refactor(autoware_geography_utils): apply modern C++17 style (#109)

* use using Signed-off-by: Yutaka Kondo <[email protected]> * refactor height Signed-off-by: Yutaka Kondo <[email protected]> * refactor projection Signed-off-by: Yutaka Kondo <[email protected]> * refactor lanelet2_projector Signed-off-by: Yutaka Kondo <[email protected]> * set class name Signed-off-by: Yutaka Kondo <[email protected]> * revert string Signed-off-by: Yutaka Kondo <[email protected]> --------- Signed-off-by: Yutaka Kondo <[email protected]>
autowarefoundation · Dec 18, 2024 · c5dcc08 · c5dcc08
1 parent 66f116a
commit c5dcc08
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Showing 5 changed files with 38 additions and 37 deletions.
diff --git a/common/autoware_geography_utils/include/autoware/geography_utils/height.hpp b/common/autoware_geography_utils/include/autoware/geography_utils/height.hpp
@@ -20,8 +20,9 @@
 namespace autoware::geography_utils
 {
 
-typedef double (*HeightConversionFunction)(
-  const double height, const double latitude, const double longitude);
+using HeightConversionFunction =
+  double (*)(const double height, const double latitude, const double longitude);
+
 double convert_wgs84_to_egm2008(const double height, const double latitude, const double longitude);
 double convert_egm2008_to_wgs84(const double height, const double latitude, const double longitude);
 double convert_height(

diff --git a/common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp b/common/autoware_geography_utils/include/autoware/geography_utils/projection.hpp
@@ -25,8 +25,10 @@ using MapProjectorInfo = autoware_map_msgs::msg::MapProjectorInfo;
 using GeoPoint = geographic_msgs::msg::GeoPoint;
 using LocalPoint = geometry_msgs::msg::Point;
 
-LocalPoint project_forward(const GeoPoint & geo_point, const MapProjectorInfo & projector_info);
-GeoPoint project_reverse(const LocalPoint & local_point, const MapProjectorInfo & projector_info);
+[[nodiscard]] LocalPoint project_forward(
+  const GeoPoint & geo_point, const MapProjectorInfo & projector_info);
+[[nodiscard]] GeoPoint project_reverse(
+  const LocalPoint & local_point, const MapProjectorInfo & projector_info);
 
 }  // namespace autoware::geography_utils
 

diff --git a/common/autoware_geography_utils/src/height.cpp b/common/autoware_geography_utils/src/height.cpp
@@ -44,20 +44,19 @@ double convert_height(
   if (source_vertical_datum == target_vertical_datum) {
     return height;
   }
-  std::map<std::pair<std::string, std::string>, HeightConversionFunction> conversion_map;
-  conversion_map[{"WGS84", "EGM2008"}] = convert_wgs84_to_egm2008;
-  conversion_map[{"EGM2008", "WGS84"}] = convert_egm2008_to_wgs84;
-
-  auto key = std::make_pair(source_vertical_datum, target_vertical_datum);
-  if (conversion_map.find(key) != conversion_map.end()) {
-    return conversion_map[key](height, latitude, longitude);
-  } else {
-    std::string error_message =
-      "Invalid conversion types: " + std::string(source_vertical_datum.c_str()) + " to " +
-      std::string(target_vertical_datum.c_str());
-
-    throw std::invalid_argument(error_message);
+  static const std::map<std::pair<std::string, std::string>, HeightConversionFunction>
+    conversion_map{
+      {{"WGS84", "EGM2008"}, convert_wgs84_to_egm2008},
+      {{"EGM2008", "WGS84"}, convert_egm2008_to_wgs84},
+    };
+
+  const auto key = std::make_pair(source_vertical_datum, target_vertical_datum);
+  if (const auto it = conversion_map.find(key); it != conversion_map.end()) {
+    return it->second(height, latitude, longitude);
   }
+
+  throw std::invalid_argument(
+    "Invalid conversion types: " + source_vertical_datum + " to " + target_vertical_datum);
 }
 
 }  // namespace autoware::geography_utils
diff --git a/common/autoware_geography_utils/src/lanelet2_projector.cpp b/common/autoware_geography_utils/src/lanelet2_projector.cpp
@@ -28,30 +28,32 @@ namespace autoware::geography_utils
 std::unique_ptr<lanelet::Projector> get_lanelet2_projector(const MapProjectorInfo & projector_info)
 {
   if (projector_info.projector_type == MapProjectorInfo::LOCAL_CARTESIAN_UTM) {
-    lanelet::GPSPoint position{
+    const lanelet::GPSPoint position{
       projector_info.map_origin.latitude, projector_info.map_origin.longitude,
       projector_info.map_origin.altitude};
-    lanelet::Origin origin{position};
-    lanelet::projection::UtmProjector projector{origin};
+    const lanelet::Origin origin{position};
+    const lanelet::projection::UtmProjector projector{origin};
     return std::make_unique<lanelet::projection::UtmProjector>(projector);
+  }
 
-  } else if (projector_info.projector_type == MapProjectorInfo::MGRS) {
+  if (projector_info.projector_type == MapProjectorInfo::MGRS) {
     lanelet::projection::MGRSProjector projector{};
     projector.setMGRSCode(projector_info.mgrs_grid);
     return std::make_unique<lanelet::projection::MGRSProjector>(projector);
+  }
 
-  } else if (projector_info.projector_type == MapProjectorInfo::TRANSVERSE_MERCATOR) {
-    lanelet::GPSPoint position{
+  if (projector_info.projector_type == MapProjectorInfo::TRANSVERSE_MERCATOR) {
+    const lanelet::GPSPoint position{
       projector_info.map_origin.latitude, projector_info.map_origin.longitude,
       projector_info.map_origin.altitude};
-    lanelet::Origin origin{position};
-    lanelet::projection::TransverseMercatorProjector projector{origin};
+    const lanelet::Origin origin{position};
+    const lanelet::projection::TransverseMercatorProjector projector{origin};
     return std::make_unique<lanelet::projection::TransverseMercatorProjector>(projector);
   }
-  const std::string error_msg =
+
+  throw std::invalid_argument(
     "Invalid map projector type: " + projector_info.projector_type +
-    ". Currently supported types: MGRS, LocalCartesianUTM, and TransverseMercator";
-  throw std::invalid_argument(error_msg);
+    ". Currently supported types: MGRS, LocalCartesianUTM, and TransverseMercator");
 }
 
 }  // namespace autoware::geography_utils
diff --git a/common/autoware_geography_utils/src/projection.cpp b/common/autoware_geography_utils/src/projection.cpp
@@ -22,23 +22,19 @@
 namespace autoware::geography_utils
 {
 
-Eigen::Vector3d to_basic_point_3d_pt(const LocalPoint src)
+[[nodiscard]] Eigen::Vector3d to_basic_point_3d_pt(const LocalPoint src)
 {
-  Eigen::Vector3d dst;
-  dst.x() = src.x;
-  dst.y() = src.y;
-  dst.z() = src.z;
-  return dst;
+  return Eigen::Vector3d{src.x, src.y, src.z};
 }
 
 LocalPoint project_forward(const GeoPoint & geo_point, const MapProjectorInfo & projector_info)
 {
   std::unique_ptr<lanelet::Projector> projector = get_lanelet2_projector(projector_info);
-  lanelet::GPSPoint position{geo_point.latitude, geo_point.longitude, geo_point.altitude};
+  const lanelet::GPSPoint position{geo_point.latitude, geo_point.longitude, geo_point.altitude};
 
   lanelet::BasicPoint3d projected_local_point;
   if (projector_info.projector_type == MapProjectorInfo::MGRS) {
-    const int mgrs_precision = 9;  // set precision as 100 micro meter
+    constexpr int mgrs_precision = 9;  // set precision as 100 micro meter
     const auto mgrs_projector = dynamic_cast<lanelet::projection::MGRSProjector *>(projector.get());
 
     // project x and y using projector
@@ -70,7 +66,8 @@ GeoPoint project_reverse(const LocalPoint & local_point, const MapProjectorInfo
 
   lanelet::GPSPoint projected_gps_point;
   if (projector_info.projector_type == MapProjectorInfo::MGRS) {
-    const auto mgrs_projector = dynamic_cast<lanelet::projection::MGRSProjector *>(projector.get());
+    const auto * mgrs_projector =
+      dynamic_cast<lanelet::projection::MGRSProjector *>(projector.get());
     // project latitude and longitude using projector
     // note that the z is ignored in MGRS projection conventionally
     projected_gps_point =