diff --git a/.clang-tidy b/.clang-tidy
new file mode 100644
index 0000000000000000000000000000000000000000..01af89d67f148faeaa137fa6a2e0df34b03dd673
--- /dev/null
+++ b/.clang-tidy
@@ -0,0 +1,69 @@
+---
+Checks: >
+ -*,
+ boost-*,
+ bugprone-*,
+ cppcoreguidelines-*,
+ -cppcoreguidelines-non-private-member-variables-in-classes,
+ -cppcoreguidelines-special-member-functions,
+ google-*,
+ -google-build-using-namespace,
+ -google-default-arguments,
+ -google-readability-todo,
+ llvm-*,
+ misc-*,
+ -misc-non-private-member-variables-in-classes,
+ modernize-*,
+ -modernize-use-trailing-return-type,
+ performance-*,
+ readability-*,
+ -readability-identifier-naming,
+ -readability-magic-numbers
+FormatStyle: file
+CheckOptions:
+ - key: readability-identifier-naming.ClassCase
+ value: CamelCase
+ - key: readability-identifier-naming.ClassMemberCase
+ value: lower_case
+ - key: readability-identifier-naming.ClassMemberSuffix
+ value: _
+ - key: readability-identifier-naming.ClassMethodCase
+ value: CamelCase
+ - key: readability-identifier-naming.ConstantCase
+ value: CamelCase
+ - key: readability-identifier-naming.ConstantPrefix
+ value: k
+ - key: readability-identifier-naming.ConstexprVariableCase
+ value: CamelCase
+ - key: readability-identifier-naming.ConstexprVariablePrefix
+ value: k
+ - key: readability-identifier-naming.EnumCase
+ value: CamelCase
+ - key: readability-identifier-naming.EnumConstantCase
+ value: CamelCase
+ - key: readability-identifier-naming.EnumConstantPrefix
+ value: k
+ - key: readability-identifier-naming.FunctionCase
+ value: CamelCase
+ - key: readability-identifier-naming.GlobalVariableCase
+ value: CamelCase
+ - key: readability-identifier-naming.GlobalVariablePrefix
+ value: g
+ - key: readability-identifier-naming.NamespaceCase
+ value: lower_case
+ - key: readability-identifier-naming.ParameterCase
+ value: lower_case
+ - key: readability-identifier-naming.StaticConstantCase
+ value: CamelCase
+ - key: readability-identifier-naming.StaticConstantPrefix
+ value: k
+ - key: readability-identifier-naming.StructCase
+ value: CamelCase
+ - key: readability-identifier-naming.TemplateParameterCase
+ value: CamelCase
+ - key: readability-identifier-naming.VariableCase
+ value: lower_case
+ - key: readability-identifier-length.IgnoredVariableNames
+ value: "^(id|it)$"
+ - key: readability-identifier-length.IgnoredParameterNames
+ value: "^(d|id|os)$"
diff --git a/include/MantleAPI/Common/bounding_box.h b/include/MantleAPI/Common/bounding_box.h
index c7bc0505961c7cf529422349b07783c7a4c477de..1b7d6943b984f971fa00c9cb62d2c0186f1c89b6 100644
--- a/include/MantleAPI/Common/bounding_box.h
+++ b/include/MantleAPI/Common/bounding_box.h
@@ -12,8 +12,8 @@
/** @file bounding_box.h */
//-----------------------------------------------------------------------------
-#ifndef MANTLEAPI_COMMON_BOUNDINGBOX_H
-#define MANTLEAPI_COMMON_BOUNDINGBOX_H
+#ifndef MANTLEAPI_COMMON_BOUNDING_BOX_H
+#define MANTLEAPI_COMMON_BOUNDING_BOX_H
#include <MantleAPI/Common/dimension.h>
#include <MantleAPI/Common/vector.h>
@@ -38,4 +38,4 @@ inline bool operator==(const BoundingBox& lhs, const BoundingBox& rhs) noexcept
} // namespace mantle_api
-#endif // MANTLEAPI_COMMON_BOUNDINGBOX_H
+#endif // MANTLEAPI_COMMON_BOUNDING_BOX_H
diff --git a/include/MantleAPI/Common/i_geometry_helper.h b/include/MantleAPI/Common/i_geometry_helper.h
index 32c35dd019b0523eb35219736c9dfaa386736342..61a334d2238fc84238a8561d2a1bd7c7f82bfe8f 100644
--- a/include/MantleAPI/Common/i_geometry_helper.h
+++ b/include/MantleAPI/Common/i_geometry_helper.h
@@ -12,8 +12,8 @@
/** @file i_geometry_helper.h */
//-----------------------------------------------------------------------------
-#ifndef MANTLEAPI_COMMON_IGEOMETRYHELPER_H
-#define MANTLEAPI_COMMON_IGEOMETRYHELPER_H
+#ifndef MANTLEAPI_COMMON_I_GEOMETRY_HELPER_H
+#define MANTLEAPI_COMMON_I_GEOMETRY_HELPER_H
#include <MantleAPI/Common/pose.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;
@@ -62,4 +62,4 @@ public:
} // namespace mantle_api
-#endif // MANTLEAPI_COMMON_IGEOMETRYHELPER_H
+#endif // MANTLEAPI_COMMON_I_GEOMETRY_HELPER_H
diff --git a/include/MantleAPI/Common/i_identifiable.h b/include/MantleAPI/Common/i_identifiable.h
index cb256f747739ed08a80f52ac6d315497b7758aa5..78a40d51d0a937f123ac06978e11a68ea0deafd3 100644
--- a/include/MantleAPI/Common/i_identifiable.h
+++ b/include/MantleAPI/Common/i_identifiable.h
@@ -12,12 +12,12 @@
/** @file i_identifiable.h */
//-----------------------------------------------------------------------------
-#ifndef MANTLEAPI_COMMON_IIDENTIFIABLE_H
-#define MANTLEAPI_COMMON_IIDENTIFIABLE_H
+#ifndef MANTLEAPI_COMMON_I_IDENTIFIABLE_H
+#define MANTLEAPI_COMMON_I_IDENTIFIABLE_H
#include <cstdint>
-#include <string>
#include <limits>
+#include <string>
namespace mantle_api
{
@@ -31,14 +31,14 @@ 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
-#endif // MANTLEAPI_COMMON_IIDENTIFIABLE_H
+#endif // MANTLEAPI_COMMON_I_IDENTIFIABLE_H
diff --git a/include/MantleAPI/Common/orientation.h b/include/MantleAPI/Common/orientation.h
index 58331452d2a26bdf82d94b0aeceb49be97e5c891..f634395df7e7314dc9b90f8dce17d0f58a386073 100644
--- a/include/MantleAPI/Common/orientation.h
+++ b/include/MantleAPI/Common/orientation.h
@@ -28,8 +28,8 @@ 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>>;
+} // namespace category
UNIT_ADD_CATEGORY_TRAIT(angular_acceleration)
@@ -41,8 +41,8 @@ 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>>;
+} // namespace category
UNIT_ADD_CATEGORY_TRAIT(angular_jerk)
diff --git a/include/MantleAPI/Common/position.h b/include/MantleAPI/Common/position.h
index 430b5dbcf1773baf0c08db8c62454d83665268f3..c1acb83eddcc583113200f6ae24aaa847a6cd3da 100644
--- a/include/MantleAPI/Common/position.h
+++ b/include/MantleAPI/Common/position.h
@@ -12,8 +12,8 @@
/** @file position.h */
//-----------------------------------------------------------------------------
-#ifndef MANTLEAPI_COMMON_IPOSITION_H
-#define MANTLEAPI_COMMON_IPOSITION_H
+#ifndef MANTLEAPI_COMMON_POSITION_H
+#define MANTLEAPI_COMMON_POSITION_H
#include <MantleAPI/Common/floating_point_helper.h>
#include <MantleAPI/Common/vector.h>
@@ -103,4 +103,4 @@ inline bool operator!=(const LatLonPosition& lhs, const LatLonPosition& rhs) noe
}
} // namespace mantle_api
-#endif // MANTLEAPI_COMMON_IPOSITION_H
+#endif // MANTLEAPI_COMMON_POSITION_H
diff --git a/include/MantleAPI/Common/spline.h b/include/MantleAPI/Common/spline.h
index 4c109eec614de5fb69546fd1a8af751aa0e3035f..76cdf24176ee0f13bdc2ec620f9015df29dbdbba 100644
--- a/include/MantleAPI/Common/spline.h
+++ b/include/MantleAPI/Common/spline.h
@@ -34,8 +34,8 @@ 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>>;
+} // namespace category
UNIT_ADD_CATEGORY_TRAIT(jerk)
@@ -47,8 +47,8 @@ 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>>;
+} // namespace category
UNIT_ADD_CATEGORY_TRAIT(jerk_acceleration)
diff --git a/include/MantleAPI/EnvironmentalConditions/road_condition.h b/include/MantleAPI/EnvironmentalConditions/road_condition.h
index a9e3c8d394120bd14fc151f1b626ee3ed85a7c97..dbea4b068b93173e2a562015197a11d7f1f77553 100644
--- a/include/MantleAPI/EnvironmentalConditions/road_condition.h
+++ b/include/MantleAPI/EnvironmentalConditions/road_condition.h
@@ -12,8 +12,8 @@
/** @file road_condition.h */
//-----------------------------------------------------------------------------
-#ifndef MANTLEAPI_ENVIRONMENTALCONDITIONS_ROADCONDITION_H
-#define MANTLEAPI_ENVIRONMENTALCONDITIONS_ROADCONDITION_H
+#ifndef MANTLEAPI_ENVIRONMENTALCONDITIONS_ROAD_CONDITION_H
+#define MANTLEAPI_ENVIRONMENTALCONDITIONS_ROAD_CONDITION_H
#include <MantleAPI/Common/position.h>
#include <units.h>
@@ -32,4 +32,4 @@ struct FrictionPatch
units::concentration::percent_t friction{100.0};
};
} // namespace mantle_api
-#endif // MANTLEAPI_ENVIRONMENTALCONDITIONS_ROADCONDITION_H
+#endif // MANTLEAPI_ENVIRONMENTALCONDITIONS_ROAD_CONDITION_H
diff --git a/include/MantleAPI/Execution/i_environment.h b/include/MantleAPI/Execution/i_environment.h
index f3e33a01c48576d4d4ae7769724dba53f73147bc..ee0096507e871fec14890de631aa35c36d382557 100644
--- a/include/MantleAPI/Execution/i_environment.h
+++ b/include/MantleAPI/Execution/i_environment.h
@@ -12,8 +12,8 @@
/** @file i_environment.h */
//-----------------------------------------------------------------------------
-#ifndef MANTLEAPI_EXECUTION_IENVIRONMENT_H
-#define MANTLEAPI_EXECUTION_IENVIRONMENT_H
+#ifndef MANTLEAPI_EXECUTION_I_ENVIRONMENT_H
+#define MANTLEAPI_EXECUTION_I_ENVIRONMENT_H
#include <MantleAPI/Common/i_geometry_helper.h>
#include <MantleAPI/Common/route_definition.h>
@@ -48,7 +48,7 @@ public:
///
/// @param entity The entity to be manipulated by the specified controller.
/// @param controller_id Identifies the controller to manipulate the entity.
- virtual void AddEntityToController(IEntity& entity, UniqueId controller_id) = 0;
+ virtual void AddEntityToController(IEntity& entity, UniqueId controller_id) = 0; // NOLINT (google-runtime-references)
virtual void RemoveControllerFromEntity(UniqueId entity_id) = 0;
@@ -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;
@@ -119,4 +119,4 @@ public:
};
} // namespace mantle_api
-#endif // MANTLEAPI_EXECUTION_IENVIRONMENT_H
+#endif // MANTLEAPI_EXECUTION_I_ENVIRONMENT_H
diff --git a/include/MantleAPI/Execution/i_scenario_engine.h b/include/MantleAPI/Execution/i_scenario_engine.h
index 0c0015603dde70a63413393e064c4d8f5ba18b73..e7bbbde87d04fcb9f65069d7979dab8aa91c375e 100644
--- a/include/MantleAPI/Execution/i_scenario_engine.h
+++ b/include/MantleAPI/Execution/i_scenario_engine.h
@@ -12,8 +12,8 @@
/** @file i_scenario_engine.h */
//-----------------------------------------------------------------------------
-#ifndef MANTLEAPI_EXECUTION_ISCENARIOENGINE_H
-#define MANTLEAPI_EXECUTION_ISCENARIOENGINE_H
+#ifndef MANTLEAPI_EXECUTION_I_SCENARIO_ENGINE_H
+#define MANTLEAPI_EXECUTION_I_SCENARIO_ENGINE_H
#include <MantleAPI/Execution/scenario_info.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;
@@ -51,4 +51,4 @@ public:
};
} // namespace mantle_api
-#endif // MANTLEAPI_EXECUTION_ISCENARIOENGINE_H
+#endif // MANTLEAPI_EXECUTION_I_SCENARIO_ENGINE_H
diff --git a/include/MantleAPI/Execution/scenario_info.h b/include/MantleAPI/Execution/scenario_info.h
index 43670dbf90961bd71177ea29ed7dff68890e433f..6f5f374f1d312e82de57ba3e56b08bc10a3adbba 100644
--- a/include/MantleAPI/Execution/scenario_info.h
+++ b/include/MantleAPI/Execution/scenario_info.h
@@ -12,8 +12,8 @@
/** @file scenario_info.h */
//-----------------------------------------------------------------------------
-#ifndef MANTLEAPI_EXECUTION_SCENARIOINFO_H
-#define MANTLEAPI_EXECUTION_SCENARIOINFO_H
+#ifndef MANTLEAPI_EXECUTION_SCENARIO_INFO_H
+#define MANTLEAPI_EXECUTION_SCENARIO_INFO_H
#include <MantleAPI/Common/time_utils.h>
@@ -31,4 +31,4 @@ struct ScenarioInfo
} // namespace mantle_api
-#endif // MANTLEAPI_EXECUTION_SCENARIOINFO_H
+#endif // MANTLEAPI_EXECUTION_SCENARIO_INFO_H
diff --git a/include/MantleAPI/Map/i_coord_converter.h b/include/MantleAPI/Map/i_coord_converter.h
index bdb6fe5b3da0f0a6bd15fbe445054dceae6903e6..d4850f9921c618820462c9b198fa4d2d61a1c426 100644
--- a/include/MantleAPI/Map/i_coord_converter.h
+++ b/include/MantleAPI/Map/i_coord_converter.h
@@ -12,8 +12,8 @@
/** @file i_coord_converter.h */
//-----------------------------------------------------------------------------
-#ifndef MANTLEAPI_MAP_ICOORDCONVERTER_H
-#define MANTLEAPI_MAP_ICOORDCONVERTER_H
+#ifndef MANTLEAPI_MAP_I_COORD_CONVERTER_H
+#define MANTLEAPI_MAP_I_COORD_CONVERTER_H
#include <MantleAPI/Common/position.h>
#include <MantleAPI/Common/vector.h>
@@ -28,9 +28,9 @@ 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
-#endif // MANTLEAPI_MAP_ICOORDCONVERTER_H
+#endif // MANTLEAPI_MAP_I_COORD_CONVERTER_H
diff --git a/include/MantleAPI/Map/i_lane_location_query_service.h b/include/MantleAPI/Map/i_lane_location_query_service.h
index 505f83f792caca0ba70c649e563874eaa5942403..12434aac031138fdd26dba8b2cb3f11c0e410844 100644
--- a/include/MantleAPI/Map/i_lane_location_query_service.h
+++ b/include/MantleAPI/Map/i_lane_location_query_service.h
@@ -12,8 +12,8 @@
/** @file i_lane_location_query_service.h */
//-----------------------------------------------------------------------------
-#ifndef MANTLEAPI_MAP_ILANELOCATIONQUERYSERVICE_H
-#define MANTLEAPI_MAP_ILANELOCATIONQUERYSERVICE_H
+#ifndef MANTLEAPI_MAP_I_LANE_LOCATION_QUERY_SERVICE_H
+#define MANTLEAPI_MAP_I_LANE_LOCATION_QUERY_SERVICE_H
#include <MantleAPI/Common/i_identifiable.h>
#include <MantleAPI/Common/orientation.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
///
@@ -139,10 +139,10 @@ 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
-#endif // MANTLEAPI_MAP_ILANELOCATIONQUERYSERVICE_H
+#endif // MANTLEAPI_MAP_I_LANE_LOCATION_QUERY_SERVICE_H
diff --git a/include/MantleAPI/Map/i_route.h b/include/MantleAPI/Map/i_route.h
index 1b4ebbda339ac0077980d3d26802a362b1f1ec6b..4f32d9c4eab5bedc92355608ba7e0b690a00ff5a 100644
--- a/include/MantleAPI/Map/i_route.h
+++ b/include/MantleAPI/Map/i_route.h
@@ -12,8 +12,8 @@
/** @file i_route.h */
//-----------------------------------------------------------------------------
-#ifndef MANTLEAPI_MAP_IROUTE_H
-#define MANTLEAPI_MAP_IROUTE_H
+#ifndef MANTLEAPI_MAP_I_ROUTE_H
+#define MANTLEAPI_MAP_I_ROUTE_H
#include <MantleAPI/Common/i_identifiable.h>
#include <MantleAPI/Common/vector.h>
@@ -28,16 +28,16 @@ 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
-#endif // MANTLEAPI_MAP_IROUTE_H
+#endif // MANTLEAPI_MAP_I_ROUTE_H
diff --git a/include/MantleAPI/Map/map_details.h b/include/MantleAPI/Map/map_details.h
index 3f62e1b0aedff19d48caed18ae8869ffbb85d42a..64b118bda9e7149e7b5ef184ef64e0dcc4f0d4d9 100644
--- a/include/MantleAPI/Map/map_details.h
+++ b/include/MantleAPI/Map/map_details.h
@@ -12,8 +12,8 @@
/** @file map_details.h */
//-----------------------------------------------------------------------------
-#ifndef MANTLEAPI_MAP_MAPDETAILS_H
-#define MANTLEAPI_MAP_MAPDETAILS_H
+#ifndef MANTLEAPI_MAP_MAP_DETAILS_H
+#define MANTLEAPI_MAP_MAP_DETAILS_H
#include <MantleAPI/Common/position.h>
@@ -29,4 +29,4 @@ struct MapDetails
};
} // namespace mantle_api
-#endif // MANTLEAPI_MAP_MAPDETAILS_H
+#endif // MANTLEAPI_MAP_MAP_DETAILS_H
diff --git a/include/MantleAPI/Traffic/control_strategy.h b/include/MantleAPI/Traffic/control_strategy.h
index 85f87a5962b01324b1e66bf5564c445237a30796..89e3e25d9c6d5ab98dc56f5f631e84782fe41556 100644
--- a/include/MantleAPI/Traffic/control_strategy.h
+++ b/include/MantleAPI/Traffic/control_strategy.h
@@ -12,8 +12,8 @@
/** @file control_strategy.h */
//-----------------------------------------------------------------------------
-#ifndef MANTLEAPI_TRAFFIC_CONTROLSTRATEGY_H
-#define MANTLEAPI_TRAFFIC_CONTROLSTRATEGY_H
+#ifndef MANTLEAPI_TRAFFIC_CONTROL_STRATEGY_H
+#define MANTLEAPI_TRAFFIC_CONTROL_STRATEGY_H
#include <MantleAPI/Common/i_identifiable.h>
#include <MantleAPI/Common/spline.h>
@@ -228,4 +228,4 @@ struct PerformLaneChangeControlStrategy : public ControlStrategy
} // namespace mantle_api
-#endif // MANTLEAPI_TRAFFIC_CONTROLSTRATEGY_H
+#endif // MANTLEAPI_TRAFFIC_CONTROL_STRATEGY_H
diff --git a/include/MantleAPI/Traffic/default_routing_behavior.h b/include/MantleAPI/Traffic/default_routing_behavior.h
index cb5604c1efc17ac6f1f005e8649fbea02d513dfa..fac92b72539d4c71cedb30d9ad43a9ef2a3ad857 100644
--- a/include/MantleAPI/Traffic/default_routing_behavior.h
+++ b/include/MantleAPI/Traffic/default_routing_behavior.h
@@ -20,6 +20,6 @@ enum class DefaultRoutingBehavior
kRandomRoute ///< Randomly select where to go next
};
-}
+} // namespace mantle_api
-#endif //MANTLEAPI_TRAFFIC_DEFAULT_ROUTING_BEHAVIOR_H
\ No newline at end of file
+#endif // MANTLEAPI_TRAFFIC_DEFAULT_ROUTING_BEHAVIOR_H
\ No newline at end of file
diff --git a/include/MantleAPI/Traffic/entity_properties.h b/include/MantleAPI/Traffic/entity_properties.h
index 65c3b5e4be8b715c1e12765a27a5154cdfedc7e6..e40094d6a1aa9f5b56742ca1786ff96dce31c018 100644
--- a/include/MantleAPI/Traffic/entity_properties.h
+++ b/include/MantleAPI/Traffic/entity_properties.h
@@ -12,8 +12,8 @@
/** @file entity_properties.h */
//-----------------------------------------------------------------------------
-#ifndef MANTLEAPI_TRAFFIC_ENTITYPROPERTIES_H
-#define MANTLEAPI_TRAFFIC_ENTITYPROPERTIES_H
+#ifndef MANTLEAPI_TRAFFIC_ENTITY_PROPERTIES_H
+#define MANTLEAPI_TRAFFIC_ENTITY_PROPERTIES_H
#include <MantleAPI/Common/bounding_box.h>
#include <MantleAPI/Common/floating_point_helper.h>
@@ -185,4 +185,4 @@ struct StaticObjectProperties : public EntityProperties
} // namespace mantle_api
-#endif // MANTLEAPI_TRAFFIC_ENTITYPROPERTIES_H
+#endif // MANTLEAPI_TRAFFIC_ENTITY_PROPERTIES_H
diff --git a/include/MantleAPI/Traffic/i_controller.h b/include/MantleAPI/Traffic/i_controller.h
index fd4a5eb068a49064c003814768951afe1c2aa4fe..33b6066c0cb793ca9529ebdc84d912f3e515d0da 100644
--- a/include/MantleAPI/Traffic/i_controller.h
+++ b/include/MantleAPI/Traffic/i_controller.h
@@ -1,3 +1,6 @@
+#ifndef MANTLEAPI_TRAFFIC_I_CONTROLLER_H
+#define MANTLEAPI_TRAFFIC_I_CONTROLLER_H
+
/********************************************************************************
* Copyright (c) 2021 in-tech GmbH
*
@@ -23,4 +26,5 @@ class IController : public IIdentifiable
{
};
-} // namespace mantle_api
\ No newline at end of file
+} // namespace mantle_api
+#endif
diff --git a/include/MantleAPI/Traffic/i_controller_config.h b/include/MantleAPI/Traffic/i_controller_config.h
index 946197252fc3aceee976004e5f31d84d230cd333..a0c2a7a97191b3de7861ba8d2458f4a43d2b4a22 100644
--- a/include/MantleAPI/Traffic/i_controller_config.h
+++ b/include/MantleAPI/Traffic/i_controller_config.h
@@ -12,8 +12,8 @@
/** @file i_controller_config.h */
//-----------------------------------------------------------------------------
-#ifndef MANTLEAPI_TRAFFIC_ICONTROLLERCONFIG_H
-#define MANTLEAPI_TRAFFIC_ICONTROLLERCONFIG_H
+#ifndef MANTLEAPI_TRAFFIC_I_CONTROLLER_CONFIG_H
+#define MANTLEAPI_TRAFFIC_I_CONTROLLER_CONFIG_H
#include <MantleAPI/Common/route_definition.h>
#include <MantleAPI/Common/spline.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)
{
@@ -86,4 +86,4 @@ struct ExternalControllerConfig : public IControllerConfig
} // namespace mantle_api
-#endif // MANTLEAPI_TRAFFIC_ICONTROLLERCONFIG_H
+#endif // MANTLEAPI_TRAFFIC_I_CONTROLLER_CONFIG_H
diff --git a/include/MantleAPI/Traffic/i_controller_repository.h b/include/MantleAPI/Traffic/i_controller_repository.h
index 1ccec9e256da466ba369669b4dd0a77e9db312c8..864e44d034d729aa857e3ca88df0027bef5d91cd 100644
--- a/include/MantleAPI/Traffic/i_controller_repository.h
+++ b/include/MantleAPI/Traffic/i_controller_repository.h
@@ -1,3 +1,6 @@
+#ifndef MANTLEAPI_TRAFFIC_I_CONTROLLER_REPOSITORY_H
+#define MANTLEAPI_TRAFFIC_I_CONTROLLER_REPOSITORY_H
+
/********************************************************************************
* Copyright (c) 2021 in-tech GmbH
*
@@ -27,10 +30,11 @@ 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;
};
-} // namespace mantle_api
\ No newline at end of file
+} // namespace mantle_api
+#endif
diff --git a/include/MantleAPI/Traffic/i_entity.h b/include/MantleAPI/Traffic/i_entity.h
index c13881e205f3d5b04893200e7c799b78830d1772..b8d33bd9a82aa412184e1d21f4bef9c6a9285475 100644
--- a/include/MantleAPI/Traffic/i_entity.h
+++ b/include/MantleAPI/Traffic/i_entity.h
@@ -12,8 +12,8 @@
/** @file i_entity.h */
//-----------------------------------------------------------------------------
-#ifndef MANTLEAPI_TRAFFIC_IENTITY_H
-#define MANTLEAPI_TRAFFIC_IENTITY_H
+#ifndef MANTLEAPI_TRAFFIC_I_ENTITY_H
+#define MANTLEAPI_TRAFFIC_I_ENTITY_H
#include <MantleAPI/Common/bounding_box.h>
#include <MantleAPI/Common/i_identifiable.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:
- virtual VehicleProperties* GetProperties() const = 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;
@@ -98,15 +98,15 @@ public:
class IPedestrian : public virtual IEntity
{
public:
- virtual PedestrianProperties* GetProperties() const = 0;
+ [[nodiscard]] PedestrianProperties* GetProperties() const override = 0;
};
class IStaticObject : public virtual IEntity
{
public:
- virtual StaticObjectProperties* GetProperties() const = 0;
+ [[nodiscard]] StaticObjectProperties* GetProperties() const override = 0;
};
} // namespace mantle_api
-#endif // MANTLEAPI_TRAFFIC_IENTITY_H
+#endif // MANTLEAPI_TRAFFIC_I_ENTITY_H
diff --git a/include/MantleAPI/Traffic/i_entity_repository.h b/include/MantleAPI/Traffic/i_entity_repository.h
index 7a83b561da31bb7b12afb9e5f1bee232e5107ef5..03cd4f2b93d5da889a06d8bb603559bec4f580b7 100644
--- a/include/MantleAPI/Traffic/i_entity_repository.h
+++ b/include/MantleAPI/Traffic/i_entity_repository.h
@@ -12,8 +12,8 @@
/** @file i_entity_repository.h */
//-----------------------------------------------------------------------------
-#ifndef MANTLEAPI_TRAFFIC_IENTITYREPOSITORY_H
-#define MANTLEAPI_TRAFFIC_IENTITYREPOSITORY_H
+#ifndef MANTLEAPI_TRAFFIC_I_ENTITY_REPOSITORY_H
+#define MANTLEAPI_TRAFFIC_I_ENTITY_REPOSITORY_H
#include <MantleAPI/Traffic/entity_properties.h>
#include <MantleAPI/Traffic/i_entity.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;
@@ -55,4 +55,4 @@ public:
} // namespace mantle_api
-#endif // MANTLEAPI_TRAFFIC_IENTITYREPOSITORY_H
+#endif // MANTLEAPI_TRAFFIC_I_ENTITY_REPOSITORY_H
diff --git a/include/MantleAPI/Traffic/traffic_light_properties.h b/include/MantleAPI/Traffic/traffic_light_properties.h
index 593a7f3f6c6814cb6441a3b4a7a86d48a8d82e03..a6c13f7a0c945fdd0bbe12e2470b7968e1d134db 100644
--- a/include/MantleAPI/Traffic/traffic_light_properties.h
+++ b/include/MantleAPI/Traffic/traffic_light_properties.h
@@ -12,8 +12,8 @@
/** @file traffic_light_properties.h */
//-----------------------------------------------------------------------------
-#ifndef MANTLEAPI_TRAFFIC_TRAFFICLIGHTPROPERTIES_H
-#define MANTLEAPI_TRAFFIC_TRAFFICLIGHTPROPERTIES_H
+#ifndef MANTLEAPI_TRAFFIC_TRAFFIC_LIGHT_PROPERTIES_H
+#define MANTLEAPI_TRAFFIC_TRAFFIC_LIGHT_PROPERTIES_H
#include <MantleAPI/Common/time_utils.h>
#include <vector>
@@ -56,4 +56,4 @@ struct TrafficLightPhase
} // namespace mantle_api
-#endif // MANTLEAPI_TRAFFIC_TRAFFICLIGHTPROPERTIES_H
+#endif // MANTLEAPI_TRAFFIC_TRAFFIC_LIGHT_PROPERTIES_H