fix: modify function names to snake_case

Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>

Author: mitsudome-r

map/autoware_map_loader/include/autoware/map_loader/lanelet2_map_loader_utils.hpp

@@ -36,10 +36,10 @@ struct Lanelet2FileMetaData
 
 namespace utils
 {
-std::map<std::string, Lanelet2FileMetaData> loadLanelet2Metadata(
+std::map<std::string, Lanelet2FileMetaData> load_lanelet2_metadata(
   const std::string & lanelet2_metadata_path, double & x_resolution, double & y_resolution);
 
-std::map<std::string, Lanelet2FileMetaData> replaceWithAbsolutePath(
+std::map<std::string, Lanelet2FileMetaData> replace_with_absolute_path(
   const std::map<std::string, Lanelet2FileMetaData> & lanelet2_metadata_path,
   const std::vector<std::string> & lanelet2_paths);
 

map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_differential_loader_module.cpp

@@ -40,11 +40,11 @@ Lanelet2DifferentialLoaderModule::Lanelet2DifferentialLoaderModule(
   get_differential_lanelet2_maps_service_ = node->create_service<GetDifferentialLanelet2Map>(
     "service/get_differential_lanelet_map",
     std::bind(
-      &Lanelet2DifferentialLoaderModule::onServiceGetDifferentialLanelet2Map, this,
+      &Lanelet2DifferentialLoaderModule::on_service_get_differential_lanelet2_map, this,
       std::placeholders::_1, std::placeholders::_2));
 }
 
-bool Lanelet2DifferentialLoaderModule::onServiceGetDifferentialLanelet2Map(
+bool Lanelet2DifferentialLoaderModule::on_service_get_differential_lanelet2_map(
   GetDifferentialLanelet2Map::Request::SharedPtr req,
   GetDifferentialLanelet2Map::Response::SharedPtr res)
 {
@@ -107,24 +107,24 @@ bool Lanelet2DifferentialLoaderModule::onServiceGetDifferentialLanelet2Map(
   return true;
 }
 
-void Lanelet2DifferentialLoaderModule::setLaneletMapMetadata(
+void Lanelet2DifferentialLoaderModule::set_lanelet2_map_metadata(
   const std::map<std::string, Lanelet2FileMetaData> & lanelet2_metadata_dict, const double x_res,
   const double y_res)
 {
   lanelet2_file_metadata_dict_ = lanelet2_metadata_dict;
 
-  const auto msg = getLaneletMapMetaDataMsg(x_res, y_res);
+  const auto msg = get_lanelet_map_metadata_msg(x_res, y_res);
   pub_lanelet_map_meta_data_->publish(msg);
 }
 
-void Lanelet2DifferentialLoaderModule::setProjectionInfo(
+void Lanelet2DifferentialLoaderModule::set_projection_info(
   const autoware_map_msgs::msg::MapProjectorInfo & projector_info)
 {
   projector_info_ = projector_info;
 }
 
 autoware_map_msgs::msg::LaneletMapMetaData
-Lanelet2DifferentialLoaderModule::getLaneletMapMetaDataMsg(
+Lanelet2DifferentialLoaderModule::get_lanelet_map_metadata_msg(
   const double & x_res, const double & y_res) const
 {
   autoware_map_msgs::msg::LaneletMapMetaData metadata;

map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_differential_loader_module.hpp

@@ -52,11 +52,11 @@ class Lanelet2DifferentialLoaderModule
   explicit Lanelet2DifferentialLoaderModule(
     rclcpp::Node * node, const double & center_line_resolution, const bool & use_waypoints);
 
-  void setLaneletMapMetadata(
+  void set_lanelet2_map_metadata(
     const std::map<std::string, Lanelet2FileMetaData> & lanelet2_metadata_dict, const double x_res,
     const double y_res);
 
-  void setProjectionInfo(const autoware_map_msgs::msg::MapProjectorInfo & projector_info);
+  void set_projection_info(const autoware_map_msgs::msg::MapProjectorInfo & projector_info);
 
 private:
   rclcpp::Logger logger_;
@@ -74,11 +74,11 @@ class Lanelet2DifferentialLoaderModule
 
   double center_line_resolution_;
   bool use_waypoints_;
-  bool onServiceGetDifferentialLanelet2Map(
+  bool on_service_get_differential_lanelet2_map(
     GetDifferentialLanelet2Map::Request::SharedPtr req,
     GetDifferentialLanelet2Map::Response::SharedPtr res);
 
-  autoware_map_msgs::msg::LaneletMapMetaData getLaneletMapMetaDataMsg(
+  autoware_map_msgs::msg::LaneletMapMetaData get_lanelet_map_metadata_msg(
     const double & x_res, const double & y_res) const;
 };
 

map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_node.cpp

@@ -130,7 +130,7 @@ void Lanelet2MapLoaderNode::on_map_projector_info(
   }
 
   // load lanelet2 map
-  // We have to keep all loaded maps until publishing the map bin msg
+  // Note that we cannot destroy loaded maps even after merging them
   // because the loaded lanelets will be expired when map is destructed
   std::vector<lanelet::LaneletMapPtr> maps;
   for (const auto & path : lanelet2_paths) {
@@ -143,9 +143,9 @@ void Lanelet2MapLoaderNode::on_map_projector_info(
   }
 
   // merge all maps
-  lanelet::LaneletMapPtr map = std::make_shared<lanelet::LaneletMap>();
-  for (const auto & map_i : maps) {
-    utils::merge_lanelet2_maps(*map, *map_i);
+  lanelet::LaneletMapPtr map = maps.front();
+  for (size_t i = 1; i < maps.size(); ++i) {
+    utils::merge_lanelet2_maps(*map, *maps.at(i));
   }
 
   // setup differential map loader module
@@ -169,12 +169,11 @@ void Lanelet2MapLoaderNode::on_map_projector_info(
     }
 
     // set metadata and projection info to differential loader module
-    differential_loader_module_->setLaneletMapMetadata(
+    differential_loader_module_->set_lanelet2_map_metadata(
       lanelet2_metadata_dict, x_resolution, y_resolution);
-    differential_loader_module_->setProjectionInfo(*msg);
+    differential_loader_module_->set_projection_info(*msg);
   }
 
-
   // we use first lanelet2 path to get format_version and map_version
   std::string format_version{"null"}, map_version{""};
   lanelet::io_handlers::AutowareOsmParser::parseVersions(
@@ -262,8 +261,9 @@ std::map<std::string, Lanelet2FileMetaData> Lanelet2MapLoaderNode::get_lanelet2_
 {
   std::map<std::string, Lanelet2FileMetaData> lanelet2_metadata_dict;
   lanelet2_metadata_dict =
-    utils::loadLanelet2Metadata(lanelet2_metadata_path, x_resolution, y_resolution);
-  lanelet2_metadata_dict = utils::replaceWithAbsolutePath(lanelet2_metadata_dict, lanelet2_paths);
+    utils::load_lanelet2_metadata(lanelet2_metadata_path, x_resolution, y_resolution);
+  lanelet2_metadata_dict =
+    utils::replace_with_absolute_path(lanelet2_metadata_dict, lanelet2_paths);
   RCLCPP_INFO_STREAM(get_logger(), "Loaded Lanelet2 metadata: " << lanelet2_metadata_path);
 
   return lanelet2_metadata_dict;

map/autoware_map_loader/src/lanelet2_map_loader/lanelet2_map_loader_utils.cpp

@@ -38,7 +38,7 @@
 namespace autoware::map_loader::utils
 {
 
-std::map<std::string, Lanelet2FileMetaData> loadLanelet2Metadata(
+std::map<std::string, Lanelet2FileMetaData> load_lanelet2_metadata(
   const std::string & lanelet2_metadata_path, double & x_resolution, double & y_resolution)
 {
   YAML::Node config = YAML::LoadFile(lanelet2_metadata_path);
@@ -70,7 +70,7 @@ std::map<std::string, Lanelet2FileMetaData> loadLanelet2Metadata(
   return lanelet2_metadata;
 }
 
-std::map<std::string, Lanelet2FileMetaData> replaceWithAbsolutePath(
+std::map<std::string, Lanelet2FileMetaData> replace_with_absolute_path(
   const std::map<std::string, Lanelet2FileMetaData> & lanelet2_metadata_path,
   const std::vector<std::string> & lanelet2_paths)
 {