refactor(autoware_lanelet2_utils): rewrite using modern C++ without API breakage

common/autoware_lanelet2_utils/include/autoware/lanelet2_utils/intersection.hpp

@@ -34,39 +34,40 @@ enum TurnDirection : int { Straight = 0, Left, Right };
  * @param [in] input lanelet
  * @return true if and only if the given lanelet has "turn_direction" attribute
  */
-bool is_intersection_lanelet(const lanelet::ConstLanelet & lanelet);
+[[nodiscard]] bool is_intersection_lanelet(const lanelet::ConstLanelet & lanelet);
 
 /**
  * @brief check if given lanelet has "turn_direction" attribute and the value is "straight"
  * @param [in] input lanelet
  * @return true if and only if the given lanelet has "turn_direction" attribute and the value is
  * "straight"
  */
-bool is_straight_direction(const lanelet::ConstLanelet & lanelet);
+[[nodiscard]] bool is_straight_direction(const lanelet::ConstLanelet & lanelet);
 
 /**
  * @brief check if given lanelet has "turn_direction" attribute and the value is "left"
  * @param [in] input lanelet
  * @return true if and only if the given lanelet has "turn_direction" attribute and the value is
  * "left"
  */
-bool is_left_direction(const lanelet::ConstLanelet & lanelet);
+[[nodiscard]] bool is_left_direction(const lanelet::ConstLanelet & lanelet);
 
 /**
  * @brief check if given lanelet has "turn_direction" attribute and the value is "right"
  * @param [in] input lanelet
  * @return true if and only if the given lanelet has "turn_direction" attribute and the value is
  * "right"
  */
-bool is_right_direction(const lanelet::ConstLanelet & lanelet);
+[[nodiscard]] bool is_right_direction(const lanelet::ConstLanelet & lanelet);
 
 /**
  * @brief get the turn_direction value
  * @param [in] input lanelet
  * @return valid TurnDirection value if `lanelet` has valid "turn_direction" value, otherwise null
  * "right"
  */
-std::optional<TurnDirection> get_turn_direction(const lanelet::ConstLanelet & lanelet);
+[[nodiscard]] std::optional<TurnDirection> get_turn_direction(
+  const lanelet::ConstLanelet & lanelet);
 
 }  // namespace autoware::lanelet2_utils
 #endif  // AUTOWARE__LANELET2_UTILS__INTERSECTION_HPP_

common/autoware_lanelet2_utils/include/autoware/lanelet2_utils/kind.hpp

@@ -43,20 +43,20 @@ class BicycleLane : public lanelet::ConstLanelet
  * @param [in] lanelet input lanelet
  * @return if the lanelet is road or not
  */
-bool is_road_lane(const lanelet::ConstLanelet & lanelet);
+[[nodiscard]] bool is_road_lane(const lanelet::ConstLanelet & lanelet);
 
 /**
  * @brief check if the given lanelet type has "road_shoulder" subtype
  * @param [in] lanelet input lanelet
  * @return if the lanelet is road_shoulder or not
  */
-bool is_shoulder_lane(const lanelet::ConstLanelet & lanelet);
+[[nodiscard]] bool is_shoulder_lane(const lanelet::ConstLanelet & lanelet);
 
 /**
  * @brief check if the given lanelet type has "bicycle_lane" subtype
  * @param [in] lanelet input lanelet
  * @return if the lanelet is bicycle_lane or not
  */
-bool is_bicycle_lane(const lanelet::ConstLanelet & lanelet);
+[[nodiscard]] bool is_bicycle_lane(const lanelet::ConstLanelet & lanelet);
 }  // namespace autoware::lanelet2_utils
 #endif  // AUTOWARE__LANELET2_UTILS__KIND_HPP_

common/autoware_lanelet2_utils/include/autoware/lanelet2_utils/topology.hpp

@@ -30,7 +30,7 @@ namespace autoware::lanelet2_utils
  * @param participant [in, opt, lanelet::Participants::Vehicle] participant value
  * @return RoutingGraph object without road_shoulder and bicycle_lane
  */
-lanelet::routing::RoutingGraphConstPtr instantiate_routing_graph(
+[[nodiscard]] lanelet::routing::RoutingGraphConstPtr instantiate_routing_graph(
   lanelet::LaneletMapConstPtr lanelet_map, const char * location = lanelet::Locations::Germany,
   const char * participant = lanelet::Participants::Vehicle);
 
@@ -41,7 +41,7 @@ lanelet::routing::RoutingGraphConstPtr instantiate_routing_graph(
  * @param [in] routing_graph routing_graph containing `lanelet`
  * @return optional of left adjacent lanelet(nullopt if there is no such adjacent lanelet)
  */
-std::optional<lanelet::ConstLanelet> left_lanelet(
+[[nodiscard]] std::optional<lanelet::ConstLanelet> left_lanelet(
   const lanelet::ConstLanelet & lanelet,
   const lanelet::routing::RoutingGraphConstPtr routing_graph);
 
@@ -51,7 +51,7 @@ std::optional<lanelet::ConstLanelet> left_lanelet(
  * @param [in] routing_graph routing_graph containing `lanelet`
  * @return optional of right adjacent lanelet(nullopt if there is no such adjacent lanelet)
  */
-std::optional<lanelet::ConstLanelet> right_lanelet(
+[[nodiscard]] std::optional<lanelet::ConstLanelet> right_lanelet(
   const lanelet::ConstLanelet & lanelet,
   const lanelet::routing::RoutingGraphConstPtr routing_graph);
 
@@ -87,7 +87,7 @@ const lanelet::routing::RoutingGraphConstPtr routing_graph);
  * @param [in] lanelet_map lanelet_map containing `lanelet`
  * @return optional of the left opposite lanelet(nullopt if there is not such opposite lanelet)
  */
-std::optional<lanelet::ConstLanelet> left_opposite_lanelet(
+[[nodiscard]] std::optional<lanelet::ConstLanelet> left_opposite_lanelet(
   const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map);
 
 /**
@@ -96,7 +96,7 @@ std::optional<lanelet::ConstLanelet> left_opposite_lanelet(
  * @param [in] routing_graph routing_graph containing `lanelet`
  * @return optional of the right opposite lanelet(nullopt if there is no such opposite lanelet)
  */
-std::optional<lanelet::ConstLanelet> right_opposite_lanelet(
+[[nodiscard]] std::optional<lanelet::ConstLanelet> right_opposite_lanelet(
   const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map);
 
 /**
@@ -105,11 +105,11 @@ std::optional<lanelet::ConstLanelet> right_opposite_lanelet(
  * @param [in] routing_graph routing_graph containing `lanelet`
  * @return optional of such lanelet(nullopt if there is no such adjacent lanelet)
  */
-std::optional<lanelet::ConstLanelet> leftmost_lanelet(
+[[nodiscard]] std::optional<lanelet::ConstLanelet> leftmost_lanelet(
   const lanelet::ConstLanelet & lanelet,
   const lanelet::routing::RoutingGraphConstPtr routing_graph);
 
-std::optional<lanelet::ConstLanelet> rightmost_lanelet(
+[[nodiscard]] std::optional<lanelet::ConstLanelet> rightmost_lanelet(
   const lanelet::ConstLanelet & lanelet,
   const lanelet::routing::RoutingGraphConstPtr routing_graph);
 
@@ -123,7 +123,7 @@ std::optional<lanelet::ConstLanelet> rightmost_lanelet(
  * @return the list of lanelets excluding `lanelet` which is ordered in the *hopping* number from
  * `lanelet`
  */
-lanelet::ConstLanelets left_lanelets(
+[[nodiscard]] lanelet::ConstLanelets left_lanelets(
   const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map,
   const lanelet::routing::RoutingGraphConstPtr routing_graph, const bool include_opposite = false,
   const bool invert_opposite_lane = false);
@@ -138,7 +138,7 @@ lanelet::ConstLanelets left_lanelets(
  * @return the list of lanelets excluding `lanelet` which is ordered in the *hopping* number from
  * `lanelet`
  */
-lanelet::ConstLanelets right_lanelets(
+[[nodiscard]] lanelet::ConstLanelets right_lanelets(
   const lanelet::ConstLanelet & lanelet, const lanelet::LaneletMapConstPtr lanelet_map,
   const lanelet::routing::RoutingGraphConstPtr routing_graph, const bool include_opposite = false,
   const bool invert_opposite_lane = false);
@@ -149,7 +149,7 @@ lanelet::ConstLanelets right_lanelets(
  * @param [in] routing_graph routing_graph containing `lanelet`
  * @return the following lanelets
  */
-lanelet::ConstLanelets following_lanelets(
+[[nodiscard]] lanelet::ConstLanelets following_lanelets(
   const lanelet::ConstLanelet & lanelet,
   const lanelet::routing::RoutingGraphConstPtr routing_graph);
 
@@ -159,7 +159,7 @@ lanelet::ConstLanelets following_lanelets(
  * @param [in] routing_graph routing_graph containing `lanelet`
  * @return the previous lanelets
  */
-lanelet::ConstLanelets previous_lanelets(
+[[nodiscard]] lanelet::ConstLanelets previous_lanelets(
   const lanelet::ConstLanelet & lanelet,
   const lanelet::routing::RoutingGraphConstPtr routing_graph);
 
@@ -169,7 +169,7 @@ lanelet::ConstLanelets previous_lanelets(
  * @param [in] routing_graph routing_graph containing `lanelet`
  * @return the sibling lanelets excluding `lanelet`
  */
-lanelet::ConstLanelets sibling_lanelets(
+[[nodiscard]] lanelet::ConstLanelets sibling_lanelets(
   const lanelet::ConstLanelet & lanelet,
   const lanelet::routing::RoutingGraphConstPtr routing_graph);
 
@@ -179,7 +179,7 @@ lanelet::ConstLanelets sibling_lanelets(
  * @param [in] routing_graph routing_graph containing `lanelet`
  * @return the list of Lanelets in the same order as `ids`
  */
-lanelet::ConstLanelets from_ids(
+[[nodiscard]] lanelet::ConstLanelets from_ids(
   const lanelet::LaneletMapConstPtr lanelet_map, const std::vector<lanelet::Id> & ids);
 }  // namespace autoware::lanelet2_utils
 

common/autoware_lanelet2_utils/src/intersection.cpp

@@ -16,6 +16,7 @@
 
 #include <lanelet2_core/primitives/Lanelet.h>
 
+#include <cstring>
 namespace autoware::lanelet2_utils
 {
 
@@ -26,17 +27,17 @@ bool is_intersection_lanelet(const lanelet::ConstLanelet & lanelet)
 
 bool is_straight_direction(const lanelet::ConstLanelet & lanelet)
 {
-  return strcmp(lanelet.attributeOr(k_turn_direction, "else"), k_turn_direction_straight) == 0;
+  return std::strcmp(lanelet.attributeOr(k_turn_direction, "else"), k_turn_direction_straight) == 0;
 }
 
 bool is_left_direction(const lanelet::ConstLanelet & lanelet)
 {
-  return strcmp(lanelet.attributeOr(k_turn_direction, "else"), k_turn_direction_left) == 0;
+  return std::strcmp(lanelet.attributeOr(k_turn_direction, "else"), k_turn_direction_left) == 0;
 }
 
 bool is_right_direction(const lanelet::ConstLanelet & lanelet)
 {
-  return strcmp(lanelet.attributeOr(k_turn_direction, "else"), k_turn_direction_right) == 0;
+  return std::strcmp(lanelet.attributeOr(k_turn_direction, "else"), k_turn_direction_right) == 0;
 }
 
 std::optional<TurnDirection> get_turn_direction(const lanelet::ConstLanelet & lanelet)

common/autoware_lanelet2_utils/src/kind.cpp

@@ -16,23 +16,24 @@
 
 #include <lanelet2_core/primitives/Lanelet.h>
 
+#include <cstring>
 namespace autoware::lanelet2_utils
 {
 bool is_road_lane(const lanelet::ConstLanelet & lanelet)
 {
-  return strcmp(lanelet.attributeOr(lanelet::AttributeName::Subtype, "none"), k_road_lane_type) ==
-         0;
+  return std::strcmp(
+           lanelet.attributeOr(lanelet::AttributeName::Subtype, "none"), k_road_lane_type) == 0;
 }
 
 bool is_shoulder_lane(const lanelet::ConstLanelet & lanelet)
 {
-  return strcmp(
+  return std::strcmp(
            lanelet.attributeOr(lanelet::AttributeName::Subtype, "none"), k_shoulder_lane_type) == 0;
 }
 
 bool is_bicycle_lane(const lanelet::ConstLanelet & lanelet)
 {
-  return strcmp(
+  return std::strcmp(
            lanelet.attributeOr(lanelet::AttributeName::Subtype, "none"), k_bicycle_lane_type) == 0;
 }
 }  // namespace autoware::lanelet2_utils