/src/utils/pose.cpp
@@ -20,7 +20,7 @@
 
 namespace traffic_simulator
 {
-namespace pose
+inline namespace pose
 {
 auto quietNaNPose() -> geometry_msgs::msg::Pose
 {