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set const & auto
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@finani
finani committed Aug 8, 2024
1 parent 2f29b14 commit 8003fa7
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Showing 3 changed files with 28 additions and 36 deletions.
2 changes: 1 addition & 1 deletion mvsim_node_src/include/wrapper/publisher_wrapper.h
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@ class PublisherWrapper : public PublisherWrapperBase {
: publisher_(node->create_publisher<MessageT>(topic_name, qos)) {}

void publish(std::shared_ptr<void> msg) override {
auto typed_msg = std::static_pointer_cast<MessageT>(msg);
const auto typed_msg = std::static_pointer_cast<MessageT>(msg);
if (typed_msg) {
publisher_->publish(*typed_msg);
} else {
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58 changes: 25 additions & 33 deletions mvsim_node_src/mvsim_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -230,7 +230,7 @@ MVSimNode::MVSimNode(rclcpp::Node::SharedPtr& n)

const mvsim::Simulable* vehPtr = &veh;
const mrpt::obs::CObservation::Ptr obsCopy = obs;
auto fut = ros_publisher_workers_.enqueue(
const auto fut = ros_publisher_workers_.enqueue(
[this, vehPtr, obsCopy]()
{
try
Expand Down Expand Up @@ -334,8 +334,8 @@ void MVSimNode::spin()
// Handle 1st iter:
if (t_old_ < 0) t_old_ = realtime_tictac_.Tac();
// Compute how much time has passed to simulate in real-time:
double t_new = realtime_tictac_.Tac();
double incr_time = realtime_factor_ * (t_new - t_old_);
const double t_new = realtime_tictac_.Tac();
const double incr_time = realtime_factor_ * (t_new - t_old_);

// Just in case the computer is *really fast*...
if (incr_time < mvsim_world_->get_simul_timestep()) return;
Expand Down Expand Up @@ -398,7 +398,7 @@ void MVSimNode::spin()
// Generic teleoperation interface for any controller that
// supports it:
{
ControllerBaseInterface* controller =
auto* controller =
it_veh->second->getControllerInterface();
ControllerBaseInterface::TeleopInput teleop_in;
ControllerBaseInterface::TeleopOutput teleop_out;
Expand All @@ -424,7 +424,7 @@ void MVSimNode::spin()
{
if (rosNow - cmdVelTimestamp > MAX_CMD_VEL_AGE_SECONDS)
{
mvsim::ControllerBaseInterface* controller =
auto* controller =
veh->getControllerInterface();

controller->setTwistCommand({0, 0, 0});
Expand Down Expand Up @@ -548,7 +548,7 @@ void MVSimNode::notifyROSWorldIsUpdated()

// Create subscribers & publishers for each vehicle's stuff:
// ----------------------------------------------------
auto& vehs = mvsim_world_->getListOfVehicles();
const auto& vehs = mvsim_world_->getListOfVehicles();
pubsub_vehicles_.clear();
pubsub_vehicles_.resize(vehs.size());
size_t idx = 0;
Expand Down Expand Up @@ -669,7 +669,7 @@ void MVSimNode::initPubSubs(TPubSubPerVehicle& pubsubs, mvsim::VehicleBase* veh)
n_->create_publisher<Msg_MarkerArray>(
vehVarName("chassis_markers", *veh), qosLatched5);
#endif
const mrpt::math::TPolygon2D& poly = veh->getChassisShape();
const auto& poly = veh->getChassisShape();

// Create one "ROS marker" for each wheel + 1 for the chassis:
auto& msg_shapes = pubsubs.chassis_shape_msg;
Expand Down Expand Up @@ -708,7 +708,7 @@ void MVSimNode::initPubSubs(TPubSubPerVehicle& pubsubs, mvsim::VehicleBase* veh)
for (size_t i = 0; i < veh->getNumWheels(); i++)
{
auto& wheel_shape_msg = msg_shapes.markers[1 + i];
const mvsim::Wheel& w = veh->getWheelInfo(i);
const auto& w = veh->getWheelInfo(i);

const double lx = w.diameter * 0.5, ly = w.width * 0.5;

Expand Down Expand Up @@ -762,7 +762,7 @@ void MVSimNode::initPubSubs(TPubSubPerVehicle& pubsubs, mvsim::VehicleBase* veh)
Msg_Polygon poly_msg;

// Do the first (and unique) publish:
const mrpt::math::TPolygon2D& poly = veh->getChassisShape();
const auto& poly = veh->getChassisShape();
poly_msg.points.resize(poly.size());
for (size_t i = 0; i < poly.size(); i++)
{
Expand Down Expand Up @@ -816,7 +816,7 @@ void MVSimNode::onROSMsgCmdVel(
Msg_Twist_CSPtr cmd,
mvsim::VehicleBase* veh)
{
mvsim::ControllerBaseInterface* controller = veh->getControllerInterface();
auto* controller = veh->getControllerInterface();

// Update cmd_vel timestamp:
lastCmdVelTimestamp_[veh] = myNowSec();
Expand Down Expand Up @@ -871,7 +871,7 @@ void MVSimNode::spinNotifyROS()

for (auto it = vehs.begin(); it != vehs.end(); ++it, ++i)
{
const mvsim::VehicleBase::Ptr& veh = it->second;
const auto& veh = it->second;
auto& pubs = pubsub_vehicles_[i];

const std::string sOdomName = vehVarName("odom", *veh);
Expand Down Expand Up @@ -952,7 +952,7 @@ void MVSimNode::spinNotifyROS()
{
// visualization_msgs::Marker
auto& wheel_shape_msg = msg_shapes.markers[1 + j];
const mvsim::Wheel& w = veh->getWheelInfo(j);
const auto& w = veh->getWheelInfo(j);

// Set local pose of the wheel wrt the vehicle:
wheel_shape_msg.pose = mrpt2ros::toROS_Pose(w.pose());
Expand Down Expand Up @@ -1099,7 +1099,7 @@ void MVSimNode::internalOn(
const mrpt::obs::CObservation2DRangeScan& obs)
{
auto lck = mrpt::lockHelper(pubsub_vehicles_mtx_);
TPubSubPerVehicle& pubs = pubsub_vehicles_[veh.getVehicleIndex()];
auto& pubs = pubsub_vehicles_[veh.getVehicleIndex()];

// Create the publisher the first time an observation arrives:
const bool is_1st_pub =
Expand All @@ -1121,10 +1121,8 @@ void MVSimNode::internalOn(
const std::string sSensorFrameId = vehVarName(obs.sensorLabel, veh);

// Send TF:
mrpt::poses::CPose3D sensorPose;
obs.getSensorPose(sensorPose);

tf2::Transform transform = mrpt2ros::toROS_tfTransform(sensorPose);
mrpt::poses::CPose3D sensorPose = obs.sensorPose;
auto transform = mrpt2ros::toROS_tfTransform(sensorPose);

Msg_TransformStamped tfStmp;
tfStmp.transform = tf2::toMsg(transform);
Expand Down Expand Up @@ -1156,7 +1154,7 @@ void MVSimNode::internalOn(
const mvsim::VehicleBase& veh, const mrpt::obs::CObservationIMU& obs)
{
auto lck = mrpt::lockHelper(pubsub_vehicles_mtx_);
TPubSubPerVehicle& pubs = pubsub_vehicles_[veh.getVehicleIndex()];
auto& pubs = pubsub_vehicles_[veh.getVehicleIndex()];

// Create the publisher the first time an observation arrives:
const bool is_1st_pub =
Expand All @@ -1178,10 +1176,8 @@ void MVSimNode::internalOn(
const std::string sSensorFrameId = vehVarName(obs.sensorLabel, veh);

// Send TF:
mrpt::poses::CPose3D sensorPose;
obs.getSensorPose(sensorPose);

tf2::Transform transform = mrpt2ros::toROS_tfTransform(sensorPose);
mrpt::poses::CPose3D sensorPose = obs.sensorPose;
auto transform = mrpt2ros::toROS_tfTransform(sensorPose);

Msg_TransformStamped tfStmp;
tfStmp.transform = tf2::toMsg(transform);
Expand Down Expand Up @@ -1214,7 +1210,7 @@ void MVSimNode::internalOn(
const mvsim::VehicleBase& veh, const mrpt::obs::CObservationImage& obs)
{
auto lck = mrpt::lockHelper(pubsub_vehicles_mtx_);
TPubSubPerVehicle& pubs = pubsub_vehicles_[veh.getVehicleIndex()];
auto& pubs = pubsub_vehicles_[veh.getVehicleIndex()];

// Create the publisher the first time an observation arrives:
const bool is_1st_pub =
Expand All @@ -1238,8 +1234,7 @@ void MVSimNode::internalOn(
// Send TF:
mrpt::poses::CPose3D sensorPose;
obs.getSensorPose(sensorPose);

tf2::Transform transform = mrpt2ros::toROS_tfTransform(sensorPose);
auto transform = mrpt2ros::toROS_tfTransform(sensorPose);

Msg_TransformStamped tfStmp;
tfStmp.transform = tf2::toMsg(transform);
Expand Down Expand Up @@ -1273,7 +1268,7 @@ void MVSimNode::internalOn(
using namespace std::string_literals;

auto lck = mrpt::lockHelper(pubsub_vehicles_mtx_);
TPubSubPerVehicle& pubs = pubsub_vehicles_[veh.getVehicleIndex()];
auto& pubs = pubsub_vehicles_[veh.getVehicleIndex()];

const auto lbPoints = obs.sensorLabel + "_points"s;
const auto lbImage = obs.sensorLabel + "_image"s;
Expand Down Expand Up @@ -1313,8 +1308,7 @@ void MVSimNode::internalOn(
// Send TF:
mrpt::poses::CPose3D sensorPose =
obs.sensorPose + obs.relativePoseIntensityWRTDepth;

tf2::Transform transform = mrpt2ros::toROS_tfTransform(sensorPose);
auto transform = mrpt2ros::toROS_tfTransform(sensorPose);

Msg_TransformStamped tfStmp;
tfStmp.transform = tf2::toMsg(transform);
Expand Down Expand Up @@ -1347,8 +1341,7 @@ void MVSimNode::internalOn(
{
// Send TF:
mrpt::poses::CPose3D sensorPose = obs.sensorPose;

tf2::Transform transform = mrpt2ros::toROS_tfTransform(sensorPose);
auto transform = mrpt2ros::toROS_tfTransform(sensorPose);

Msg_TransformStamped tfStmp;
tfStmp.transform = tf2::toMsg(transform);
Expand Down Expand Up @@ -1389,7 +1382,7 @@ void MVSimNode::internalOn(
using namespace std::string_literals;

auto lck = mrpt::lockHelper(pubsub_vehicles_mtx_);
TPubSubPerVehicle& pubs = pubsub_vehicles_[veh.getVehicleIndex()];
auto& pubs = pubsub_vehicles_[veh.getVehicleIndex()];

const auto lbPoints = obs.sensorLabel + "_points"s;

Expand Down Expand Up @@ -1420,8 +1413,7 @@ void MVSimNode::internalOn(

// Send TF:
mrpt::poses::CPose3D sensorPose = obs.sensorPose;

tf2::Transform transform = mrpt2ros::toROS_tfTransform(sensorPose);
auto transform = mrpt2ros::toROS_tfTransform(sensorPose);

Msg_TransformStamped tfStmp;
tfStmp.transform = tf2::toMsg(transform);
Expand Down
4 changes: 2 additions & 2 deletions mvsim_node_src/mvsim_node_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -87,8 +87,8 @@ int main(int argc, char** argv)
r.sleep();
}
#else
auto ros_clock = rclcpp::Clock::make_shared();
auto timer_ = rclcpp::create_timer(
const auto ros_clock = rclcpp::Clock::make_shared();
const auto timer_ = rclcpp::create_timer(
n, ros_clock, std::chrono::microseconds(periodMs),
[&node]()
{
Expand Down

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