From 26a6b8cec771b3d17a4982e7f433f4618f33d86c Mon Sep 17 00:00:00 2001
From: Rene Paris <rene.paris@in-tech.com>
Date: Wed, 4 Jan 2023 15:41:24 +0100
Subject: [PATCH] For discussion: forced [[nodiscard]]
---
.clang-tidy | 3 --
include/MantleAPI/Common/i_geometry_helper.h | 6 ++--
include/MantleAPI/Common/i_identifiable.h | 4 +--
include/MantleAPI/Common/orientation.h | 4 +--
include/MantleAPI/Common/spline.h | 4 +--
include/MantleAPI/Execution/i_environment.h | 12 +++----
.../MantleAPI/Execution/i_scenario_engine.h | 4 +--
include/MantleAPI/Map/i_coord_converter.h | 2 +-
.../Map/i_lane_location_query_service.h | 32 +++++++++----------
include/MantleAPI/Map/i_route.h | 16 +++++-----
.../MantleAPI/Traffic/i_controller_config.h | 2 +-
.../Traffic/i_controller_repository.h | 2 +-
include/MantleAPI/Traffic/i_entity.h | 26 +++++++--------
.../MantleAPI/Traffic/i_entity_repository.h | 8 ++---
14 files changed, 61 insertions(+), 64 deletions(-)
diff --git a/.clang-tidy b/.clang-tidy
index c6046c51..fb1e61e2 100644
--- a/.clang-tidy
+++ b/.clang-tidy
@@ -17,10 +17,7 @@ Checks: >
misc-*,
-misc-non-private-member-variables-in-classes,
modernize-*,
- -modernize-use-nodiscard,
- -modernize-use-equals-default,
-modernize-use-trailing-return-type,
- -modernize-use-using,
performance-*,
readability-*,
-readability-identifier-naming,
diff --git a/include/MantleAPI/Common/i_geometry_helper.h b/include/MantleAPI/Common/i_geometry_helper.h
index 214c6859..61a334d2 100644
--- a/include/MantleAPI/Common/i_geometry_helper.h
+++ b/include/MantleAPI/Common/i_geometry_helper.h
@@ -34,7 +34,7 @@ public:
/// the global coordinate system
/// @param local_translation desired translation in local coordinates
/// @return translated position in global coordinates
- virtual Vec3<units::length::meter_t> TranslateGlobalPositionLocally(
+ [[nodiscard]] virtual Vec3<units::length::meter_t> TranslateGlobalPositionLocally(
const Vec3<units::length::meter_t>& global_position,
const Orientation3<units::angle::radian_t>& local_orientation,
const Vec3<units::length::meter_t>& local_translation) const = 0;
@@ -44,7 +44,7 @@ public:
/// @param local_origin local coordinate system origin
/// @param local_orientation local system orientation
/// @return converted polyline points
- virtual std::vector<Vec3<units::length::meter_t>> TransformPolylinePointsFromWorldToLocal(
+ [[nodiscard]] virtual std::vector<Vec3<units::length::meter_t>> TransformPolylinePointsFromWorldToLocal(
const std::vector<Vec3<units::length::meter_t>>& polyline_points,
const Vec3<units::length::meter_t>& local_origin,
const Orientation3<units::angle::radian_t>& local_orientation) const = 0;
@@ -54,7 +54,7 @@ public:
/// @param local_origin local coordinate system origin
/// @param local_orientation local system orientation
/// @return transformed point
- virtual Vec3<units::length::meter_t> TransformPositionFromWorldToLocal(
+ [[nodiscard]] virtual Vec3<units::length::meter_t> TransformPositionFromWorldToLocal(
const Vec3<units::length::meter_t>& world_position,
const Vec3<units::length::meter_t>& local_origin,
const Orientation3<units::angle::radian_t>& local_orientation) const = 0;
diff --git a/include/MantleAPI/Common/i_identifiable.h b/include/MantleAPI/Common/i_identifiable.h
index a46500c7..f063d97a 100644
--- a/include/MantleAPI/Common/i_identifiable.h
+++ b/include/MantleAPI/Common/i_identifiable.h
@@ -31,12 +31,12 @@ public:
virtual ~IIdentifiable() = default;
/// The unique id is provided and maintained by the scenario simulator.
- virtual UniqueId GetUniqueId() const = 0;
+ [[nodiscard]] virtual UniqueId GetUniqueId() const = 0;
/// Scenario specific name of an object.
///
/// The scenario description is responsible for keeping the name unique.
virtual void SetName(const std::string& name) = 0;
- virtual const std::string& GetName() const = 0;
+ [[nodiscard]] virtual const std::string& GetName() const = 0;
};
} // namespace mantle_api
diff --git a/include/MantleAPI/Common/orientation.h b/include/MantleAPI/Common/orientation.h
index 58331452..47ac54a5 100644
--- a/include/MantleAPI/Common/orientation.h
+++ b/include/MantleAPI/Common/orientation.h
@@ -28,7 +28,7 @@ UNIT_ADD(angular_acceleration,
namespace category
{
-typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<-2>, std::ratio<1>> angular_acceleration_unit;
+using angular_acceleration_unit = base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<-2>, std::ratio<1>>;
}
UNIT_ADD_CATEGORY_TRAIT(angular_acceleration)
@@ -41,7 +41,7 @@ UNIT_ADD(angular_jerk,
namespace category
{
-typedef base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<-3>, std::ratio<1>> angular_jerk_unit;
+using angular_jerk_unit = base_unit<detail::meter_ratio<0>, std::ratio<0>, std::ratio<-3>, std::ratio<1>>;
}
UNIT_ADD_CATEGORY_TRAIT(angular_jerk)
diff --git a/include/MantleAPI/Common/spline.h b/include/MantleAPI/Common/spline.h
index 4c109eec..e5710508 100644
--- a/include/MantleAPI/Common/spline.h
+++ b/include/MantleAPI/Common/spline.h
@@ -34,7 +34,7 @@ UNIT_ADD(jerk,
namespace category
{
-typedef base_unit<detail::meter_ratio<1>, std::ratio<0>, std::ratio<-3>> jerk_unit;
+using jerk_unit = base_unit<detail::meter_ratio<1>, std::ratio<0>, std::ratio<-3>>;
}
UNIT_ADD_CATEGORY_TRAIT(jerk)
@@ -47,7 +47,7 @@ UNIT_ADD(jerk_acceleration,
namespace category
{
-typedef base_unit<detail::meter_ratio<1>, std::ratio<0>, std::ratio<-4>> jerk_acceleration_unit;
+using jerk_acceleration_unit = base_unit<detail::meter_ratio<1>, std::ratio<0>, std::ratio<-4>>;
}
UNIT_ADD_CATEGORY_TRAIT(jerk_acceleration)
diff --git a/include/MantleAPI/Execution/i_environment.h b/include/MantleAPI/Execution/i_environment.h
index 2b244534..0d680ae6 100644
--- a/include/MantleAPI/Execution/i_environment.h
+++ b/include/MantleAPI/Execution/i_environment.h
@@ -63,17 +63,17 @@ public:
///
/// @param entity_id The entity to check
/// @param type The control strategy type
- virtual bool HasControlStrategyGoalBeenReached(UniqueId entity_id, mantle_api::ControlStrategyType type) const = 0;
+ [[nodiscard]] virtual bool HasControlStrategyGoalBeenReached(UniqueId entity_id, mantle_api::ControlStrategyType type) const = 0;
- virtual const ILaneLocationQueryService& GetQueryService() const = 0;
- virtual const ICoordConverter* GetConverter() const = 0;
- virtual const IGeometryHelper* GetGeometryHelper() const = 0;
+ [[nodiscard]] virtual const ILaneLocationQueryService& GetQueryService() const = 0;
+ [[nodiscard]] virtual const ICoordConverter* GetConverter() const = 0;
+ [[nodiscard]] virtual const IGeometryHelper* GetGeometryHelper() const = 0;
virtual IEntityRepository& GetEntityRepository() = 0;
- virtual const IEntityRepository& GetEntityRepository() const = 0;
+ [[nodiscard]] virtual const IEntityRepository& GetEntityRepository() const = 0;
virtual IControllerRepository& GetControllerRepository() = 0;
- virtual const IControllerRepository& GetControllerRepository() const = 0;
+ [[nodiscard]] virtual const IControllerRepository& GetControllerRepository() const = 0;
/// @brief DateTime in UTC (converted from RFC 3339 standard)
virtual void SetDateTime(mantle_api::Time time) = 0;
diff --git a/include/MantleAPI/Execution/i_scenario_engine.h b/include/MantleAPI/Execution/i_scenario_engine.h
index f4cbff81..e7bbbde8 100644
--- a/include/MantleAPI/Execution/i_scenario_engine.h
+++ b/include/MantleAPI/Execution/i_scenario_engine.h
@@ -30,7 +30,7 @@ public:
virtual void Init() = 0;
/// Provide information about the scenario loaded in `Init()`
- virtual ScenarioInfo GetScenarioInfo() const = 0;
+ [[nodiscard]] virtual ScenarioInfo GetScenarioInfo() const = 0;
/// Calculate the new state of the scenario implementation.
///
@@ -40,7 +40,7 @@ public:
/// Indicates whether the scenario implementation has finished processing the scenario (end of scenario is reached).
/// @return `true` if processing the scenario is complete, `false` otherwise.
- virtual bool IsFinished() const = 0;
+ [[nodiscard]] virtual bool IsFinished() const = 0;
virtual void ActivateExternalHostControl() = 0;
diff --git a/include/MantleAPI/Map/i_coord_converter.h b/include/MantleAPI/Map/i_coord_converter.h
index 1b03af12..d4850f99 100644
--- a/include/MantleAPI/Map/i_coord_converter.h
+++ b/include/MantleAPI/Map/i_coord_converter.h
@@ -28,7 +28,7 @@ class ICoordConverter
public:
virtual ~ICoordConverter() = default;
/// Converts a track position to its corresponding inertial position.
- virtual Vec3<units::length::meter_t> Convert(Position position) const = 0;
+ [[nodiscard]] virtual Vec3<units::length::meter_t> Convert(Position position) const = 0;
};
} // namespace mantle_api
diff --git a/include/MantleAPI/Map/i_lane_location_query_service.h b/include/MantleAPI/Map/i_lane_location_query_service.h
index 61eaef35..12434aac 100644
--- a/include/MantleAPI/Map/i_lane_location_query_service.h
+++ b/include/MantleAPI/Map/i_lane_location_query_service.h
@@ -52,7 +52,7 @@ public:
/// @param position Position that shall be mapped to a lane
/// @return Orientation of the lane at this position
/// @throw If the position cannot be mapped to a lane
- virtual Orientation3<units::angle::radian_t> GetLaneOrientation(
+ [[nodiscard]] virtual Orientation3<units::angle::radian_t> GetLaneOrientation(
const Vec3<units::length::meter_t>& position) const = 0;
/// @brief Shifts a position the given amount upwards along the lane normal. This function is used for shifting
@@ -65,21 +65,21 @@ public:
/// world z-direction is used instead of the lane normal for the shift
/// @return Upwards shifted position
/// @throw If the position cannot be mapped to a lane and allow_invalid_positions=false.
- virtual Vec3<units::length::meter_t> GetUpwardsShiftedLanePosition(const Vec3<units::length::meter_t>& position,
- double upwards_shift,
- bool allow_invalid_positions = false) const = 0;
+ [[nodiscard]] virtual Vec3<units::length::meter_t> GetUpwardsShiftedLanePosition(const Vec3<units::length::meter_t>& position,
+ double upwards_shift,
+ bool allow_invalid_positions = false) const = 0;
/// @brief Checks, if a given position can be mapped to a lane
///
/// @param position Position to be checked
/// @return true if the position can be mapped to a lane, false otherwise
- virtual bool IsPositionOnLane(const Vec3<units::length::meter_t>& position) const = 0;
+ [[nodiscard]] virtual bool IsPositionOnLane(const Vec3<units::length::meter_t>& position) const = 0;
/// @brief Returns a list of IDs representing all lanes enclosing the passed in position within their shape(s).
///
/// @param position Position to search for the Lane IDs
/// @return List of global lane IDs
- virtual std::vector<UniqueId> GetLaneIdsAtPosition(const Vec3<units::length::meter_t>& position) const = 0;
+ [[nodiscard]] virtual std::vector<UniqueId> GetLaneIdsAtPosition(const Vec3<units::length::meter_t>& position) const = 0;
/// @brief Calculate the new pose which is at a certain longitudinal distance from the reference_pose_on_lane
/// following a direction.
@@ -94,9 +94,9 @@ public:
/// orientation is parallel to the lane orientation at the target position. The lateral offset from the lane
/// center line stays the same as at reference_pose_on_lane. If the reference_pose_on_lane cannot be mapped to
/// a lane or the target position would be beyond the road network limits, no value is returned.
- virtual std::optional<Pose> FindLanePoseAtDistanceFrom(const Pose& reference_pose_on_lane,
- units::length::meter_t distance,
- Direction direction) const = 0;
+ [[nodiscard]] virtual std::optional<Pose> FindLanePoseAtDistanceFrom(const Pose& reference_pose_on_lane,
+ units::length::meter_t distance,
+ Direction direction) const = 0;
/// @brief Calculate the longitudinal distance of two given positions on a lane.
///
@@ -107,7 +107,7 @@ public:
/// service implementation.
/// No value returned if the distance is not calculable.
- virtual std::optional<units::length::meter_t> GetLongitudinalLaneDistanceBetweenPositions(
+ [[nodiscard]] virtual std::optional<units::length::meter_t> GetLongitudinalLaneDistanceBetweenPositions(
const mantle_api::Vec3<units::length::meter_t>& start_position,
const mantle_api::Vec3<units::length::meter_t>& target_position) const = 0;
@@ -126,10 +126,10 @@ public:
/// parallel to the lane orientation at the target position. No value is returned, if the
/// reference_pose_on_lane cannot be mapped to a lane or if the target position would be beyond the road
/// network limits in longitudinal or lateral direction.
- virtual std::optional<Pose> FindRelativeLanePoseAtDistanceFrom(const Pose& reference_pose_on_lane,
- int relative_target_lane,
- units::length::meter_t distance,
- units::length::meter_t lateral_offset) const = 0;
+ [[nodiscard]] virtual std::optional<Pose> FindRelativeLanePoseAtDistanceFrom(const Pose& reference_pose_on_lane,
+ int relative_target_lane,
+ units::length::meter_t distance,
+ units::length::meter_t lateral_offset) const = 0;
/// @brief Calculate the lane id of the relative target lane from a given position
///
@@ -139,8 +139,8 @@ public:
/// @return Lane id that is at the given lateral shift (relative_lane_target) from given position
/// (reference_pose_on_lane). No value, if reference pose is not on a lane or if the lane doesn't have a
/// suitable adjacent lane.
- virtual std::optional<mantle_api::LaneId> GetRelativeLaneId(const mantle_api::Pose& reference_pose_on_lane,
- int relative_lane_target) const = 0;
+ [[nodiscard]] virtual std::optional<mantle_api::LaneId> GetRelativeLaneId(const mantle_api::Pose& reference_pose_on_lane,
+ int relative_lane_target) const = 0;
};
} // namespace mantle_api
diff --git a/include/MantleAPI/Map/i_route.h b/include/MantleAPI/Map/i_route.h
index eee882f8..4f32d9c4 100644
--- a/include/MantleAPI/Map/i_route.h
+++ b/include/MantleAPI/Map/i_route.h
@@ -28,14 +28,14 @@ class IRoute : public virtual IIdentifiable
public:
virtual IRoute& AddWaypoint(const Vec3<units::length::meter_t>& inert_pos) = 0;
virtual IRoute& AddWaypoint(Vec3<units::length::meter_t>&& inert_pos) = 0;
- virtual Vec3<units::length::meter_t> GetInertPos(units::length::meter_t route_pos,
- LaneId lane_id,
- units::length::meter_t lane_offset = units::length::meter_t{
- 0.0}) const = 0;
- virtual units::length::meter_t GetLaneWidth(units::length::meter_t route_pos, LaneId lane_id) const = 0;
- virtual LaneId GetLaneId(const Vec3<units::length::meter_t>& inert_pos) const = 0;
- virtual units::length::meter_t GetDistanceFromStartTo(const Vec3<units::length::meter_t>& inert_pos) const = 0;
- virtual units::length::meter_t GetLength() const = 0;
+ [[nodiscard]] virtual Vec3<units::length::meter_t> GetInertPos(units::length::meter_t route_pos,
+ LaneId lane_id,
+ units::length::meter_t lane_offset = units::length::meter_t{
+ 0.0}) const = 0;
+ [[nodiscard]] virtual units::length::meter_t GetLaneWidth(units::length::meter_t route_pos, LaneId lane_id) const = 0;
+ [[nodiscard]] virtual LaneId GetLaneId(const Vec3<units::length::meter_t>& inert_pos) const = 0;
+ [[nodiscard]] virtual units::length::meter_t GetDistanceFromStartTo(const Vec3<units::length::meter_t>& inert_pos) const = 0;
+ [[nodiscard]] virtual units::length::meter_t GetLength() const = 0;
};
} // namespace mantle_api
diff --git a/include/MantleAPI/Traffic/i_controller_config.h b/include/MantleAPI/Traffic/i_controller_config.h
index ce353309..a0c2a7a9 100644
--- a/include/MantleAPI/Traffic/i_controller_config.h
+++ b/include/MantleAPI/Traffic/i_controller_config.h
@@ -30,7 +30,7 @@ namespace mantle_api
{
struct IControllerConfig
{
- IControllerConfig() {}
+ IControllerConfig() = default;
IControllerConfig(const IControllerConfig& controller_config)
: map_query_service(controller_config.map_query_service)
{
diff --git a/include/MantleAPI/Traffic/i_controller_repository.h b/include/MantleAPI/Traffic/i_controller_repository.h
index d245c9a2..864e44d0 100644
--- a/include/MantleAPI/Traffic/i_controller_repository.h
+++ b/include/MantleAPI/Traffic/i_controller_repository.h
@@ -30,7 +30,7 @@ public:
[[deprecated]] virtual IController& Create(UniqueId id, std::unique_ptr<IControllerConfig> config) = 0; // deprecated
virtual std::optional<std::reference_wrapper<IController>> Get(UniqueId id) = 0;
- virtual bool Contains(UniqueId id) const = 0;
+ [[nodiscard]] virtual bool Contains(UniqueId id) const = 0;
virtual void Delete(UniqueId id) = 0;
diff --git a/include/MantleAPI/Traffic/i_entity.h b/include/MantleAPI/Traffic/i_entity.h
index 3918b9d2..b8d33bd9 100644
--- a/include/MantleAPI/Traffic/i_entity.h
+++ b/include/MantleAPI/Traffic/i_entity.h
@@ -53,43 +53,43 @@ public:
/// The position of the entity is the geometric center of its bounding box. The origin of the entity coordinate system
/// can be defined flexibly in relation to the geometric center (see bounding box).
virtual void SetPosition(const Vec3<units::length::meter_t>& inert_pos) = 0;
- virtual Vec3<units::length::meter_t> GetPosition() const = 0;
+ [[nodiscard]] virtual Vec3<units::length::meter_t> GetPosition() const = 0;
virtual void SetVelocity(const Vec3<units::velocity::meters_per_second_t>& velocity) = 0;
- virtual Vec3<units::velocity::meters_per_second_t> GetVelocity() const = 0;
+ [[nodiscard]] virtual Vec3<units::velocity::meters_per_second_t> GetVelocity() const = 0;
virtual void SetAcceleration(const Vec3<units::acceleration::meters_per_second_squared_t>& acceleration) = 0;
- virtual Vec3<units::acceleration::meters_per_second_squared_t> GetAcceleration() const = 0;
+ [[nodiscard]] virtual Vec3<units::acceleration::meters_per_second_squared_t> GetAcceleration() const = 0;
virtual void SetOrientation(const Orientation3<units::angle::radian_t>& orientation) = 0;
- virtual Orientation3<units::angle::radian_t> GetOrientation() const = 0;
+ [[nodiscard]] virtual Orientation3<units::angle::radian_t> GetOrientation() const = 0;
virtual void SetOrientationRate(
const Orientation3<units::angular_velocity::radians_per_second_t>& orientation_rate) = 0;
- virtual Orientation3<units::angular_velocity::radians_per_second_t> GetOrientationRate() const = 0;
+ [[nodiscard]] virtual Orientation3<units::angular_velocity::radians_per_second_t> GetOrientationRate() const = 0;
virtual void SetOrientationAcceleration(
const Orientation3<units::angular_acceleration::radians_per_second_squared_t>& orientation_acceleration) = 0;
- virtual Orientation3<units::angular_acceleration::radians_per_second_squared_t> GetOrientationAcceleration()
+ [[nodiscard]] virtual Orientation3<units::angular_acceleration::radians_per_second_squared_t> GetOrientationAcceleration()
const = 0;
virtual void SetProperties(std::unique_ptr<mantle_api::EntityProperties> properties) = 0;
- virtual EntityProperties* GetProperties() const = 0;
+ [[nodiscard]] virtual EntityProperties* GetProperties() const = 0;
virtual void SetAssignedLaneIds(const std::vector<std::uint64_t>& assigned_lane_ids) = 0;
- virtual std::vector<std::uint64_t> GetAssignedLaneIds() const = 0;
+ [[nodiscard]] virtual std::vector<std::uint64_t> GetAssignedLaneIds() const = 0;
virtual void SetVisibility(const EntityVisibilityConfig& visibility) = 0;
- virtual EntityVisibilityConfig GetVisibility() const = 0;
+ [[nodiscard]] virtual EntityVisibilityConfig GetVisibility() const = 0;
};
class IVehicle : public virtual IEntity
{
public:
- VehicleProperties* GetProperties() const override = 0;
+ [[nodiscard]] VehicleProperties* GetProperties() const override = 0;
virtual void SetIndicatorState(IndicatorState state) = 0;
- virtual IndicatorState GetIndicatorState() const = 0;
+ [[nodiscard]] virtual IndicatorState GetIndicatorState() const = 0;
// virtual bool IsHost() const = 0;
// virtual void SetHost() = 0;
@@ -98,13 +98,13 @@ public:
class IPedestrian : public virtual IEntity
{
public:
- PedestrianProperties* GetProperties() const override = 0;
+ [[nodiscard]] PedestrianProperties* GetProperties() const override = 0;
};
class IStaticObject : public virtual IEntity
{
public:
- StaticObjectProperties* GetProperties() const override = 0;
+ [[nodiscard]] StaticObjectProperties* GetProperties() const override = 0;
};
} // namespace mantle_api
diff --git a/include/MantleAPI/Traffic/i_entity_repository.h b/include/MantleAPI/Traffic/i_entity_repository.h
index 080d3827..03cd4f2b 100644
--- a/include/MantleAPI/Traffic/i_entity_repository.h
+++ b/include/MantleAPI/Traffic/i_entity_repository.h
@@ -38,15 +38,15 @@ public:
virtual IVehicle& GetHost() = 0;
virtual std::optional<std::reference_wrapper<IEntity>> Get(const std::string& name) = 0;
- virtual std::optional<std::reference_wrapper<const IEntity>> Get(const std::string& name) const = 0;
+ [[nodiscard]] virtual std::optional<std::reference_wrapper<const IEntity>> Get(const std::string& name) const = 0;
virtual std::optional<std::reference_wrapper<IEntity>> Get(UniqueId id) = 0;
- virtual std::optional<std::reference_wrapper<const IEntity>> Get(UniqueId id) const = 0;
- virtual bool Contains(UniqueId id) const = 0;
+ [[nodiscard]] virtual std::optional<std::reference_wrapper<const IEntity>> Get(UniqueId id) const = 0;
+ [[nodiscard]] virtual bool Contains(UniqueId id) const = 0;
virtual void Delete(const std::string& name) = 0;
virtual void Delete(UniqueId id) = 0;
- virtual const std::vector<std::unique_ptr<mantle_api::IEntity>>& GetEntities() const = 0;
+ [[nodiscard]] virtual const std::vector<std::unique_ptr<mantle_api::IEntity>>& GetEntities() const = 0;
virtual void RegisterEntityCreatedCallback(const std::function<void(IEntity&)>& callback) = 0;
virtual void RegisterEntityDeletedCallback(const std::function<void(const std::string&)>& callback) = 0;
--
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