pre-commit

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

Author: zulfaqar-azmi-t4

planning/route_handler/test/test_route_handler.hpp

@@ -17,21 +17,21 @@
 
 #include "ament_index_cpp/get_package_share_directory.hpp"
 #include "gtest/gtest.h"
-#include <route_handler/route_handler.hpp>
 
 #include <lanelet2_extension/io/autoware_osm_parser.hpp>
 #include <lanelet2_extension/projection/mgrs_projector.hpp>
 #include <lanelet2_extension/utility/message_conversion.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
 #include <rclcpp/clock.hpp>
 #include <rclcpp/logging.hpp>
+#include <route_handler/route_handler.hpp>
 
 #include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
 
 #include <lanelet2_io/Io.h>
 
-#include <string>
 #include <memory>
+#include <string>
 namespace route_handler::test
 {
 
@@ -40,9 +40,7 @@ using autoware_auto_mapping_msgs::msg::HADMapBin;
 class TestRouteHandler : public ::testing::Test
 {
 public:
-  TestRouteHandler(){
-    route_handler_ = std::make_shared<RouteHandler>(makeMapBinMsg());
-  }
+  TestRouteHandler() { route_handler_ = std::make_shared<RouteHandler>(makeMapBinMsg()); }
   TestRouteHandler(const TestRouteHandler &) = delete;
   TestRouteHandler(TestRouteHandler &&) = delete;
   TestRouteHandler & operator=(const TestRouteHandler &) = delete;

planning/route_handler/test/test_route_parser.cpp

@@ -21,7 +21,7 @@
 namespace route_handler::test
 {
 // Example YAML structure as a string for testing
-const std::string g_complete_yaml = R"(
+const char g_complete_yaml[] = R"(
 start_pose:
   position:
     x: 1.0
@@ -91,42 +91,44 @@ TEST(ParseFunctions, CompleteYAMLTest)
   EXPECT_EQ(segment0.primitives[1].primitive_type, "lane");
 }
 
-TEST(ParseFunction, CompleteFromFilename){
-    const auto planning_test_utils_dir =
-      ament_index_cpp::get_package_share_directory("route_handler");
-    const auto parser_test_route = planning_test_utils_dir + "/test_route/parser_test.route";
-
-
-    const auto lanelet_route = parse_route_file(parser_test_route);
-    EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.x, 1.0);
-    EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.y, 2.0);
-    EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.z, 3.0);
-
-    EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.x, 0.1);
-    EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.y, 0.2);
-    EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.z, 0.3);
-    EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.w, 0.4);
-
-    EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.x, 4.0);
-    EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.y, 5.0);
-    EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.z, 6.0);
-    EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.x, 0.5);
-    EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.y, 0.6);
-    EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.z, 0.7);
-    EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.w, 0.8);
-
-    ASSERT_EQ(lanelet_route.segments.size(), 2);  // Assuming only one segment in the provided YAML for this test
-    const auto & segment1 = lanelet_route.segments[1];
-    EXPECT_EQ(segment1.preferred_primitive.id, 44);
-    EXPECT_EQ(segment1.primitives.size(), 4);
-    EXPECT_EQ(segment1.primitives[0].id, 55);
-    EXPECT_EQ(segment1.primitives[0].primitive_type, "lane");
-    EXPECT_EQ(segment1.primitives[1].id, 66);
-    EXPECT_EQ(segment1.primitives[1].primitive_type, "lane");
-    EXPECT_EQ(segment1.primitives[2].id, 77);
-    EXPECT_EQ(segment1.primitives[2].primitive_type, "lane");
-    EXPECT_EQ(segment1.primitives[3].id, 88);
-    EXPECT_EQ(segment1.primitives[3].primitive_type, "lane");
+TEST(ParseFunction, CompleteFromFilename)
+{
+  const auto planning_test_utils_dir =
+    ament_index_cpp::get_package_share_directory("route_handler");
+  const auto parser_test_route = planning_test_utils_dir + "/test_route/parser_test.route";
+
+  const auto lanelet_route = parse_route_file(parser_test_route);
+  EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.x, 1.0);
+  EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.y, 2.0);
+  EXPECT_DOUBLE_EQ(lanelet_route.start_pose.position.z, 3.0);
+
+  EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.x, 0.1);
+  EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.y, 0.2);
+  EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.z, 0.3);
+  EXPECT_DOUBLE_EQ(lanelet_route.start_pose.orientation.w, 0.4);
+
+  EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.x, 4.0);
+  EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.y, 5.0);
+  EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.position.z, 6.0);
+  EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.x, 0.5);
+  EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.y, 0.6);
+  EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.z, 0.7);
+  EXPECT_DOUBLE_EQ(lanelet_route.goal_pose.orientation.w, 0.8);
+
+  ASSERT_EQ(
+    lanelet_route.segments.size(),
+    2);  // Assuming only one segment in the provided YAML for this test
+  const auto & segment1 = lanelet_route.segments[1];
+  EXPECT_EQ(segment1.preferred_primitive.id, 44);
+  EXPECT_EQ(segment1.primitives.size(), 4);
+  EXPECT_EQ(segment1.primitives[0].id, 55);
+  EXPECT_EQ(segment1.primitives[0].primitive_type, "lane");
+  EXPECT_EQ(segment1.primitives[1].id, 66);
+  EXPECT_EQ(segment1.primitives[1].primitive_type, "lane");
+  EXPECT_EQ(segment1.primitives[2].id, 77);
+  EXPECT_EQ(segment1.primitives[2].primitive_type, "lane");
+  EXPECT_EQ(segment1.primitives[3].id, 88);
+  EXPECT_EQ(segment1.primitives[3].primitive_type, "lane");
 }
 int main(int argc, char ** argv)
 {

planning/route_handler/test_route/rh_test.route

@@ -250,4 +250,4 @@ segments:
   - id: 4870
     primitive_type: lane
   - id: 5156
-    primitive_type: lane
+    primitive_type: lane