code guide lines

src/loop_closure_base.h

@@ -24,16 +24,16 @@ namespace laserscanutils {
 
 /** \brief A 2base class for loop closure using falko library
 */
-class loopClosureBase2d {
+class LoopClosureBase2d {
 private:
 public:
   /** \brief Constructor
   **/
-  loopClosureBase2d(){};
+  LoopClosureBase2d(){};
 
   /** \brief Destructor
   **/
-  ~loopClosureBase2d(){};
+  ~LoopClosureBase2d(){};
 
 
   /** \brief update the scene struct with keypoints and descriptors

src/loop_closure_falko.h

@@ -46,7 +46,7 @@ typedef falkolib::CGH cgh;
 typedef falkolib::CGHExtractor<falkolib::FALKO> cghExtractor;
 typedef falkolib::AHTMatcher<falkolib::FALKO> AHTatcher;
 
-struct parameterLoopClosureFalko {
+struct ParameterLoopClosureFalko {
   // Keypoints extractor Default
   double min_extraction_range_=0.1;
   double max_extraction_range_=25;
@@ -69,7 +69,7 @@ struct parameterLoopClosureFalko {
 **/
 
 template <typename D, typename Extr, typename M>
-class loopClosureFalko : public loopClosureBase2d,
+class LoopClosureFalko : public LoopClosureBase2d,
                          public falkolib::FALKOExtractor {
 private:
 public:
@@ -81,8 +81,8 @@ public:
 
   /** \brief Constructor
   **/
-  loopClosureFalko(parameterLoopClosureFalko _param)
-  : loopClosureBase2d(), falkolib::FALKOExtractor(),
+  LoopClosureFalko(ParameterLoopClosureFalko _param)
+  : LoopClosureBase2d(), falkolib::FALKOExtractor(),
     extractor_(_param.circularSectorNumber_, _param.radialRingNumber_), matcher_() {
   // FALKO Extractor Parameters
   setMinExtractionRange(_param.min_extraction_range_);
@@ -100,7 +100,7 @@ public:
 
   /** \brief Destructor
   **/
-  ~loopClosureFalko() {}
+  ~LoopClosureFalko() {}
 
   /** \brief Create and update the scene struct with keypoints and descriptors
    **/
@@ -139,7 +139,7 @@ public:
     int matching_number =
       matcher_.match(scene_1_falko->keypoints_list_,
       scene_2_falko->keypoints_list_, asso_nn);
-    auto new_match = std::make_shared<matchLoopClosure>();
+    auto new_match = std::make_shared<MatchLoopClosure>();
     new_match->keypoints_number_match = matching_number;
     if (matching_number > keypoints_number_th_) {
       new_match->match = true;

src/match_loop_closure.h

@@ -20,7 +20,7 @@
 
 namespace laserscanutils {
 
-struct matchLoopClosure {
+struct MatchLoopClosure {
 
   sceneBasePtr scene_1;
   sceneBasePtr scene_2;
@@ -29,7 +29,7 @@ struct matchLoopClosure {
   double score;
 };
 
-typedef std::shared_ptr<matchLoopClosure> matchLoopClosurePtr;
+typedef std::shared_ptr<MatchLoopClosure> matchLoopClosurePtr;
 
 } /* namespace laserscanutils */
 

test/gtest_loop_closure_falko.cpp

@@ -17,8 +17,8 @@ TEST(loop_closure_falko, TestLoopClosureFalkoAllFunctions) {
     scan2.ranges_raw_.push_back(testRanges2[i]);
   }
   
-  parameterLoopClosureFalko param;
-  loopClosureFalko<bsc, bscExtractor, NNMatcher> loop_cl_falko(param);
+  ParameterLoopClosureFalko param;
+  LoopClosureFalko<bsc, bscExtractor, NNMatcher> loop_cl_falko(param);
 
   // Test convert2LaserScanFALKO
   std::shared_ptr<falkolib::LaserScan> scan_falko =
@@ -49,9 +49,7 @@ TEST(loop_closure_falko, TestLoopClosureFalkoAllFunctions) {
   ASSERT_EQ(matchings.size(), 2);
   auto best_match = matchings.rbegin()->second;
   ASSERT_EQ(best_match->match, true);
-
   ASSERT_EQ(best_match->scene_1, new_scene);
-
   ASSERT_EQ(best_match->scene_2, new_scene);
   ASSERT_EQ(best_match->score, 1);