refactor(autoware_geography_utils): rewrite using modern C++ without API breakage (#345)

* refactor using modern c++

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* precommit

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* revert

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* remove nodiscard

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* precommit

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

---------

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

Author: youtalk

Diff for: common/autoware_geography_utils/include/autoware/geography_utils/height.hpp

@@ -15,19 +15,19 @@
 #ifndef AUTOWARE__GEOGRAPHY_UTILS__HEIGHT_HPP_
 #define AUTOWARE__GEOGRAPHY_UTILS__HEIGHT_HPP_
 
+#include <functional>
 #include <string>
+#include <string_view>
 
 namespace autoware::geography_utils
 {
-
-using HeightConversionFunction =
-  double (*)(const double height, const double latitude, const double longitude);
+using HeightConversionFunction = std::function<double(double, double, double)>;
 
 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(
   const double height, const double latitude, const double longitude,
-  const std::string & source_vertical_datum, const std::string & target_vertical_datum);
+  std::string_view source_vertical_datum, std::string_view target_vertical_datum);
 
 }  // namespace autoware::geography_utils
 

Diff for: common/autoware_geography_utils/src/height.cpp

@@ -12,12 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "autoware/geography_utils/height.hpp"
+
 #include <GeographicLib/Geoid.hpp>
-#include <autoware/geography_utils/height.hpp>
 
 #include <map>
 #include <stdexcept>
 #include <string>
+#include <string_view>
 #include <utility>
 
 namespace autoware::geography_utils
@@ -39,12 +41,12 @@ double convert_egm2008_to_wgs84(const double height, const double latitude, cons
 
 double convert_height(
   const double height, const double latitude, const double longitude,
-  const std::string & source_vertical_datum, const std::string & target_vertical_datum)
+  std::string_view source_vertical_datum, std::string_view target_vertical_datum)
 {
   if (source_vertical_datum == target_vertical_datum) {
     return height;
   }
-  static const std::map<std::pair<std::string, std::string>, HeightConversionFunction>
+  static const std::map<std::pair<std::string_view, std::string_view>, HeightConversionFunction>
     conversion_map{
       {{"WGS84", "EGM2008"}, convert_wgs84_to_egm2008},
       {{"EGM2008", "WGS84"}, convert_egm2008_to_wgs84},
@@ -55,8 +57,10 @@ double convert_height(
     return it->second(height, latitude, longitude);
   }
 
-  throw std::invalid_argument(
-    "Invalid conversion types: " + source_vertical_datum + " to " + target_vertical_datum);
+  throw std::invalid_argument(std::string{"Invalid conversion types: "}
+                                .append(source_vertical_datum)
+                                .append(" to ")
+                                .append(target_vertical_datum));
 }
 
 }  // namespace autoware::geography_utils

Diff for: common/autoware_geography_utils/src/lanelet2_projector.cpp

@@ -61,9 +61,10 @@ std::unique_ptr<lanelet::Projector> get_lanelet2_projector(const MapProjectorInf
     return std::make_unique<lanelet::projection::LocalCartesianProjector>(projector);
   }
 
-  throw std::invalid_argument(
-    "Invalid map projector type: " + projector_info.projector_type +
-    ". Currently supported types: MGRS, LocalCartesianUTM, LocalCartesian and TransverseMercator");
+  throw std::invalid_argument(std::string{"Invalid map projector type: "}
+                                .append(projector_info.projector_type)
+                                .append(". Currently supported types: MGRS, LocalCartesianUTM, "
+                                        "LocalCartesian and TransverseMercator"));
 }
 
 }  // namespace autoware::geography_utils