Skip to content

Required formatting changes for the latest version of ROS 2 Rolling #368

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 1 commit into from
Apr 30, 2024
Merged

Required formatting changes for the latest version of ROS 2 Rolling #368

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 3 additions & 3 deletions fuse_constraints/src/variable_constraints.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -52,9 +52,9 @@ bool VariableConstraints::empty() const
size_t VariableConstraints::size() const
{
auto sum_edges = [](const size_t input, const ConstraintCollection & edges)
{
return input + edges.size();
};
{
return input + edges.size();
};
return std::accumulate(variable_constraints_.begin(), variable_constraints_.end(), 0u, sum_edges);
}

Expand Down
20 changes: 10 additions & 10 deletions fuse_core/include/fuse_core/ceres_options.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -54,30 +54,30 @@
* For a given Ceres Solver Option <T>, the function ToString calls ceres::<T>ToString
*/
#define CERES_OPTION_TO_STRING_DEFINITION(Option) \
static inline const char * ToString(ceres::Option value) \
{ \
return ceres::Option ## ToString(value); \
}
static inline const char * ToString(ceres::Option value) \
{ \
return ceres::Option ## ToString(value); \
}

/**
* Defines FromString overloaded function to Ceres Options.
*
* For a given Ceres Solver Option <T>, the function FromString calls ceres::StringTo<T>
*/
#define CERES_OPTION_FROM_STRING_DEFINITION(Option) \
static inline bool FromString(std::string string_value, ceres::Option * value) \
{ \
return ceres::StringTo ## Option(string_value, value); \
}
static inline bool FromString(std::string string_value, ceres::Option * value) \
{ \
return ceres::StringTo ## Option(string_value, value); \
}

/**
* Defines ToString and FromString overloaded functions for Ceres Options.
*
* See CERES_OPTION_TO_STRING_DEFINITION and CERES_OPTION_FROM_STRING_DEFINITION.
*/
#define CERES_OPTION_STRING_DEFINITIONS(Option) \
CERES_OPTION_TO_STRING_DEFINITION(Option) \
CERES_OPTION_FROM_STRING_DEFINITION(Option)
CERES_OPTION_TO_STRING_DEFINITION(Option) \
CERES_OPTION_FROM_STRING_DEFINITION(Option)

#if !CERES_VERSION_AT_LEAST(2, 0, 0)
/**
Expand Down
78 changes: 39 additions & 39 deletions fuse_core/include/fuse_core/constraint.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -67,10 +67,10 @@
* @endcode
*/
#define FUSE_CONSTRAINT_CLONE_DEFINITION(...) \
fuse_core::Constraint::UniquePtr clone() const override \
{ \
return __VA_ARGS__::make_unique(*this); \
}
fuse_core::Constraint::UniquePtr clone() const override \
{ \
return __VA_ARGS__::make_unique(*this); \
}

/**
* @brief Implementation of the serialize() and deserialize() member functions for derived classes
Expand All @@ -86,22 +86,22 @@
* @endcode
*/
#define FUSE_CONSTRAINT_SERIALIZE_DEFINITION(...) \
void serialize(fuse_core::BinaryOutputArchive & archive) const override \
{ \
archive << *this; \
} /* NOLINT */ \
void serialize(fuse_core::TextOutputArchive & archive) const override \
{ \
archive << *this; \
} /* NOLINT */ \
void deserialize(fuse_core::BinaryInputArchive & archive) override \
{ \
archive >> *this; \
} /* NOLINT */ \
void deserialize(fuse_core::TextInputArchive & archive) override \
{ \
archive >> *this; \
}
void serialize(fuse_core::BinaryOutputArchive & archive) const override \
{ \
archive << *this; \
} /* NOLINT */ \
void serialize(fuse_core::TextOutputArchive & archive) const override \
{ \
archive << *this; \
} /* NOLINT */ \
void deserialize(fuse_core::BinaryInputArchive & archive) override \
{ \
archive >> *this; \
} /* NOLINT */ \
void deserialize(fuse_core::TextInputArchive & archive) override \
{ \
archive >> *this; \
}

/**
* @brief Implements the type() member function using the suggested implementation
Expand All @@ -119,17 +119,17 @@
* @endcode
*/
#define FUSE_CONSTRAINT_TYPE_DEFINITION(...) \
struct detail \
{ \
static std::string type() \
{ \
return boost::typeindex::stl_type_index::type_id<__VA_ARGS__>().pretty_name(); \
} /* NOLINT */ \
}; /* NOLINT */ \
std::string type() const override \
{ \
return detail::type(); \
}
struct detail \
{ \
static std::string type() \
{ \
return boost::typeindex::stl_type_index::type_id<__VA_ARGS__>().pretty_name(); \
} /* NOLINT */ \
}; /* NOLINT */ \
std::string type() const override \
{ \
return detail::type(); \
}

/**
* @brief Convenience function that creates the required pointer aliases, clone() method, and type()
Expand All @@ -146,10 +146,10 @@
* @endcode
*/
#define FUSE_CONSTRAINT_DEFINITIONS(...) \
FUSE_SMART_PTR_DEFINITIONS(__VA_ARGS__) \
FUSE_CONSTRAINT_TYPE_DEFINITION(__VA_ARGS__) \
FUSE_CONSTRAINT_CLONE_DEFINITION(__VA_ARGS__) \
FUSE_CONSTRAINT_SERIALIZE_DEFINITION(__VA_ARGS__)
FUSE_SMART_PTR_DEFINITIONS(__VA_ARGS__) \
FUSE_CONSTRAINT_TYPE_DEFINITION(__VA_ARGS__) \
FUSE_CONSTRAINT_CLONE_DEFINITION(__VA_ARGS__) \
FUSE_CONSTRAINT_SERIALIZE_DEFINITION(__VA_ARGS__)

/**
* @brief Convenience function that creates the required pointer aliases, clone() method, and type()
Expand All @@ -166,10 +166,10 @@
* @endcode
*/
#define FUSE_CONSTRAINT_DEFINITIONS_WITH_EIGEN(...) \
FUSE_SMART_PTR_DEFINITIONS_WITH_EIGEN(__VA_ARGS__) \
FUSE_CONSTRAINT_TYPE_DEFINITION(__VA_ARGS__) \
FUSE_CONSTRAINT_CLONE_DEFINITION(__VA_ARGS__) \
FUSE_CONSTRAINT_SERIALIZE_DEFINITION(__VA_ARGS__)
FUSE_SMART_PTR_DEFINITIONS_WITH_EIGEN(__VA_ARGS__) \
FUSE_CONSTRAINT_TYPE_DEFINITION(__VA_ARGS__) \
FUSE_CONSTRAINT_CLONE_DEFINITION(__VA_ARGS__) \
FUSE_CONSTRAINT_SERIALIZE_DEFINITION(__VA_ARGS__)


namespace fuse_core
Expand Down
34 changes: 17 additions & 17 deletions fuse_core/include/fuse_core/eigen_gtest.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -108,23 +108,23 @@ AssertionResult AssertMatrixNearHelper(
// Internal macro for implementing {EXPECT|ASSERT}_MATRIX_EQ.
// Don't use this in your code.
#define GTEST_MATRIX_EQUAL_(v1, v2, on_failure) \
GTEST_ASSERT_( \
::testing::AssertMatrixEqualHelper( \
#v1, \
#v2, \
v1, \
v2), on_failure)
GTEST_ASSERT_( \
::testing::AssertMatrixEqualHelper( \
#v1, \
#v2, \
v1, \
v2), on_failure)

// Internal macro for implementing {EXPECT|ASSERT}_MATRIX_NEAR.
// Don't use this in your code.
#define GTEST_MATRIX_NEAR_(v1, v2, tol, on_failure) \
GTEST_ASSERT_( \
::testing::AssertMatrixNearHelper( \
#v1, \
#v2, \
v1, \
v2, \
tol), on_failure)
GTEST_ASSERT_( \
::testing::AssertMatrixNearHelper( \
#v1, \
#v2, \
v1, \
v2, \
tol), on_failure)

// Define gtest macros for use with Eigen

Expand All @@ -137,7 +137,7 @@ AssertionResult AssertMatrixNearHelper(
* @param[in] v2 The actual matrix
*/
#define EXPECT_MATRIX_EQ(v1, v2) \
GTEST_MATRIX_EQUAL_(v1, v2, GTEST_NONFATAL_FAILURE_)
GTEST_MATRIX_EQUAL_(v1, v2, GTEST_NONFATAL_FAILURE_)

/**
* @brief Fatal check for exact equality of two Eigen matrix-like objects.
Expand All @@ -148,7 +148,7 @@ AssertionResult AssertMatrixNearHelper(
* @param[in] v2 The actual matrix
*/
#define ASSERT_MATRIX_EQ(v1, v2) \
GTEST_MATRIX_EQUAL_(v1, v2, GTEST_FATAL_FAILURE_)
GTEST_MATRIX_EQUAL_(v1, v2, GTEST_FATAL_FAILURE_)

/**
* @brief Non-fatal check for approximate equality of two Eigen matrix-like objects.
Expand All @@ -160,7 +160,7 @@ AssertionResult AssertMatrixNearHelper(
* @param[in] tol The allowed tolerance between any entries in v1 and v2
*/
#define EXPECT_MATRIX_NEAR(v1, v2, tol) \
GTEST_MATRIX_NEAR_(v1, v2, tol, GTEST_NONFATAL_FAILURE_)
GTEST_MATRIX_NEAR_(v1, v2, tol, GTEST_NONFATAL_FAILURE_)

/**
* @brief Fatal check for approximate equality of two Eigen matrix-like objects.
Expand All @@ -172,7 +172,7 @@ AssertionResult AssertMatrixNearHelper(
* @param[in] tol The allowed tolerance between any entries in v1 and v2
*/
#define ASSERT_MATRIX_NEAR(v1, v2, tol) \
GTEST_MATRIX_NEAR_(v1, v2, tol, GTEST_FATAL_FAILURE_)
GTEST_MATRIX_NEAR_(v1, v2, tol, GTEST_FATAL_FAILURE_)

} // namespace testing

Expand Down
92 changes: 46 additions & 46 deletions fuse_core/include/fuse_core/fuse_macros.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -86,11 +86,11 @@
* Use in the public section of the class.
*/
#define FUSE_SMART_PTR_DEFINITIONS(...) \
__FUSE_SHARED_PTR_ALIAS(__VA_ARGS__) \
__FUSE_MAKE_SHARED_DEFINITION(__VA_ARGS__) \
__FUSE_WEAK_PTR_ALIAS(__VA_ARGS__) \
__FUSE_UNIQUE_PTR_ALIAS(__VA_ARGS__) \
__FUSE_MAKE_UNIQUE_DEFINITION(__VA_ARGS__)
__FUSE_SHARED_PTR_ALIAS(__VA_ARGS__) \
__FUSE_MAKE_SHARED_DEFINITION(__VA_ARGS__) \
__FUSE_WEAK_PTR_ALIAS(__VA_ARGS__) \
__FUSE_UNIQUE_PTR_ALIAS(__VA_ARGS__) \
__FUSE_MAKE_UNIQUE_DEFINITION(__VA_ARGS__)

/**
* Defines smart pointer aliases and static functions for a class that contains fixed-sized
Expand All @@ -104,15 +104,15 @@
*/
#if __cpp_aligned_new
#define FUSE_SMART_PTR_DEFINITIONS_WITH_EIGEN(...) \
FUSE_SMART_PTR_DEFINITIONS(__VA_ARGS__)
FUSE_SMART_PTR_DEFINITIONS(__VA_ARGS__)
#else
#define FUSE_SMART_PTR_DEFINITIONS_WITH_EIGEN(...) \
EIGEN_MAKE_ALIGNED_OPERATOR_NEW \
__FUSE_SHARED_PTR_ALIAS(__VA_ARGS__) \
__FUSE_MAKE_SHARED_ALIGNED_DEFINITION(__VA_ARGS__) \
__FUSE_WEAK_PTR_ALIAS(__VA_ARGS__) \
__FUSE_UNIQUE_PTR_ALIAS(__VA_ARGS__) \
__FUSE_MAKE_UNIQUE_DEFINITION(__VA_ARGS__)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW \
__FUSE_SHARED_PTR_ALIAS(__VA_ARGS__) \
__FUSE_MAKE_SHARED_ALIGNED_DEFINITION(__VA_ARGS__) \
__FUSE_WEAK_PTR_ALIAS(__VA_ARGS__) \
__FUSE_UNIQUE_PTR_ALIAS(__VA_ARGS__) \
__FUSE_MAKE_UNIQUE_DEFINITION(__VA_ARGS__)
#endif

/**
Expand All @@ -124,55 +124,55 @@
* Use in the public section of the class.
*/
#define FUSE_SMART_PTR_ALIASES_ONLY(...) \
__FUSE_SHARED_PTR_ALIAS(__VA_ARGS__) \
__FUSE_WEAK_PTR_ALIAS(__VA_ARGS__) \
__FUSE_UNIQUE_PTR_ALIAS(__VA_ARGS__)
__FUSE_SHARED_PTR_ALIAS(__VA_ARGS__) \
__FUSE_WEAK_PTR_ALIAS(__VA_ARGS__) \
__FUSE_UNIQUE_PTR_ALIAS(__VA_ARGS__)

#define __FUSE_SHARED_PTR_ALIAS(...) \
using SharedPtr = std::shared_ptr<__VA_ARGS__>; \
using ConstSharedPtr = std::shared_ptr<const __VA_ARGS__>;
using SharedPtr = std::shared_ptr<__VA_ARGS__>; \
using ConstSharedPtr = std::shared_ptr<const __VA_ARGS__>;

#define __FUSE_MAKE_SHARED_DEFINITION(...) \
template<typename ... Args> \
static std::shared_ptr<__VA_ARGS__> \
make_shared(Args && ... args) \
{ \
return std::make_shared<__VA_ARGS__>(std::forward<Args>(args) ...); \
}
template<typename ... Args> \
static std::shared_ptr<__VA_ARGS__> \
make_shared(Args && ... args) \
{ \
return std::make_shared<__VA_ARGS__>(std::forward<Args>(args) ...); \
}

#define __FUSE_MAKE_SHARED_ALIGNED_DEFINITION(...) \
template<typename ... Args> \
static std::shared_ptr<__VA_ARGS__> \
make_shared(Args && ... args) \
{ \
return std::allocate_shared<__VA_ARGS__>( \
Eigen::aligned_allocator<__VA_ARGS__>(), \
std::forward<Args>(args) ...); \
}
template<typename ... Args> \
static std::shared_ptr<__VA_ARGS__> \
make_shared(Args && ... args) \
{ \
return std::allocate_shared<__VA_ARGS__>( \
Eigen::aligned_allocator<__VA_ARGS__>(), \
std::forward<Args>(args) ...); \
}

#define __FUSE_WEAK_PTR_ALIAS(...) \
using WeakPtr = std::weak_ptr<__VA_ARGS__>; \
using ConstWeakPtr = std::weak_ptr<const __VA_ARGS__>;
using WeakPtr = std::weak_ptr<__VA_ARGS__>; \
using ConstWeakPtr = std::weak_ptr<const __VA_ARGS__>;

#define __FUSE_UNIQUE_PTR_ALIAS(...) \
using UniquePtr = std::unique_ptr<__VA_ARGS__>;
using UniquePtr = std::unique_ptr<__VA_ARGS__>;

#if __cplusplus >= 201402L
#define __FUSE_MAKE_UNIQUE_DEFINITION(...) \
template<typename ... Args> \
static std::unique_ptr<__VA_ARGS__> \
make_unique(Args && ... args) \
{ \
return std::make_unique<__VA_ARGS__>(std::forward<Args>(args) ...); \
}
template<typename ... Args> \
static std::unique_ptr<__VA_ARGS__> \
make_unique(Args && ... args) \
{ \
return std::make_unique<__VA_ARGS__>(std::forward<Args>(args) ...); \
}
#else
#define __FUSE_MAKE_UNIQUE_DEFINITION(...) \
template<typename ... Args> \
static std::unique_ptr<__VA_ARGS__> \
make_unique(Args && ... args) \
{ \
return std::unique_ptr<__VA_ARGS__>(new __VA_ARGS__(std::forward<Args>(args) ...)); \
}
template<typename ... Args> \
static std::unique_ptr<__VA_ARGS__> \
make_unique(Args && ... args) \
{ \
return std::unique_ptr<__VA_ARGS__>(new __VA_ARGS__(std::forward<Args>(args) ...)); \
}
#endif

#endif // FUSE_CORE__FUSE_MACROS_HPP_
Loading