fix: fix clang-tidy errors (#4)

Author: youtalk

.github/workflows/build-and-test-differential.yaml

@@ -80,13 +80,12 @@ jobs:
             **/*.cpp
             **/*.hpp
 
-      # TODO(youtalk): Comment in after fixing clang-tidy error
-      # - name: Run clang-tidy
-      #   if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
-      #   uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
-      #   with:
-      #     rosdistro: humble
-      #     target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-      #     target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
-      #     clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
-      #     build-depends-repos: build_depends.repos
+      - name: Run clang-tidy
+        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
+        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
+        with:
+          rosdistro: humble
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
+          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
+          build-depends-repos: build_depends.repos

lanelet2_extension_python/src/projection.cpp

@@ -31,12 +31,14 @@ BOOST_PYTHON_MODULE(_lanelet2_extension_python_boost_python_projection)
 
   bp::class_<
     lanelet::projection::MGRSProjector, std::shared_ptr<lanelet::projection::MGRSProjector>,
-    bp::bases<lanelet::Projector>>("MGRSProjector", bp::init<lanelet::Origin>("origin"));
+    bp::bases<lanelet::Projector>>
+    mgrs_projector("MGRSProjector", bp::init<lanelet::Origin>("origin"));
   bp::class_<
     lanelet::projection::TransverseMercatorProjector,
     std::shared_ptr<lanelet::projection::TransverseMercatorProjector>,
-    bp::bases<lanelet::Projector>>(
-    "TransverseMercatorProjector", bp::init<lanelet::Origin>("origin"));
+    bp::bases<lanelet::Projector>>
+    transverse_mercator_projector(
+      "TransverseMercatorProjector", bp::init<lanelet::Origin>("origin"));
 }
 
 // NOLINTEND(readability-identifier-naming)

lanelet2_extension_python/src/utility.cpp

@@ -45,9 +45,8 @@ lanelet::Optional<lanelet::ConstPolygon3d> lineStringWithWidthToPolygon(
   lanelet::ConstPolygon3d poly{};
   if (lanelet::utils::lineStringWithWidthToPolygon(linestring, &poly)) {
     return poly;
-  } else {
-    return {};
   }
+  return {};
 }
 
 lanelet::Optional<lanelet::ConstPolygon3d> lineStringToPolygon(
@@ -56,9 +55,8 @@ lanelet::Optional<lanelet::ConstPolygon3d> lineStringToPolygon(
   lanelet::ConstPolygon3d poly{};
   if (lanelet::utils::lineStringToPolygon(linestring, &poly)) {
     return poly;
-  } else {
-    return {};
   }
+  return {};
 }
 
 lanelet::ArcCoordinates getArcCoordinates(
@@ -69,6 +67,7 @@ lanelet::ArcCoordinates getArcCoordinates(
   serialized_msg.reserve(message_header_length + pose_byte.size());
   serialized_msg.get_rcl_serialized_message().buffer_length = pose_byte.size();
   for (size_t i = 0; i < pose_byte.size(); ++i) {
+    // NOLINTNEXTLINE(cppcoreguidelines-pro-bounds-pointer-arithmetic)
     serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i];
   }
   geometry_msgs::msg::Pose pose;
@@ -84,6 +83,7 @@ double getLaneletAngle(const lanelet::ConstLanelet & lanelet, const std::string
   serialized_msg.reserve(message_header_length + point_byte.size());
   serialized_msg.get_rcl_serialized_message().buffer_length = point_byte.size();
   for (size_t i = 0; i < point_byte.size(); ++i) {
+    // NOLINTNEXTLINE(cppcoreguidelines-pro-bounds-pointer-arithmetic)
     serialized_msg.get_rcl_serialized_message().buffer[i] = point_byte[i];
   }
   geometry_msgs::msg::Point point;
@@ -100,6 +100,7 @@ bool isInLanelet(
   serialized_msg.reserve(message_header_length + pose_byte.size());
   serialized_msg.get_rcl_serialized_message().buffer_length = pose_byte.size();
   for (size_t i = 0; i < pose_byte.size(); ++i) {
+    // NOLINTNEXTLINE(cppcoreguidelines-pro-bounds-pointer-arithmetic)
     serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i];
   }
   geometry_msgs::msg::Pose pose;
@@ -116,6 +117,7 @@ std::vector<double> getClosestCenterPose(
   serialized_point_msg.reserve(message_header_length + search_point_byte.size());
   serialized_point_msg.get_rcl_serialized_message().buffer_length = search_point_byte.size();
   for (size_t i = 0; i < search_point_byte.size(); ++i) {
+    // NOLINTNEXTLINE(cppcoreguidelines-pro-bounds-pointer-arithmetic)
     serialized_point_msg.get_rcl_serialized_message().buffer[i] = search_point_byte[i];
   }
   geometry_msgs::msg::Point search_point;
@@ -137,6 +139,7 @@ double getLateralDistanceToCenterline(
   serialized_msg.reserve(message_header_length + pose_byte.size());
   serialized_msg.get_rcl_serialized_message().buffer_length = pose_byte.size();
   for (size_t i = 0; i < pose_byte.size(); ++i) {
+    // NOLINTNEXTLINE(cppcoreguidelines-pro-bounds-pointer-arithmetic)
     serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i];
   }
   geometry_msgs::msg::Pose pose;
@@ -153,6 +156,7 @@ double getLateralDistanceToClosestLanelet(
   serialized_msg.reserve(message_header_length + pose_byte.size());
   serialized_msg.get_rcl_serialized_message().buffer_length = pose_byte.size();
   for (size_t i = 0; i < pose_byte.size(); ++i) {
+    // NOLINTNEXTLINE(cppcoreguidelines-pro-bounds-pointer-arithmetic)
     serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i];
   }
   geometry_msgs::msg::Pose pose;
@@ -180,9 +184,8 @@ lanelet::Optional<lanelet::ConstLanelet> getLinkedLanelet(
   if (lanelet::utils::query::getLinkedLanelet(
         parking_space, all_road_lanelets, all_parking_lots, &linked_lanelet)) {
     return linked_lanelet;
-  } else {
-    return {};
   }
+  return {};
 }
 
 lanelet::Optional<lanelet::ConstLanelet> getLinkedLanelet(
@@ -192,9 +195,8 @@ lanelet::Optional<lanelet::ConstLanelet> getLinkedLanelet(
   lanelet::ConstLanelet linked_lanelet;
   if (lanelet::utils::query::getLinkedLanelet(parking_space, lanelet_map_ptr, &linked_lanelet)) {
     return linked_lanelet;
-  } else {
-    return {};
   }
+  return {};
 }
 
 lanelet::Optional<lanelet::ConstPolygon3d> getLinkedParkingLot(
@@ -203,9 +205,8 @@ lanelet::Optional<lanelet::ConstPolygon3d> getLinkedParkingLot(
   lanelet::ConstPolygon3d linked_parking_lot;
   if (lanelet::utils::query::getLinkedParkingLot(lanelet, all_parking_lots, &linked_parking_lot)) {
     return linked_parking_lot;
-  } else {
-    return {};
   }
+  return {};
 }
 
 lanelet::Optional<lanelet::ConstPolygon3d> getLinkedParkingLot(
@@ -215,9 +216,8 @@ lanelet::Optional<lanelet::ConstPolygon3d> getLinkedParkingLot(
   if (lanelet::utils::query::getLinkedParkingLot(
         current_position, all_parking_lots, &linked_parking_lot)) {
     return linked_parking_lot;
-  } else {
-    return {};
   }
+  return {};
 }
 
 lanelet::Optional<lanelet::ConstPolygon3d> getLinkedParkingLot(
@@ -228,9 +228,8 @@ lanelet::Optional<lanelet::ConstPolygon3d> getLinkedParkingLot(
   if (lanelet::utils::query::getLinkedParkingLot(
         parking_space, all_parking_lots, &linked_parking_lot)) {
     return linked_parking_lot;
-  } else {
-    return {};
   }
+  return {};
 }
 
 lanelet::ConstLanelets getLaneletsWithinRange_point(
@@ -241,6 +240,7 @@ lanelet::ConstLanelets getLaneletsWithinRange_point(
   serialized_msg.reserve(message_header_length + point_byte.size());
   serialized_msg.get_rcl_serialized_message().buffer_length = point_byte.size();
   for (size_t i = 0; i < point_byte.size(); ++i) {
+    // NOLINTNEXTLINE(cppcoreguidelines-pro-bounds-pointer-arithmetic)
     serialized_msg.get_rcl_serialized_message().buffer[i] = point_byte[i];
   }
   geometry_msgs::msg::Point point;
@@ -258,6 +258,7 @@ lanelet::ConstLanelets getLaneChangeableNeighbors_point(
   serialized_msg.reserve(message_header_length + point_byte.size());
   serialized_msg.get_rcl_serialized_message().buffer_length = point_byte.size();
   for (size_t i = 0; i < point_byte.size(); ++i) {
+    // NOLINTNEXTLINE(cppcoreguidelines-pro-bounds-pointer-arithmetic)
     serialized_msg.get_rcl_serialized_message().buffer[i] = point_byte[i];
   }
   geometry_msgs::msg::Point point;
@@ -275,6 +276,7 @@ lanelet::ConstLanelets getAllNeighbors_point(
   serialized_msg.reserve(message_header_length + point_byte.size());
   serialized_msg.get_rcl_serialized_message().buffer_length = point_byte.size();
   for (size_t i = 0; i < point_byte.size(); ++i) {
+    // NOLINTNEXTLINE(cppcoreguidelines-pro-bounds-pointer-arithmetic)
     serialized_msg.get_rcl_serialized_message().buffer[i] = point_byte[i];
   }
   geometry_msgs::msg::Point point;
@@ -291,6 +293,7 @@ lanelet::Optional<lanelet::ConstLanelet> getClosestLanelet(
   serialized_msg.reserve(message_header_length + pose_byte.size());
   serialized_msg.get_rcl_serialized_message().buffer_length = pose_byte.size();
   for (size_t i = 0; i < pose_byte.size(); ++i) {
+    // NOLINTNEXTLINE(cppcoreguidelines-pro-bounds-pointer-arithmetic)
     serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i];
   }
   geometry_msgs::msg::Pose pose;
@@ -299,9 +302,8 @@ lanelet::Optional<lanelet::ConstLanelet> getClosestLanelet(
   lanelet::ConstLanelet closest_lanelet{};
   if (lanelet::utils::query::getClosestLanelet(lanelets, pose, &closest_lanelet)) {
     return closest_lanelet;
-  } else {
-    return {};
   }
+  return {};
 }
 
 lanelet::Optional<lanelet::ConstLanelet> getClosestLaneletWithConstrains(
@@ -314,6 +316,7 @@ lanelet::Optional<lanelet::ConstLanelet> getClosestLaneletWithConstrains(
   serialized_msg.reserve(message_header_length + pose_byte.size());
   serialized_msg.get_rcl_serialized_message().buffer_length = pose_byte.size();
   for (size_t i = 0; i < pose_byte.size(); ++i) {
+    // NOLINTNEXTLINE(cppcoreguidelines-pro-bounds-pointer-arithmetic)
     serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i];
   }
   geometry_msgs::msg::Pose pose;
@@ -323,9 +326,8 @@ lanelet::Optional<lanelet::ConstLanelet> getClosestLaneletWithConstrains(
   if (lanelet::utils::query::getClosestLaneletWithConstrains(
         lanelets, pose, &closest_lanelet, dist_threshold, yaw_threshold)) {
     return closest_lanelet;
-  } else {
-    return {};
   }
+  return {};
 }
 
 lanelet::ConstLanelets getCurrentLanelets_point(
@@ -336,6 +338,7 @@ lanelet::ConstLanelets getCurrentLanelets_point(
   serialized_msg.reserve(message_header_length + point_byte.size());
   serialized_msg.get_rcl_serialized_message().buffer_length = point_byte.size();
   for (size_t i = 0; i < point_byte.size(); ++i) {
+    // NOLINTNEXTLINE(cppcoreguidelines-pro-bounds-pointer-arithmetic)
     serialized_msg.get_rcl_serialized_message().buffer[i] = point_byte[i];
   }
   geometry_msgs::msg::Point point;
@@ -354,6 +357,7 @@ lanelet::ConstLanelets getCurrentLanelets_pose(
   serialized_msg.reserve(message_header_length + pose_byte.size());
   serialized_msg.get_rcl_serialized_message().buffer_length = pose_byte.size();
   for (size_t i = 0; i < pose_byte.size(); ++i) {
+    // NOLINTNEXTLINE(cppcoreguidelines-pro-bounds-pointer-arithmetic)
     serialized_msg.get_rcl_serialized_message().buffer[i] = pose_byte[i];
   }
   geometry_msgs::msg::Pose pose;
@@ -368,6 +372,7 @@ lanelet::ConstLanelets getCurrentLanelets_pose(
 
 // for handling functions with default arguments
 /// utilities.cpp
+// NOLINTBEGIN(google-explicit-constructor)
 BOOST_PYTHON_FUNCTION_OVERLOADS(
   generateFineCenterline_overload, lanelet::utils::generateFineCenterline, 1, 2)
 BOOST_PYTHON_FUNCTION_OVERLOADS(
@@ -387,6 +392,7 @@ BOOST_PYTHON_FUNCTION_OVERLOADS(
   getClosestLaneletWithConstrains_overload, ::getClosestLaneletWithConstrains, 2, 4)
 BOOST_PYTHON_FUNCTION_OVERLOADS(
   getPrecedingLaneletSequences_overload, lanelet::utils::query::getPrecedingLaneletSequences, 3, 4)
+// NOLINTEND(google-explicit-constructor)
 
 BOOST_PYTHON_MODULE(_lanelet2_extension_python_boost_python_utility)
 {