refactor(gnss_poser): apply static analysis

[a-maumau]

Description

This PR applies some suggestions from the linter to sensing/gnss_poser.
Checked with clang-tidy and cppcheck.

Fixed:

• use explicit cast
• change variable names
  • camelCase to snake_case for variable
  • add _ to private variable
• change function/method
  • camelCase to snake_case
  • add keyword to function/method which linter suggested

Related links

Parent Issue:

• Link

How was this PR tested?

Checked with clang-tidy (v14.0.0) and cppcheck (v2.14.1)

check_linter.sh

#!/bin/bash
set -eux

TARGET_DIR=$1

current_dir=$(basename $(pwd))
if [[ ! $current_dir =~ ^(autoware|pilot-auto) ]]; then
    echo "This script must be run in a directory with a prefix of autoware or pilot-auto."
    exit 1
fi

set +eux
export CPLUS_INCLUDE_PATH=/usr/include/c++/11:/usr/include/x86_64-linux-gnu/c++/11:$CPLUS_INCLUDE_PATH
set -eux

fdfind -e cpp -e hpp --full-path ${TARGET_DIR} | xargs -P $(nproc) -I{} cpplint {}
fdfind -e cpp -e hpp --full-path ${TARGET_DIR} | xargs -P $(nproc) -I{} clang-tidy -p build/ {}

---

Before fixing the code:

Check with check_linter.sh

$ ./check_linter.sh gnss_poser
...
19756 warnings generated.
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp:52:8: warning: invalid case style for function 'callbackMapProjectorInfo' [readability-identifier-naming]
  void callbackMapProjectorInfo(const MapProjectorInfo::Message::ConstSharedPtr msg);
       ^~~~~~~~~~~~~~~~~~~~~~~~
       callback_map_projector_info
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp:53:8: warning: invalid case style for function 'callbackNavSatFix' [readability-identifier-naming]
  void callbackNavSatFix(const sensor_msgs::msg::NavSatFix::ConstSharedPtr nav_sat_fix_msg_ptr);
       ^~~~~~~~~~~~~~~~~
       callback_nav_sat_fix
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp:54:8: warning: invalid case style for function 'callbackGnssInsOrientationStamped' [readability-identifier-naming]
  void callbackGnssInsOrientationStamped(
       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
       callback_gnss_ins_orientation_stamped
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp:57:8: warning: invalid case style for function 'isFixed' [readability-identifier-naming]
  bool isFixed(const sensor_msgs::msg::NavSatStatus & nav_sat_status_msg);
       ^~~~~~~
       is_fixed
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp:58:8: warning: invalid case style for function 'canGetCovariance' [readability-identifier-naming]
  bool canGetCovariance(const sensor_msgs::msg::NavSatFix & nav_sat_fix_msg);
       ^~~~~~~~~~~~~~~~
       can_get_covariance
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp:59:29: warning: invalid case style for function 'getMedianPosition' [readability-identifier-naming]
  geometry_msgs::msg::Point getMedianPosition(
                            ^~~~~~~~~~~~~~~~~
                            get_median_position
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp:61:29: warning: invalid case style for function 'getAveragePosition' [readability-identifier-naming]
  geometry_msgs::msg::Point getAveragePosition(
                            ^~~~~~~~~~~~~~~~~~
                            get_average_position
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp:63:34: warning: invalid case style for function 'getQuaternionByHeading' [readability-identifier-naming]
  geometry_msgs::msg::Quaternion getQuaternionByHeading(const int heading);
                                 ^~~~~~~~~~~~~~~~~~~~~~
                                 get_quaternion_by_heading
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp:64:34: warning: invalid case style for function 'getQuaternionByPositionDifference' [readability-identifier-naming]
  geometry_msgs::msg::Quaternion getQuaternionByPositionDifference(
                                 ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
                                 get_quaternion_by_position_difference
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp:67:8: warning: invalid case style for function 'getTransform' [readability-identifier-naming]
  bool getTransform(
       ^~~~~~~~~~~~
       get_transform
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp:70:8: warning: invalid case style for function 'getStaticTransform' [readability-identifier-naming]
  bool getStaticTransform(
       ^~~~~~~~~~~~~~~~~~
       get_static_transform
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp:74:8: warning: invalid case style for function 'publishTF' [readability-identifier-naming]
  void publishTF(
       ^~~~~~~~~
       publish_tf
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/include/gnss_poser/gnss_poser_core.hpp:102:7: warning: invalid case style for private member 'gnss_pose_pub_method' [readability-identifier-naming]
  int gnss_pose_pub_method;
      ^~~~~~~~~~~~~~~~~~~~
      gnss_pose_pub_method_
Suppressed 19754 warnings (19743 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
25632 warnings generated.
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/src/gnss_poser_core.cpp:39:24: warning: narrowing conversion from 'long' to signed type 'int' is implementation-defined [cppcoreguidelines-narrowing-conversions]
  gnss_pose_pub_method(declare_parameter<int>("gnss_pose_pub_method"))
                       ^
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/src/gnss_poser_core.cpp:48:20: warning: narrowing conversion from 'long' to signed type 'int' is implementation-defined [cppcoreguidelines-narrowing-conversions]
  int buff_epoch = declare_parameter<int>("buff_epoch");
                   ^
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/src/gnss_poser_core.cpp:213:17: warning: method 'isFixed' can be made static [readability-convert-member-functions-to-static]
bool GNSSPoser::isFixed(const sensor_msgs::msg::NavSatStatus & nav_sat_status_msg)
                ^
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/src/gnss_poser_core.cpp:218:17: warning: method 'canGetCovariance' can be made static [readability-convert-member-functions-to-static]
bool GNSSPoser::canGetCovariance(const sensor_msgs::msg::NavSatFix & nav_sat_fix_msg)
                ^
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/src/gnss_poser_core.cpp:224:38: warning: method 'getMedianPosition' can be made static [readability-convert-member-functions-to-static]
geometry_msgs::msg::Point GNSSPoser::getMedianPosition(
                                     ^
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/src/gnss_poser_core.cpp:227:8: warning: invalid case style for variable 'getMedian' [readability-identifier-naming]
  auto getMedian = [](std::vector<double> array) {
       ^~~~~~~~~
       get_median
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/src/gnss_poser_core.cpp:252:38: warning: method 'getAveragePosition' can be made static [readability-convert-member-functions-to-static]
geometry_msgs::msg::Point GNSSPoser::getAveragePosition(
                                     ^
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/src/gnss_poser_core.cpp:274:43: warning: method 'getQuaternionByHeading' can be made static [readability-convert-member-functions-to-static]
geometry_msgs::msg::Quaternion GNSSPoser::getQuaternionByHeading(const int heading)
                                          ^
/home/masakibaba/autoware/src/universe/autoware.universe/sensing/gnss_poser/src/gnss_poser_core.cpp:291:43: warning: method 'getQuaternionByPositionDifference' can be made static [readability-convert-member-functions-to-static]
geometry_msgs::msg::Quaternion GNSSPoser::getQuaternionByPositionDifference(
                                          ^
Suppressed 25634 warnings (25623 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.

Check with cppcheck: (nothing to change)

---

After this PR:

Check with check_linter.sh

$ ./check_linter.sh gnss_poser
...
19743 warnings generated.
Suppressed 19754 warnings (19743 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.
25610 warnings generated.
Suppressed 25621 warnings (25610 in non-user code, 11 NOLINT).
Use -header-filter=.* to display errors from all non-system headers. Use -system-headers to display errors from system headers as well.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 37 lines in your changes missing coverage. Please review.

Project coverage is 28.67%. Comparing base (93a6abf) to head (6be2885).
Report is 42 commits behind head on main.

Files	Patch %	Lines
sensing/gnss_poser/src/gnss_poser_core.cpp	0.00%	37 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #7874      +/-   ##
==========================================
- Coverage   28.68%   28.67%   -0.01%     
==========================================
  Files        1587     1589       +2     
  Lines      116303   116318      +15     
  Branches    49656    49656              
==========================================
  Hits        33356    33356              
- Misses      73868    73883      +15     
  Partials     9079     9079              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	28.68% <ø> (+<0.01%)	⬆️	Carriedforward from 93a6abf

*This pull request uses carry forward flags. Click here to find out more.

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[KYabuuchi]

Thank you for your refactoring 😄
I have confirmed that gnss_poser works as before in logging_simualtor.

Looks Good To Me.