chore: Add all code inside a namespace

ruvu · Nov 11, 2021 · ac9ed9f · ac9ed9f
1 parent 8810a40
commit ac9ed9f
Show file tree

Hide file tree

Showing 62 changed files with 208 additions and 20 deletions.
diff --git a/ruvu_mcl/src/adaptive/adaptive_method.hpp b/ruvu_mcl/src/adaptive/adaptive_method.hpp
@@ -2,6 +2,8 @@
 
 #pragma once
 
+namespace ruvu_mcl
+{
 // forward declare
 class ParticleFilter;
 
@@ -19,3 +21,4 @@ class AdaptiveMethod
    */
   virtual int calc_needed_particles(const ParticleFilter & pf) const = 0;
 };
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/adaptive/fixed.cpp b/ruvu_mcl/src/adaptive/fixed.cpp
@@ -8,9 +8,12 @@
 
 constexpr auto name = "fixed";
 
+namespace ruvu_mcl
+{
 Fixed::Fixed(const Config & config) : max_particles_(config.max_particles)
 {
   ROS_INFO_NAMED(name, "using a fixed number of particles");
 }
 
 int Fixed::calc_needed_particles(const ParticleFilter & pf) const { return max_particles_; }
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/adaptive/fixed.hpp b/ruvu_mcl/src/adaptive/fixed.hpp
@@ -5,6 +5,8 @@
 
 #include "./adaptive_method.hpp"
 
+namespace ruvu_mcl
+{
 // forward declare
 class ParticleFilter;
 struct Config;
@@ -18,3 +20,4 @@ class Fixed : public AdaptiveMethod
 private:
   size_t max_particles_;
 };
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/adaptive/kld_sampling.cpp b/ruvu_mcl/src/adaptive/kld_sampling.cpp
@@ -9,6 +9,8 @@
 #include "ros/console.h"
 #include "tf2/utils.h"
 
+namespace ruvu_mcl
+{
 KLDSampling::KLDSampling(const KLDSamplingConfig & config) : config_(config) {}
 
 int KLDSampling::calc_needed_particles(const ParticleFilter & pf) const
@@ -40,3 +42,4 @@ int KLDSampling::calc_n_particles(int n_bins) const
   if (n > config_.max_particles) return config_.max_particles;
   return n;
 }
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/adaptive/kld_sampling.hpp b/ruvu_mcl/src/adaptive/kld_sampling.hpp
@@ -4,6 +4,8 @@
 #include "../config.hpp"
 #include "./adaptive_method.hpp"
 
+namespace ruvu_mcl
+{
 // forward declare
 struct KLDSamplingConfig;
 class ParticleFilter;
@@ -18,3 +20,4 @@ class KLDSampling : public AdaptiveMethod
   int calc_n_particles(int n_bins) const;
   const KLDSamplingConfig config_;
 };
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/adaptive/split_and_merge.cpp b/ruvu_mcl/src/adaptive/split_and_merge.cpp
@@ -14,6 +14,8 @@
 
 constexpr auto name = "split_and_merge";
 
+namespace ruvu_mcl
+{
 SplitAndMerge::SplitAndMerge(const Config & config)
 {
   ROS_INFO_NAMED(name, "Using SplitAndMerge adaptive method");
@@ -102,3 +104,4 @@ int SplitAndMerge::calc_needed_particles(const ParticleFilter & pf) const
 {
   return pf.particles.size();
 }
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/adaptive/split_and_merge.hpp b/ruvu_mcl/src/adaptive/split_and_merge.hpp
@@ -4,6 +4,8 @@
 #include "../config.hpp"
 #include "./adaptive_method.hpp"
 
+namespace ruvu_mcl
+{
 // forward declare
 class ParticleFilter;
 
@@ -23,3 +25,4 @@ class SplitAndMerge : public AdaptiveMethod
   SplitAndMergeConfig adaptive_config_;
   Config config_;
 };
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/adaptive/utils.cpp b/ruvu_mcl/src/adaptive/utils.cpp
@@ -4,9 +4,12 @@
 
 #include <boost/functional/hash.hpp>
 
+namespace ruvu_mcl
+{
 std::size_t KeyHasher::operator()(const Key & key) const noexcept
 {
   std::size_t seed = 0;
   boost::hash_combine(seed, key);
   return seed;
 }
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/adaptive/utils.hpp b/ruvu_mcl/src/adaptive/utils.hpp
@@ -3,9 +3,12 @@
 
 #include <tuple>
 
+namespace ruvu_mcl
+{
 using Key = std::tuple<int, int, int>;
 
 struct KeyHasher
 {
   std::size_t operator()(const Key & key) const noexcept;
 };
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/cloud_publisher.cpp b/ruvu_mcl/src/cloud_publisher.cpp
@@ -10,6 +10,8 @@
 #include "tf2_geometry_msgs/tf2_geometry_msgs.h"
 #include "visualization_msgs/Marker.h"
 
+namespace ruvu_mcl
+{
 CloudPublisher::CloudPublisher(ros::NodeHandle nh, ros::NodeHandle private_nh)
 : cloud_pub_(private_nh.advertise<visualization_msgs::Marker>("cloud", 1))
 {
@@ -53,3 +55,4 @@ void CloudPublisher::publish(const std_msgs::Header & header, const ParticleFilt
 
   cloud_pub_.publish(m);
 }
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/cloud_publisher.hpp b/ruvu_mcl/src/cloud_publisher.hpp
@@ -5,7 +5,6 @@
 #include "ros/message_forward.h"
 #include "ros/publisher.h"
 
-class ParticleFilter;
 namespace ros
 {
 class NodeHandle;
@@ -15,6 +14,10 @@ namespace std_msgs
 ROS_DECLARE_MESSAGE(Header)
 }
 
+namespace ruvu_mcl
+{
+class ParticleFilter;
+
 class CloudPublisher
 {
 public:
@@ -24,3 +27,4 @@ class CloudPublisher
 private:
   ros::Publisher cloud_pub_;
 };
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/config.cpp b/ruvu_mcl/src/config.cpp
@@ -6,6 +6,8 @@
 
 #include "ruvu_mcl/AMCLConfig.h"
 
+namespace ruvu_mcl
+{
 void normalize(std::initializer_list<double *> zs)
 {
   double z_total =
@@ -112,3 +114,4 @@ Config::Config(const ruvu_mcl::AMCLConfig & config)
   base_frame_id = config.base_frame_id;
   global_frame_id = config.global_frame_id;
 }
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/config.hpp b/ruvu_mcl/src/config.hpp
@@ -8,11 +8,10 @@
 
 #include "tf2/LinearMath/Transform.h"
 
-// forward declare
 namespace ruvu_mcl
 {
+// forward declare
 class AMCLConfig;
-}
 
 struct KLDSamplingConfig
 {
@@ -104,3 +103,4 @@ struct Config
   std::string base_frame_id;
   std::string global_frame_id;
 };
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/main.cpp b/ruvu_mcl/src/main.cpp
@@ -5,6 +5,8 @@
 #include "ros/init.h"
 #include "ros/node_handle.h"
 
+using ruvu_mcl::Node;
+
 constexpr auto name = "main";
 
 int main(int argc, char ** argv)

diff --git a/ruvu_mcl/src/map.cpp b/ruvu_mcl/src/map.cpp
@@ -14,6 +14,8 @@
 
 constexpr auto name = "map";
 
+namespace ruvu_mcl
+{
 Map::Map(const nav_msgs::OccupancyGrid & msg)
 {
   scale = msg.info.resolution;
@@ -233,3 +235,4 @@ bool DistanceMap::is_valid(Eigen::Index i, Eigen::Index j) const
 {
   return i >= 0 && i < cells.rows() && j >= 0 && j < cells.cols();
 }
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/map.hpp b/ruvu_mcl/src/map.hpp
@@ -13,6 +13,8 @@ namespace nav_msgs
 ROS_DECLARE_MESSAGE(OccupancyGrid)
 }
 
+namespace ruvu_mcl
+{
 struct Map
 {
   tf2::Transform origin;
@@ -60,3 +62,4 @@ struct DistanceMap : Map
   double closest_obstacle(const tf2::Vector3 & v) const;
   bool is_valid(Eigen::Index i, Eigen::Index j) const;  // TODO(Ramon): move to baseclass
 };
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/mcl.cpp b/ruvu_mcl/src/mcl.cpp
@@ -22,6 +22,8 @@
 
 constexpr auto name = "mcl";
 
+namespace ruvu_mcl
+{
 std::unique_ptr<Laser> create_laser_model(
   const Config & config, const nav_msgs::OccupancyGridConstPtr & map)
 {
@@ -308,3 +310,4 @@ std::ostream & operator<<(std::ostream & out, const Mcl::MeasurementType & measu
       throw std::logic_error("unknown measurement type");
   }
 }
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/mcl.hpp b/ruvu_mcl/src/mcl.hpp
@@ -13,15 +13,6 @@
 #include "tf2/transform_datatypes.h"
 
 // forward declare
-class AdaptiveMethod;
-class LandmarkModel;
-class LandmarkList;
-class Laser;
-class LaserData;
-class MotionModel;
-class ParticleFilter;
-class Resampler;
-class Rng;
 namespace ros
 {
 class NodeHandle;
@@ -40,6 +31,18 @@ namespace nav_msgs
 ROS_DECLARE_MESSAGE(OccupancyGrid)
 }
 
+namespace ruvu_mcl
+{
+class AdaptiveMethod;
+class LandmarkModel;
+class LandmarkList;
+class Laser;
+class LaserData;
+class MotionModel;
+class ParticleFilter;
+class Resampler;
+class Rng;
+
 class Mcl
 {
 public:
@@ -102,3 +105,4 @@ class Mcl
 };
 
 std::ostream & operator<<(std::ostream & out, const Mcl::MeasurementType & measurement_type);
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/mcl_ros.cpp b/ruvu_mcl/src/mcl_ros.cpp
@@ -13,6 +13,8 @@
 
 constexpr auto name = "mcl_ros";
 
+namespace ruvu_mcl
+{
 MclRos::MclRos(
   ros::NodeHandle nh, ros::NodeHandle private_nh,
   const std::shared_ptr<const tf2_ros::Buffer> & buffer)
@@ -129,3 +131,4 @@ void MclRos::broadcast_last_tf(const ros::Time & stamp)
   transform_br_.sendTransform(msg);
   last_tf_broadcast_.header.stamp = stamp;
 }
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/mcl_ros.hpp b/ruvu_mcl/src/mcl_ros.hpp
@@ -12,10 +12,6 @@ namespace ros
 {
 class NodeHandle;
 }
-namespace ruvu_mcl
-{
-class AMCLConfig;
-}
 namespace tf2_ros
 {
 class Buffer;
@@ -37,6 +33,10 @@ namespace ruvu_mcl_msgs
 ROS_DECLARE_MESSAGE(LandmarkList)
 }
 
+namespace ruvu_mcl
+{
+class AMCLConfig;
+
 class MclRos
 {
 public:
@@ -64,3 +64,4 @@ class MclRos
   tf2_ros::TransformBroadcaster transform_br_;
   geometry_msgs::TransformStamped last_tf_broadcast_;
 };
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/motion_models/differential_motion_model.cpp b/ruvu_mcl/src/motion_models/differential_motion_model.cpp
@@ -12,6 +12,8 @@
 
 constexpr auto name = "differential_motion_model";
 
+namespace ruvu_mcl
+{
 DifferentialMotionModel::DifferentialMotionModel(
   double alpha1, double alpha2, double alpha3, double alpha4, const std::shared_ptr<Rng> & rng)
 : rng_(rng)
@@ -81,3 +83,4 @@ std::array<double, 3> DifferentialMotionModel::calculate_deltas(const tf2::Trans
   ROS_DEBUG_NAMED(name, "delta_rot2: %f", delta_rot2);
   return {delta_rot1, delta_trans, delta_rot2};
 }
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/motion_models/differential_motion_model.hpp b/ruvu_mcl/src/motion_models/differential_motion_model.hpp
@@ -8,6 +8,8 @@
 #include "../config.hpp"
 #include "./motion_model.hpp"
 
+namespace ruvu_mcl
+{
 // forward declare
 class Rng;
 
@@ -44,3 +46,4 @@ class DifferentialMotionModel : public MotionModel
 
   std::shared_ptr<Rng> rng_;
 };
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/motion_models/motion_model.cpp b/ruvu_mcl/src/motion_models/motion_model.cpp
@@ -2,4 +2,7 @@
 
 #include "./motion_model.hpp"
 
+namespace ruvu_mcl
+{
 MotionModel::~MotionModel() = default;
+}
diff --git a/ruvu_mcl/src/motion_models/motion_model.hpp b/ruvu_mcl/src/motion_models/motion_model.hpp
@@ -7,6 +7,9 @@ namespace tf2
 {
 class Transform;
 }
+
+namespace ruvu_mcl
+{
 class ParticleFilter;
 
 class MotionModel
@@ -22,3 +25,4 @@ class MotionModel
    */
   virtual void odometry_update(ParticleFilter * pf, const tf2::Transform & delta) = 0;
 };
+}  // namespace ruvu_mcl
diff --git a/ruvu_mcl/src/node.cpp b/ruvu_mcl/src/node.cpp
@@ -13,6 +13,8 @@
 
 constexpr auto name = "node";
 
+namespace ruvu_mcl
+{
 Node::Node(ros::NodeHandle nh, ros::NodeHandle private_nh)
 : buffer_(std::make_shared<tf2_ros::Buffer>()),
   tf_listener_(*buffer_),
@@ -58,3 +60,4 @@ void Node::initial_pose_cb(const geometry_msgs::PoseWithCovarianceStampedConstPt
 {
   filter_.initial_pose_cb(initial_pose);
 }
+}  // namespace ruvu_mcl