Fixed some linter errors

include/ignition/rendering/LidarVisual.hh

@@ -17,6 +17,7 @@
 #ifndef IGNITION_RENDERING_LIDARVISUAL_HH_
 #define IGNITION_RENDERING_LIDARVISUAL_HH_
 
+#include <vector>
 #include <ignition/common/Time.hh>
 #include <ignition/math/Color.hh>
 #include <ignition/math/Vector3.hh>
@@ -33,8 +34,7 @@ namespace ignition
     inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
     //
     /// \brief Enum for LidarVisual types
-	typedef MarkerType LidarVisualType;
-
+    typedef MarkerType LidarVisualType;
 
     /// \class LidarVisual LidarVisual.hh ignition/rendering/LidarVisual
     /// \brief A LidarVisual geometry class. The visual appearance is based
@@ -59,47 +59,53 @@ namespace ignition
 
       /// \brief Set minimum vertical angle
       /// \param[in] _minVerticalAngle Minimum vertical angle
-      public: virtual void SetMinVerticalAngle(const double _minVerticalAngle) = 0;
+      public: virtual void SetMinVerticalAngle(
+                  const double _minVerticalAngle) = 0;
 
       /// \brief Get minimum vertical angle
       /// \return The minimum vertical angle value of the lidar visual
       public: virtual double MinVerticalAngle() = 0;
 
       /// \brief Set maximum vertical angle
       /// \param[in] _maxVerticalAngle Maximum vertical angle value
-      public: virtual void SetMaxVerticalAngle(const double _maxVerticalAngle) = 0;
+      public: virtual void SetMaxVerticalAngle(
+                  const double _maxVerticalAngle) = 0;
 
       /// \brief Get minimum vertical angle
       /// \return The maximum vertical angle value of the lidar visual
       public: virtual double MaxVerticalAngle() = 0;
 
       /// \brief Set minimum horizontal angle
       /// \param[in] _minHorizontalAngle Minimum horizontal angle value
-      public: virtual void SetMinHorizontalAngle(const double _minHorizontalAngle) = 0;
+      public: virtual void SetMinHorizontalAngle(
+                  const double _minHorizontalAngle) = 0;
 
       /// \brief Get minimum horizontal angle
       /// \return The minimum horizontal angle value of the lidar visual
       public: virtual double MinHorizontalAngle() = 0;
 
       /// \brief Set maximum horizontal angle
       /// \param[in] _maxHorizontalAngle Maximum horizontal angle value
-      public: virtual void SetMaxHorizontalAngle(const double _maxHorizontalAngle) = 0;
+      public: virtual void SetMaxHorizontalAngle(
+                  const double _maxHorizontalAngle) = 0;
 
       /// \brief Get maximum horizontal angle
       /// \return The maximum horizontal angle value of the lidar visual
       public: virtual double MaxHorizontalAngle() = 0;
 
       /// \brief Set number of vertical rays
       /// \param[in] _verticalRayCount Number of vertical rays
-      public: virtual void SetVerticalRayCount(const unsigned int _verticalRayCount) = 0;
+      public: virtual void SetVerticalRayCount(
+                  const unsigned int _verticalRayCount) = 0;
 
       /// \brief Get number of vertical rays
       /// \return The number of vertical rays
       public: virtual unsigned int VerticalRayCount() = 0;
 
       /// \brief Set number of horizontal rays
       /// \return _horizontalRayCount Number of vertical rays
-      public: virtual void SetHorizontalRayCount(const unsigned int _horizontalRayCount) = 0;
+      public: virtual void SetHorizontalRayCount(
+                  const unsigned int _horizontalRayCount) = 0;
 
       /// \brief Get number of horizontal rays
       /// \return The number of horizontal rays
@@ -123,23 +129,26 @@ namespace ignition
 
       /// \brief Set vertical step angle
       /// \param[in] _verticalAngleStep Difference in vertical angle between two rays
-      public: virtual void SetVerticalAngleStep(const double _verticalAngleStep) = 0;
+      public: virtual void SetVerticalAngleStep(
+                  const double _verticalAngleStep) = 0;
 
       /// \brief Get vertical step angle
       /// \return The difference in vertical angle between two rays
       public: virtual double VerticalAngleStep() = 0;
 
       /// \brief Set horizontal step angle
       /// \param[in] _horizontalAngleStep Difference in horizontal angle between two rays
-      public: virtual void SetHorizontalAngleStep(const double _horizontalAngleStep) = 0;
+      public: virtual void SetHorizontalAngleStep(
+                  const double _horizontalAngleStep) = 0;
 
       /// \brief Get horizontal step angle
       /// \return The difference in horizontal angle between two rays
       public: virtual double HorizontalAngleStep() = 0;
 
       /// \brief Set offset of visual
       /// \param[in] _offset The offset of the lidar rays from the visual origin
-      public: virtual void SetOffset(const ignition::math::Pose3d _offset) = 0;
+      public: virtual void SetOffset(
+                  const ignition::math::Pose3d _offset) = 0;
 
       /// \brief Get offset of visual
       /// \return The offset of the lidar rays from visual origin
@@ -148,7 +157,6 @@ namespace ignition
       /// \brief Get number of points in laser data
       /// \return The number of points in the laser data
       public: virtual unsigned int GetPointCount() = 0;
-
     };
     }
   }

include/ignition/rendering/base/BaseLidarVisual.hh

@@ -17,6 +17,7 @@
 #ifndef IGNITION_RENDERING_BASELIDARVISUAL_HH_
 #define IGNITION_RENDERING_BASELIDARVISUAL_HH_
 
+#include <vector>
 #include "ignition/rendering/LidarVisual.hh"
 #include "ignition/rendering/base/BaseObject.hh"
 #include "ignition/rendering/base/BaseRenderTypes.hh"
@@ -57,37 +58,43 @@ namespace ignition
       public: virtual void Init();
 
       // Documentation inherited
-      public: virtual void SetMinVerticalAngle(const double _minVerticalAngle);
+      public: virtual void SetMinVerticalAngle(
+                  const double _minVerticalAngle);
 
       // Documentation inherited
       public: virtual double MinVerticalAngle();
 
       // Documentation inherited
-      public: virtual void SetMaxVerticalAngle(const double _maxVerticalAngle);
+      public: virtual void SetMaxVerticalAngle(
+                  const double _maxVerticalAngle);
 
       // Documentation inherited
       public: virtual double MaxVerticalAngle();
 
       // Documentation inherited
-      public: virtual void SetMinHorizontalAngle(const double _minHorizontalAngle);
+      public: virtual void SetMinHorizontalAngle(
+                  const double _minHorizontalAngle);
 
       // Documentation inherited
       public: virtual double MinHorizontalAngle();
 
       // Documentation inherited
-      public: virtual void SetMaxHorizontalAngle(const double _maxHorizontalAngle);
+      public: virtual void SetMaxHorizontalAngle(
+                  const double _maxHorizontalAngle);
 
       // Documentation inherited
       public: virtual double MaxHorizontalAngle();
 
       // Documentation inherited
-      public: virtual void SetVerticalRayCount(const unsigned int _verticalRayCount);
+      public: virtual void SetVerticalRayCount(
+                  const unsigned int _verticalRayCount);
 
       // Documentation inherited
       public: virtual unsigned int VerticalRayCount();
 
       // Documentation inherited
-      public: virtual void SetHorizontalRayCount(const unsigned int _horizontalRayCount);
+      public: virtual void SetHorizontalRayCount(
+                  const unsigned int _horizontalRayCount);
 
       // Documentation inherited
       public: virtual unsigned int HorizontalRayCount();
@@ -105,19 +112,22 @@ namespace ignition
       public: virtual double MaxRange();
 
       // Documentation inherited
-      public: virtual void SetVerticalAngleStep(const double _verticalAngleStep);
+      public: virtual void SetVerticalAngleStep(
+                  const double _verticalAngleStep);
 
       // Documentation inherited
       public: virtual double VerticalAngleStep();
 
       // Documentation inherited
-      public: virtual void SetHorizontalAngleStep(const double _horizontalAngleStep);
+      public: virtual void SetHorizontalAngleStep(
+                  const double _horizontalAngleStep);
 
       // Documentation inherited
       public: virtual double HorizontalAngleStep();
 
       // Documentation inherited
-      public: virtual void SetOffset(const ignition::math::Pose3d _offset);
+      public: virtual void SetOffset(
+                  const ignition::math::Pose3d _offset);
 
       // Documentation inherited
       public: virtual ignition::math::Pose3d  Offset();
@@ -157,7 +167,6 @@ namespace ignition
 
       /// \brief Offset of visual
       protected: ignition::math::Pose3d offset = ignition::math::Pose3d::Zero;
-
     };
 
     /////////////////////////////////////////////////
@@ -376,7 +385,6 @@ namespace ignition
     {
       return this->offset;
     }
-
     }
   }
 }

ogre/include/ignition/rendering/ogre/OgreLidarVisual.hh

@@ -18,6 +18,7 @@
 #ifndef IGNITION_RENDERING_OGRE_OGRELIDARVISUAL_HH_
 #define IGNITION_RENDERING_OGRE_OGRELIDARVISUAL_HH_
 
+#include <vector>
 #include <memory>
 #include "ignition/rendering/base/BaseLidarVisual.hh"
 #include "ignition/rendering/ogre/OgreVisual.hh"
@@ -52,7 +53,6 @@ namespace ignition
       // Documentation inherited.
       public: virtual void Destroy() override;
 
-
       // Documentation inherited
       public: virtual void Update() override;
 

ogre/src/OgreLidarVisual.cc

@@ -42,7 +42,6 @@ class ignition::rendering::OgreLidarVisualPrivate
 
   /// \brief True if new message is received
   public: bool receivedMsg;
-
 };
 
 using namespace ignition;
@@ -63,13 +62,12 @@ OgreLidarVisual::~OgreLidarVisual()
 //////////////////////////////////////////////////
 void OgreLidarVisual::PreRender()
 {
-  //no ops
+  // no ops
 }
 
 //////////////////////////////////////////////////
 void OgreLidarVisual::Destroy()
 {
-
   for (auto ray : this->dataPtr->noHitRayStrips)
   {
     ray.get()->Clear();
@@ -95,7 +93,6 @@ void OgreLidarVisual::Destroy()
   }
 
   this->ClearPoints();
-
 }
 
 //////////////////////////////////////////////////
@@ -110,7 +107,6 @@ void OgreLidarVisual::Create()
 {
   this->ClearPoints();
   this->dataPtr->receivedMsg = false;
-
 }
 
 //////////////////////////////////////////////////
@@ -137,27 +133,23 @@ void OgreLidarVisual::SetLidarMessage(std::vector<double> &_msg)
 //////////////////////////////////////////////////
 void OgreLidarVisual::Update()
 {
-
-  // TODO if(!this->dataPtr->laserMsg for checking  is required in the later stage)
   if(!this->dataPtr->receivedMsg || this->dataPtr->laserMsg.size() == 0)
   {
     ignerr << "Message not received. Exiting Updat function"
            << std::endl;
     return;
   }
-
 
   this->dataPtr->receivedMsg = false;
   double horizontalAngle = this->minHorizontalAngle;
   double verticalAngle = this->minVerticalAngle;
 
   if (this->dataPtr->laserMsg.size() != this->verticalCount * this->horizontalCount)
   {
-    ignerr << "Size of laser message and count of vertical and horizontal rays inconsistent"
+    ignerr << "Size of laser message inconsistent with ray count"
            << std::endl;
     return;
   }
-
 
   // Process each point from message
   // Every line segment, and every individual triangle is saved separately as a pointer to a DynamicLine
@@ -174,36 +166,29 @@ void OgreLidarVisual::Update()
       std::shared_ptr<Ogre::MovableObject> mv = std::dynamic_pointer_cast<Ogre::MovableObject>(line);
       this->Node()->attachObject(mv.get());
       this->dataPtr->rayStrips.push_back(line);
-
-
+
       line = std::shared_ptr<OgreDynamicLines>(new OgreDynamicLines(MT_TRIANGLE_STRIP));
       line->setMaterial("Lidar/LightBlueLaser");
       mv = std::dynamic_pointer_cast<Ogre::MovableObject>(line);
       this->Node()->attachObject(mv.get());
       this->dataPtr->noHitRayStrips.push_back(line);
 
-
       line = std::shared_ptr<OgreDynamicLines>(new OgreDynamicLines(MT_TRIANGLE_FAN));
       line->setMaterial("Lidar/BlackTransparent");      
       mv = std::dynamic_pointer_cast<Ogre::MovableObject>(line);
       this->Node()->attachObject(mv.get());
       this->dataPtr->deadZoneRayFans.push_back(line);
       this->dataPtr->deadZoneRayFans[j]->AddPoint(ignition::math::Vector3d::Zero);
-
 
 
-
       line = std::shared_ptr<OgreDynamicLines>(new OgreDynamicLines(MT_LINE_LIST));
       line->setMaterial("Lidar/Blue");      
       mv = std::dynamic_pointer_cast<Ogre::MovableObject>(line);
       this->Node()->attachObject(mv.get());
       this->dataPtr->rayLines.push_back(line);
-
 
       this->SetVisibilityFlags(0x0FFFFFFF);
-
     }
-
     this->dataPtr->deadZoneRayFans[j]->SetPoint(0, this->offset.Pos());
 
 
@@ -214,7 +199,6 @@ void OgreLidarVisual::Update()
       //calculate range of the ray
       double r = this->dataPtr->laserMsg[j * this->verticalCount + i];
 
-
       if (verticalAngle > this->maxVerticalAngle)
       {
         ignerr << "Vertical angle exceeds maximum limits. Please check the input"
@@ -240,7 +224,6 @@ void OgreLidarVisual::Update()
       }
 
       bool inf = std::isinf(r);
-
       ignition::math::Quaterniond ray(
         ignition::math::Vector3d(0.0, -verticalAngle, horizontalAngle));
 
@@ -261,7 +244,6 @@ void OgreLidarVisual::Update()
 
       // Compute the end point of the no-hit ray
       ignition::math::Vector3d noHitPt = (axis * noHitRange) + this->offset.Pos();
-
 
       // Draw the lines and strips that represent each simulated ray
       if (i >= this->dataPtr->rayLines[j]->PointCount()/2)
@@ -274,7 +256,6 @@ void OgreLidarVisual::Update()
 
         this->dataPtr->noHitRayStrips[j]->AddPoint(startPt);
         this->dataPtr->noHitRayStrips[j]->AddPoint(inf ? noHitPt : pt);
-
       }
       else
       {
@@ -286,7 +267,6 @@ void OgreLidarVisual::Update()
 
         this->dataPtr->noHitRayStrips[j]->SetPoint(i*2, startPt);
         this->dataPtr->noHitRayStrips[j]->SetPoint(i*2+1, inf ? noHitPt : pt);
-
       }
 
       // Draw the triangle fan that indicates the dead zone.
@@ -305,7 +285,6 @@ void OgreLidarVisual::Update()
     }
     verticalAngle += this->verticalAngleStep;
   }
-
 }
 
 //////////////////////////////////////////////////

ogre2/include/ignition/rendering/ogre2/Ogre2LidarVisual.hh

@@ -54,7 +54,6 @@ namespace ignition
 
       /// \brief Marker should only be created by scene.
       private: friend class Ogre2Scene;
-
     };
     }
   }