Linter fixes

nav2_amcl/include/nav2_amcl/motion_model/differential_motion_model.hpp

@@ -44,4 +44,4 @@ class DifferentialMotionModel : public nav2_amcl::MotionModel
   double alpha1_, alpha2_, alpha3_, alpha4_, alpha5_;
 };
 }  // namespace nav2_amcl
-#endif
+#endif  // NAV2_AMCL__MOTION_MODEL__DIFFERENTIAL_MOTION_MODEL_HPP_

nav2_amcl/include/nav2_amcl/motion_model/motion_model.hpp

@@ -18,9 +18,10 @@
 #define NAV2_AMCL__MOTION_MODEL__MOTION_MODEL_HPP_
 
 #include <string>
+#include <memory>
+
 #include "nav2_amcl/pf/pf.hpp"
 #include "nav2_amcl/pf/pf_pdf.hpp"
-#include <memory>
 
 namespace nav2_amcl
 {
@@ -55,7 +56,6 @@ class MotionModel
    * @param delta change in pose in odometry update
    */
   virtual void odometryUpdate(pf_t * pf, const pf_vector_t & pose, const pf_vector_t & delta) = 0;
-
 };
 }  // namespace nav2_amcl
 

nav2_amcl/include/nav2_amcl/motion_model/omni_motion_model.hpp

@@ -19,8 +19,8 @@
  *
  */
 
-#ifndef DIFFERENTIAL_MOTION_MODEL_HPP
-#define DIFFERENTIAL_MOTION_MODEL_HPP
+#ifndef NAV2_AMCL__MOTION_MODEL__OMNI_MOTION_MODEL_HPP_
+#define NAV2_AMCL__MOTION_MODEL__OMNI_MOTION_MODEL_HPP_
 
 #include <sys/types.h>
 #include <math.h>
@@ -44,4 +44,4 @@ class OmniMotionModel : public nav2_amcl::MotionModel
   double alpha1_, alpha2_, alpha3_, alpha4_, alpha5_;
 };
 }  // namespace nav2_amcl
-#endif
+#endif  // NAV2_AMCL__MOTION_MODEL__OMNI_MOTION_MODEL_HPP_

nav2_amcl/include/nav2_amcl/pf/eig3.hpp

@@ -1,3 +1,23 @@
+/*
+ *  Player - One Hell of a Robot Server
+ *  Copyright (C) 2000  Brian Gerkey   &  Kasper Stoy
+ *                      [email protected]    [email protected]
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation; either
+ *  version 2.1 of the License, or (at your option) any later version.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ */
 /* Eigen-decomposition for symmetric 3x3 real matrices.
    Public domain, copied from the public domain Java library JAMA. */
 

nav2_amcl/include/nav2_amcl/portable_utils.hpp

@@ -0,0 +1,41 @@
+// Copyright (c) Samsung Research America
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifndef NAV2_AMCL__PORTABLE_UTILS_HPP_
+#define NAV2_AMCL__PORTABLE_UTILS_HPP_
+
+#include <stdlib.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifndef HAVE_DRAND48
+// Some system (e.g., Windows) doesn't come with drand48(), srand48().
+// Use rand, and srand for such system.
+static double drand48(void)
+{
+  return ((double)rand()) / RAND_MAX;// NOLINT
+}
+
+static void srand48(long int seedval)// NOLINT
+{
+  srand(seedval);
+}
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // NAV2_AMCL__PORTABLE_UTILS_HPP_

nav2_amcl/src/amcl_node.cpp

@@ -48,7 +48,7 @@
 #include "tf2/utils.h"
 #pragma GCC diagnostic pop
 
-#include "portable_utils.h"
+#include "nav2_amcl/portable_utils.hpp"
 
 using namespace std::placeholders;
 using namespace std::chrono_literals;

nav2_amcl/src/motion_model/omni_motion_model.cpp

@@ -88,7 +88,7 @@ OmniMotionModel::odometryUpdate(
   }
 }
 
-} // namespace nav2_amcl
+}  // namespace nav2_amcl
 
 #include <pluginlib/class_list_macros.hpp>
 PLUGINLIB_EXPORT_CLASS(nav2_amcl::OmniMotionModel, nav2_amcl::MotionModel)

nav2_amcl/src/pf/eig3.c

@@ -1,3 +1,23 @@
+/*
+ *  Player - One Hell of a Robot Server
+ *  Copyright (C) 2000  Brian Gerkey   &  Kasper Stoy
+ *                      [email protected]    [email protected]
+ *
+ *  This library is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU Lesser General Public
+ *  License as published by the Free Software Foundation; either
+ *  version 2.1 of the License, or (at your option) any later version.
+ *
+ *  This library is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ *  Lesser General Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser General Public
+ *  License along with this library; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ */
 /* Eigen decomposition code for symmetric 3x3 matrices, copied from the public
    domain Java Matrix library JAMA. */
 

nav2_amcl/src/pf/pf.c

@@ -35,7 +35,7 @@
 #include "nav2_amcl/pf/pf_pdf.hpp"
 #include "nav2_amcl/pf/pf_kdtree.hpp"
 
-#include "portable_utils.h"
+#include "nav2_amcl/portable_utils.hpp"
 
 
 // Compute the required number of samples, given that there are k bins

nav2_amcl/src/pf/pf_pdf.c

@@ -34,7 +34,7 @@
 
 #include "nav2_amcl/pf/pf_pdf.hpp"
 
-#include "portable_utils.h"
+#include "nav2_amcl/portable_utils.hpp"
 
 // Random number generator seed value
 static unsigned int pf_pdf_seed;

nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d.hpp

@@ -92,7 +92,7 @@ class Costmap2D
    * @brief  Constructor for a costmap from an OccupancyGrid map
    * @param  map The OccupancyGrid map to create costmap from
    */
-  Costmap2D(const nav_msgs::msg::OccupancyGrid & map);
+  explicit Costmap2D(const nav_msgs::msg::OccupancyGrid & map);
 
   /**
    * @brief  Overloaded assignment operator

nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/costmap_filter.hpp

@@ -35,8 +35,8 @@
  * Author: Alexey Merzlyakov
  *********************************************************************/
 
-#ifndef NAV2_COSTMAP_2D__COSTMAP_FILTER_HPP_
-#define NAV2_COSTMAP_2D__COSTMAP_FILTER_HPP_
+#ifndef NAV2_COSTMAP_2D__COSTMAP_FILTERS__COSTMAP_FILTER_HPP_
+#define NAV2_COSTMAP_2D__COSTMAP_FILTERS__COSTMAP_FILTER_HPP_
 
 #include <string>
 #include <mutex>
@@ -78,7 +78,7 @@ class CostmapFilter : public Layer
   /**
    * @brief Initialization process of layer on startup
    */
-  virtual void onInitialize() final;
+  void onInitialize() final;
 
   /**
    * @brief Update the bounds of the master costmap by this layer's update dimensions
@@ -90,7 +90,7 @@ class CostmapFilter : public Layer
    * @param max_x X max map coord of the window to update
    * @param max_y Y max map coord of the window to update
    */
-  virtual void updateBounds(
+  void updateBounds(
     double robot_x, double robot_y, double robot_yaw,
     double * min_x, double * min_y, double * max_x, double * max_y) final;
 
@@ -102,27 +102,27 @@ class CostmapFilter : public Layer
    * @param max_x X max map coord of the window to update
    * @param max_y Y max map coord of the window to update
    */
-  virtual void updateCosts(
+  void updateCosts(
     nav2_costmap_2d::Costmap2D & master_grid,
     int min_i, int min_j, int max_i, int max_j) final;
 
   /**
    * @brief Activate the layer
    */
-  virtual void activate() final;
+  void activate() final;
   /**
    * @brief Deactivate the layer
    */
-  virtual void deactivate() final;
+  void deactivate() final;
   /**
    * @brief Reset the layer
    */
-  virtual void reset() final;
+  void reset() final;
 
   /**
    * @brief If clearing operations should be processed on this layer or not
    */
-  virtual bool isClearable() {return false;}
+  bool isClearable() {return false;}
 
   /** CostmapFilter API **/
   /**
@@ -182,4 +182,4 @@ class CostmapFilter : public Layer
 
 }  // namespace nav2_costmap_2d
 
-#endif  // NAV2_COSTMAP_2D__COSTMAP_FILTER_HPP_
+#endif  // NAV2_COSTMAP_2D__COSTMAP_FILTERS__COSTMAP_FILTER_HPP_

nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/filter_values.hpp

@@ -35,8 +35,8 @@
  * Author: Alexey Merzlyakov
  *********************************************************************/
 
-#ifndef NAV2_COSTMAP_2D__FILTER_VALUES_HPP_
-#define NAV2_COSTMAP_2D__FILTER_VALUES_HPP_
+#ifndef NAV2_COSTMAP_2D__COSTMAP_FILTERS__FILTER_VALUES_HPP_
+#define NAV2_COSTMAP_2D__COSTMAP_FILTERS__FILTER_VALUES_HPP_
 
 /** Provides constants used in costmap filters */
 
@@ -59,4 +59,4 @@ static constexpr double NO_SPEED_LIMIT = 0.0;
 
 }  // namespace nav2_costmap_2d
 
-#endif  // NAV2_COSTMAP_2D__FILTER_VALUES_HPP_
+#endif  // NAV2_COSTMAP_2D__COSTMAP_FILTERS__FILTER_VALUES_HPP_

nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/keepout_filter.hpp

@@ -35,14 +35,14 @@
  * Author: Alexey Merzlyakov
  *********************************************************************/
 
-#ifndef NAV2_COSTMAP_2D__KEEPOUT_FILTER_HPP_
-#define NAV2_COSTMAP_2D__KEEPOUT_FILTER_HPP_
-
-#include "nav2_costmap_2d/costmap_filters/costmap_filter.hpp"
+#ifndef NAV2_COSTMAP_2D__COSTMAP_FILTERS__KEEPOUT_FILTER_HPP_
+#define NAV2_COSTMAP_2D__COSTMAP_FILTERS__KEEPOUT_FILTER_HPP_
 
 #include <string>
 #include <memory>
 
+#include "nav2_costmap_2d/costmap_filters/costmap_filter.hpp"
+
 #include "rclcpp/rclcpp.hpp"
 #include "nav_msgs/msg/occupancy_grid.hpp"
 #include "nav2_msgs/msg/costmap_filter_info.hpp"
@@ -108,4 +108,4 @@ class KeepoutFilter : public CostmapFilter
 
 }  // namespace nav2_costmap_2d
 
-#endif  // NAV2_COSTMAP_2D__KEEPOUT_FILTER_HPP_
+#endif  // NAV2_COSTMAP_2D__COSTMAP_FILTERS__KEEPOUT_FILTER_HPP_

nav2_costmap_2d/include/nav2_costmap_2d/costmap_filters/speed_filter.hpp

@@ -35,17 +35,18 @@
  * Author: Alexey Merzlyakov
  *********************************************************************/
 
-#ifndef NAV2_COSTMAP_2D__SPEED_FILTER_HPP_
-#define NAV2_COSTMAP_2D__SPEED_FILTER_HPP_
+#ifndef NAV2_COSTMAP_2D__COSTMAP_FILTERS__SPEED_FILTER_HPP_
+#define NAV2_COSTMAP_2D__COSTMAP_FILTERS__SPEED_FILTER_HPP_
+
+#include <memory>
+#include <string>
 
 #include "nav2_costmap_2d/costmap_filters/costmap_filter.hpp"
 
 #include "nav_msgs/msg/occupancy_grid.hpp"
 #include "nav2_msgs/msg/costmap_filter_info.hpp"
 #include "nav2_msgs/msg/speed_limit.hpp"
 
-#include <memory>
-
 namespace nav2_costmap_2d
 {
 /**
@@ -144,4 +145,4 @@ class SpeedFilter : public CostmapFilter
 
 }  // namespace nav2_costmap_2d
 
-#endif  // NAV2_COSTMAP_2D__SPEED_FILTER_HPP_
+#endif  // NAV2_COSTMAP_2D__COSTMAP_FILTERS__SPEED_FILTER_HPP_

nav2_costmap_2d/include/nav2_costmap_2d/static_layer.hpp

@@ -40,6 +40,7 @@
 
 #include <mutex>
 #include <string>
+#include <vector>
 
 #include "map_msgs/msg/occupancy_grid_update.hpp"
 #include "message_filters/subscriber.h"

nav2_costmap_2d/include/nav2_costmap_2d/voxel_layer.hpp

@@ -38,6 +38,9 @@
 #ifndef NAV2_COSTMAP_2D__VOXEL_LAYER_HPP_
 #define NAV2_COSTMAP_2D__VOXEL_LAYER_HPP_
 
+#include <vector>
+#include "message_filters/subscriber.h"
+
 #include <rclcpp/rclcpp.hpp>
 #include <nav2_costmap_2d/layer.hpp>
 #include <nav2_costmap_2d/layered_costmap.hpp>
@@ -48,7 +51,6 @@
 #include <laser_geometry/laser_geometry.hpp>
 #include <sensor_msgs/msg/point_cloud.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#include <message_filters/subscriber.h>
 #include <nav2_costmap_2d/obstacle_layer.hpp>
 #include <nav2_voxel_grid/voxel_grid.hpp>