669 lines
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HTML
669 lines
27 KiB
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<!DOCTYPE html>
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<title>PCL C++ Programming Style Guide</title>
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1.12.0
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<!-- Local TOC -->
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<div class="local-toc"><ul>
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<li><a class="reference internal" href="#">PCL C++ Programming Style Guide</a><ul>
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<li><a class="reference internal" href="#naming">1. Naming</a><ul>
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<li><a class="reference internal" href="#files">1.1. Files</a></li>
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<li><a class="reference internal" href="#directories">1.2. Directories</a></li>
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<li><a class="reference internal" href="#includes">1.3. Includes</a></li>
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<li><a class="reference internal" href="#defines-macros">1.4. Defines & Macros</a></li>
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<li><a class="reference internal" href="#namespaces">1.5. Namespaces</a></li>
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<li><a class="reference internal" href="#classes-structs">1.6. Classes / Structs</a></li>
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<li><a class="reference internal" href="#functions-methods">1.7. Functions / Methods</a></li>
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<li><a class="reference internal" href="#variables">1.8. Variables</a><ul>
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<li><a class="reference internal" href="#iterators">1.8.1. Iterators</a></li>
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<li><a class="reference internal" href="#constants">1.8.2. Constants</a></li>
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<li><a class="reference internal" href="#member-variables">1.8.3. Member variables</a></li>
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</ul>
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</li>
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<li><a class="reference internal" href="#return-statements">1.9. Return statements</a></li>
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</ul>
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</li>
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<li><a class="reference internal" href="#indentation-and-formatting">2. Indentation and Formatting</a><ul>
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<li><a class="reference internal" href="#id1">2.1. Namespaces</a></li>
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<li><a class="reference internal" href="#classes">2.2. Classes</a></li>
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<li><a class="reference internal" href="#id2">2.3. Functions / Methods</a></li>
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<li><a class="reference internal" href="#braces">2.4. Braces</a></li>
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<li><a class="reference internal" href="#spacing">2.5. Spacing</a></li>
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<li><a class="reference internal" href="#automatic-code-formatting">2.6. Automatic code formatting</a><ul>
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<li><a class="reference internal" href="#script-usage">2.6.1. Script usage</a></li>
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</ul>
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</li>
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<li><a class="reference internal" href="#id3">2.7. Includes</a></li>
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</ul>
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</li>
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<li><a class="reference internal" href="#structuring">3. Structuring</a><ul>
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<li><a class="reference internal" href="#classes-and-api">3.1. Classes and API</a></li>
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<li><a class="reference internal" href="#passing-arguments">3.2. Passing arguments</a></li>
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<li><a class="reference internal" href="#object-declaration">3.3. Object declaration</a><ul>
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<li><a class="reference internal" href="#use-of-auto">3.3.1 Use of auto</a></li>
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<li><a class="reference internal" href="#type-qualifiers-of-variables">3.3.2 Type qualifiers of variables</a></li>
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</ul>
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</li>
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<li>PCL C++ Programming Style Guide</li>
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<div itemprop="articleBody">
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<div class="section" id="pcl-c-programming-style-guide">
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<span id="pcl-style-guide"></span><h1>PCL C++ Programming Style Guide</h1>
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<p>To make sure that all code in PCL is coherent and easily understood by other
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developers and users, we follow a set of strict rules that everyone should
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adopt. These rules are not to be broken unless there is a very good reason to
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do so. Changes to these rules are always possible, but the person proposing and
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changing a rule will have the unfortunate task to go and apply the rule change
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to all the existing code.</p>
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<div class="contents local topic" id="table-of-contents">
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<p class="topic-title">Table of Contents</p>
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<ul class="simple">
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<li><a class="reference internal" href="#naming" id="id4">1. Naming</a><ul>
|
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<li><a class="reference internal" href="#files" id="id5">1.1. Files</a></li>
|
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<li><a class="reference internal" href="#directories" id="id6">1.2. Directories</a></li>
|
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<li><a class="reference internal" href="#includes" id="id7">1.3. Includes</a></li>
|
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<li><a class="reference internal" href="#defines-macros" id="id8">1.4. Defines & Macros</a></li>
|
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<li><a class="reference internal" href="#namespaces" id="id9">1.5. Namespaces</a></li>
|
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<li><a class="reference internal" href="#classes-structs" id="id10">1.6. Classes / Structs</a></li>
|
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<li><a class="reference internal" href="#functions-methods" id="id11">1.7. Functions / Methods</a></li>
|
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<li><a class="reference internal" href="#variables" id="id12">1.8. Variables</a><ul>
|
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<li><a class="reference internal" href="#iterators" id="id13">1.8.1. Iterators</a></li>
|
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<li><a class="reference internal" href="#constants" id="id14">1.8.2. Constants</a></li>
|
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<li><a class="reference internal" href="#member-variables" id="id15">1.8.3. Member variables</a></li>
|
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</ul>
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</li>
|
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<li><a class="reference internal" href="#return-statements" id="id16">1.9. Return statements</a></li>
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</ul>
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</li>
|
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<li><a class="reference internal" href="#indentation-and-formatting" id="id17">2. Indentation and Formatting</a><ul>
|
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<li><a class="reference internal" href="#id1" id="id18">2.1. Namespaces</a></li>
|
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<li><a class="reference internal" href="#classes" id="id19">2.2. Classes</a></li>
|
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<li><a class="reference internal" href="#id2" id="id20">2.3. Functions / Methods</a></li>
|
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<li><a class="reference internal" href="#braces" id="id21">2.4. Braces</a></li>
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<li><a class="reference internal" href="#spacing" id="id22">2.5. Spacing</a></li>
|
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<li><a class="reference internal" href="#automatic-code-formatting" id="id23">2.6. Automatic code formatting</a><ul>
|
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<li><a class="reference internal" href="#script-usage" id="id24">2.6.1. Script usage</a></li>
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</ul>
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</li>
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<li><a class="reference internal" href="#id3" id="id25">2.7. Includes</a></li>
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</ul>
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</li>
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<li><a class="reference internal" href="#structuring" id="id26">3. Structuring</a><ul>
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<li><a class="reference internal" href="#classes-and-api" id="id27">3.1. Classes and API</a></li>
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<li><a class="reference internal" href="#passing-arguments" id="id28">3.2. Passing arguments</a></li>
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<li><a class="reference internal" href="#object-declaration" id="id29">3.3. Object declaration</a><ul>
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<li><a class="reference internal" href="#use-of-auto" id="id30">3.3.1 Use of auto</a></li>
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<li><a class="reference internal" href="#type-qualifiers-of-variables" id="id31">3.3.2 Type qualifiers of variables</a></li>
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</ul>
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</li>
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</ul>
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</li>
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</ul>
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</div>
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<div class="section" id="naming">
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<h2>1. Naming</h2>
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<div class="section" id="files">
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<h3>1.1. Files</h3>
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<p>All files should be <strong>under_scored</strong>.</p>
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<ul class="simple">
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<li>Header files have the extension <strong>.h</strong></li>
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<li>Templated implementation files have the extension <strong>.hpp</strong></li>
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<li>Source files have the extension <strong>.cpp</strong></li>
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</ul>
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</div>
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<div class="section" id="directories">
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<h3>1.2. Directories</h3>
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<p>All directories and subdirectories should be <strong>under_scored</strong>.</p>
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<ul class="simple">
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<li>Header files should go under <strong>include/</strong></li>
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<li>Templated implementation files should go under <strong>include/impl/</strong></li>
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<li>Source files should go under <strong>src/</strong></li>
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</ul>
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</div>
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<div class="section" id="includes">
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<h3>1.3. Includes</h3>
|
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<p>Include statements are made with <strong>“quotes”</strong> only if the file is in the
|
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same directory, in any other case the include statement is made with
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<strong><chevron_brackets></strong>, e.g.:</p>
|
|||
|
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<blockquote>
|
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<div><div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="cp">#include</span> <span class="cpf"><pcl/module_name/file_name.h></span><span class="cp"></span>
|
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<span class="cp">#include</span> <span class="cpf"><pcl/module_name/impl/file_name.hpp></span><span class="cp"></span>
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</pre></div>
|
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</div>
|
|||
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</div></blockquote>
|
|||
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</div>
|
|||
|
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<div class="section" id="defines-macros">
|
|||
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<h3>1.4. Defines & Macros</h3>
|
|||
|
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<p>Macros should all be <strong>ALL_CAPITALS_AND_UNDERSCORED</strong>.</p>
|
|||
|
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<p>Include guards are not implemented with defines, instead <code class="docutils literal notranslate"><span class="pre">#pragma</span> <span class="pre">once</span></code> should be used.</p>
|
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<blockquote>
|
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<div><div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="c1">// the license</span>
|
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|
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<span class="cp">#pragma once</span>
|
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|
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<span class="c1">// the code</span>
|
|||
|
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</pre></div>
|
|||
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</div>
|
|||
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</div></blockquote>
|
|||
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</div>
|
|||
|
|
<div class="section" id="namespaces">
|
|||
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<h3>1.5. Namespaces</h3>
|
|||
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<p>Namespaces should be <strong>under_scored</strong>, e.g.:</p>
|
|||
|
|
<blockquote>
|
|||
|
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<div><div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="k">namespace</span> <span class="n">pcl_io</span>
|
|||
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<span class="p">{</span>
|
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<span class="p">...</span>
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<span class="p">}</span>
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</pre></div>
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</div>
|
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</div></blockquote>
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</div>
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<div class="section" id="classes-structs">
|
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<h3>1.6. Classes / Structs</h3>
|
|||
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<p>Class names (and other type names) should be <strong>CamelCased</strong>.
|
|||
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Exception: if the class name contains a short acronym, the acronym itself
|
|||
|
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should be all capitals. Class and struct names are preferably <strong>nouns</strong>:
|
|||
|
|
PFHEstimation instead of EstimatePFH.</p>
|
|||
|
|
<p>Correct examples:</p>
|
|||
|
|
<blockquote>
|
|||
|
|
<div><div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="k">class</span> <span class="nc">ExampleClass</span><span class="p">;</span>
|
|||
|
|
<span class="k">class</span> <span class="nc">PFHEstimation</span><span class="p">;</span>
|
|||
|
|
</pre></div>
|
|||
|
|
</div>
|
|||
|
|
</div></blockquote>
|
|||
|
|
</div>
|
|||
|
|
<div class="section" id="functions-methods">
|
|||
|
|
<h3>1.7. Functions / Methods</h3>
|
|||
|
|
<p>Functions and class method names should be <strong>camelCased</strong>, and arguments are
|
|||
|
|
<strong>under_scored</strong>. Function and method names are preferably <strong>verbs</strong>, and the name
|
|||
|
|
should make clear what it does: checkForErrors() instead of errorCheck(),
|
|||
|
|
dumpDataToFile() instead of dataFile().</p>
|
|||
|
|
<p>Correct usage:</p>
|
|||
|
|
<blockquote>
|
|||
|
|
<div><div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="kt">int</span>
|
|||
|
|
<span class="nf">applyExample</span> <span class="p">(</span><span class="kt">int</span> <span class="n">example_arg</span><span class="p">);</span>
|
|||
|
|
</pre></div>
|
|||
|
|
</div>
|
|||
|
|
</div></blockquote>
|
|||
|
|
</div>
|
|||
|
|
<div class="section" id="variables">
|
|||
|
|
<h3>1.8. Variables</h3>
|
|||
|
|
<p>Variable names should be <strong>under_scored</strong>.</p>
|
|||
|
|
<blockquote>
|
|||
|
|
<div><div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="kt">int</span> <span class="n">my_variable</span><span class="p">;</span>
|
|||
|
|
</pre></div>
|
|||
|
|
</div>
|
|||
|
|
</div></blockquote>
|
|||
|
|
<div class="section" id="iterators">
|
|||
|
|
<h4>1.8.1. Iterators</h4>
|
|||
|
|
<p>Iterator variables should indicate what they’re iterating over, e.g.:</p>
|
|||
|
|
<blockquote>
|
|||
|
|
<div><div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="n">std</span><span class="o">::</span><span class="n">list</span><span class="o"><</span><span class="kt">int</span><span class="o">></span> <span class="n">pid_list</span><span class="p">;</span>
|
|||
|
|
<span class="n">std</span><span class="o">::</span><span class="n">list</span><span class="o"><</span><span class="kt">int</span><span class="o">>::</span><span class="n">iterator</span> <span class="n">pid_it</span><span class="p">;</span>
|
|||
|
|
</pre></div>
|
|||
|
|
</div>
|
|||
|
|
</div></blockquote>
|
|||
|
|
</div>
|
|||
|
|
<div class="section" id="constants">
|
|||
|
|
<h4>1.8.2. Constants</h4>
|
|||
|
|
<p>Constants should be <strong>ALL_CAPITALS</strong>, e.g.:</p>
|
|||
|
|
<blockquote>
|
|||
|
|
<div><div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="k">const</span> <span class="k">static</span> <span class="kt">int</span> <span class="n">MY_CONSTANT</span> <span class="o">=</span> <span class="mi">1000</span><span class="p">;</span>
|
|||
|
|
</pre></div>
|
|||
|
|
</div>
|
|||
|
|
</div></blockquote>
|
|||
|
|
</div>
|
|||
|
|
<div class="section" id="member-variables">
|
|||
|
|
<h4>1.8.3. Member variables</h4>
|
|||
|
|
<p>Variables that are members of a class are <strong>under_scored_</strong>, with a trailing
|
|||
|
|
underscore added, e.g.:</p>
|
|||
|
|
<blockquote>
|
|||
|
|
<div><div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="kt">int</span> <span class="n">example_int_</span><span class="p">;</span>
|
|||
|
|
</pre></div>
|
|||
|
|
</div>
|
|||
|
|
</div></blockquote>
|
|||
|
|
</div>
|
|||
|
|
</div>
|
|||
|
|
<div class="section" id="return-statements">
|
|||
|
|
<h3>1.9. Return statements</h3>
|
|||
|
|
<p>Return statements should have their values in parentheses, e.g.:</p>
|
|||
|
|
<blockquote>
|
|||
|
|
<div><div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="kt">int</span>
|
|||
|
|
<span class="nf">main</span> <span class="p">()</span>
|
|||
|
|
<span class="p">{</span>
|
|||
|
|
<span class="k">return</span> <span class="p">(</span><span class="mi">0</span><span class="p">);</span>
|
|||
|
|
<span class="p">}</span>
|
|||
|
|
</pre></div>
|
|||
|
|
</div>
|
|||
|
|
</div></blockquote>
|
|||
|
|
<div class="line-block">
|
|||
|
|
<div class="line"><br /></div>
|
|||
|
|
</div>
|
|||
|
|
</div>
|
|||
|
|
</div>
|
|||
|
|
<div class="section" id="indentation-and-formatting">
|
|||
|
|
<h2>2. Indentation and Formatting</h2>
|
|||
|
|
<p>The standard indentation for each block in PCL is <strong>2 spaces</strong>. Under no
|
|||
|
|
circumstances, tabs or other spacing measures should be used. PCL uses a
|
|||
|
|
variant of the GNU style formatting.</p>
|
|||
|
|
<div class="section" id="id1">
|
|||
|
|
<h3>2.1. Namespaces</h3>
|
|||
|
|
<p>In both header and implementation files, namespaces are to be explicitly
|
|||
|
|
declared, and their contents should not be indented, like clang-format
|
|||
|
|
enforces in the Formatting CI job, e.g.:</p>
|
|||
|
|
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="k">namespace</span> <span class="n">pcl</span>
|
|||
|
|
<span class="p">{</span>
|
|||
|
|
|
|||
|
|
<span class="k">class</span> <span class="nc">Foo</span>
|
|||
|
|
<span class="p">{</span>
|
|||
|
|
<span class="p">...</span>
|
|||
|
|
<span class="p">};</span>
|
|||
|
|
|
|||
|
|
<span class="p">}</span>
|
|||
|
|
</pre></div>
|
|||
|
|
</div>
|
|||
|
|
</div>
|
|||
|
|
<div class="section" id="classes">
|
|||
|
|
<h3>2.2. Classes</h3>
|
|||
|
|
<p>The template parameters of a class should be declared on a different line,
|
|||
|
|
e.g.:</p>
|
|||
|
|
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="k">template</span> <span class="o"><</span><span class="k">typename</span> <span class="n">T</span><span class="o">></span>
|
|||
|
|
<span class="k">class</span> <span class="nc">Foo</span>
|
|||
|
|
<span class="p">{</span>
|
|||
|
|
<span class="p">...</span>
|
|||
|
|
<span class="p">}</span>
|
|||
|
|
</pre></div>
|
|||
|
|
</div>
|
|||
|
|
</div>
|
|||
|
|
<div class="section" id="id2">
|
|||
|
|
<h3>2.3. Functions / Methods</h3>
|
|||
|
|
<p>The return type of each function declaration must be placed on a different
|
|||
|
|
line, e.g.:</p>
|
|||
|
|
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="kt">void</span>
|
|||
|
|
<span class="nf">bar</span> <span class="p">();</span>
|
|||
|
|
</pre></div>
|
|||
|
|
</div>
|
|||
|
|
<p>Same for the implementation/definition, e.g.:</p>
|
|||
|
|
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="kt">void</span>
|
|||
|
|
<span class="nf">bar</span> <span class="p">()</span>
|
|||
|
|
<span class="p">{</span>
|
|||
|
|
<span class="p">...</span>
|
|||
|
|
<span class="p">}</span>
|
|||
|
|
</pre></div>
|
|||
|
|
</div>
|
|||
|
|
<p>or</p>
|
|||
|
|
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="kt">void</span>
|
|||
|
|
<span class="n">Foo</span><span class="o">::</span><span class="n">bar</span> <span class="p">()</span>
|
|||
|
|
<span class="p">{</span>
|
|||
|
|
<span class="p">...</span>
|
|||
|
|
<span class="p">}</span>
|
|||
|
|
</pre></div>
|
|||
|
|
</div>
|
|||
|
|
<p>or</p>
|
|||
|
|
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="k">template</span> <span class="o"><</span><span class="k">typename</span> <span class="n">T</span><span class="o">></span> <span class="kt">void</span>
|
|||
|
|
<span class="n">Foo</span><span class="o"><</span><span class="n">T</span><span class="o">>::</span><span class="n">bar</span> <span class="p">()</span>
|
|||
|
|
<span class="p">{</span>
|
|||
|
|
<span class="p">...</span>
|
|||
|
|
<span class="p">}</span>
|
|||
|
|
</pre></div>
|
|||
|
|
</div>
|
|||
|
|
</div>
|
|||
|
|
<div class="section" id="braces">
|
|||
|
|
<h3>2.4. Braces</h3>
|
|||
|
|
<p>Braces, both open and close, go on their own lines, e.g.:</p>
|
|||
|
|
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="k">if</span> <span class="p">(</span><span class="n">a</span> <span class="o"><</span> <span class="n">b</span><span class="p">)</span>
|
|||
|
|
<span class="p">{</span>
|
|||
|
|
<span class="p">...</span>
|
|||
|
|
<span class="p">}</span>
|
|||
|
|
<span class="k">else</span>
|
|||
|
|
<span class="p">{</span>
|
|||
|
|
<span class="p">...</span>
|
|||
|
|
<span class="p">}</span>
|
|||
|
|
</pre></div>
|
|||
|
|
</div>
|
|||
|
|
<p>Braces can be omitted if the enclosed block is a single-line statement, e.g.:</p>
|
|||
|
|
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="k">if</span> <span class="p">(</span><span class="n">a</span> <span class="o"><</span> <span class="n">b</span><span class="p">)</span>
|
|||
|
|
<span class="n">x</span> <span class="o">=</span> <span class="mi">2</span> <span class="o">*</span> <span class="n">a</span><span class="p">;</span>
|
|||
|
|
</pre></div>
|
|||
|
|
</div>
|
|||
|
|
</div>
|
|||
|
|
<div class="section" id="spacing">
|
|||
|
|
<h3>2.5. Spacing</h3>
|
|||
|
|
<p>We’ll say it again: the standard indentation for each block in PCL is <strong>2
|
|||
|
|
spaces</strong>. We also include a space before the bracketed list of arguments to a
|
|||
|
|
function/method, e.g.:</p>
|
|||
|
|
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="kt">int</span>
|
|||
|
|
<span class="nf">exampleMethod</span> <span class="p">(</span><span class="kt">int</span> <span class="n">example_arg</span><span class="p">);</span>
|
|||
|
|
</pre></div>
|
|||
|
|
</div>
|
|||
|
|
<p>Class and struct members are indented by <strong>2 spaces</strong>. Access qualifiers (public, private and protected) are put at the
|
|||
|
|
indentation level of the class body and members affected by these qualifiers are indented by one more level, i.e. 2 spaces. E.g.:</p>
|
|||
|
|
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="k">namespace</span> <span class="n">foo</span>
|
|||
|
|
<span class="p">{</span>
|
|||
|
|
|
|||
|
|
<span class="k">class</span> <span class="nc">Bar</span>
|
|||
|
|
<span class="p">{</span>
|
|||
|
|
<span class="kt">int</span> <span class="n">i</span><span class="p">;</span>
|
|||
|
|
<span class="k">public</span><span class="o">:</span>
|
|||
|
|
<span class="kt">int</span> <span class="n">j</span><span class="p">;</span>
|
|||
|
|
<span class="k">protected</span><span class="o">:</span>
|
|||
|
|
<span class="kt">void</span>
|
|||
|
|
<span class="n">baz</span> <span class="p">();</span>
|
|||
|
|
<span class="p">};</span>
|
|||
|
|
<span class="p">}</span>
|
|||
|
|
</pre></div>
|
|||
|
|
</div>
|
|||
|
|
</div>
|
|||
|
|
<div class="section" id="automatic-code-formatting">
|
|||
|
|
<h3>2.6. Automatic code formatting</h3>
|
|||
|
|
<p>We currently use clang-format-10 as the tool for auto-formatting our C++ code.
|
|||
|
|
Please note that different versions of clang-format can result in slightly different outputs.</p>
|
|||
|
|
<p>The style rules mentioned in this document are enforced via <a class="reference external" href="https://github.com/PointCloudLibrary/pcl/blob/master/.clang-format">PCL’s .clang-format file</a>.
|
|||
|
|
The style files which were previously distributed should now be considered deprecated.</p>
|
|||
|
|
<p>For the integration of clang-format with various text editors and IDE’s, refer to this <a class="reference external" href="https://clang.llvm.org/docs/ClangFormat.html">page</a>.</p>
|
|||
|
|
<p>Details about the style options used can be found <a class="reference external" href="https://clang.llvm.org/docs/ClangFormatStyleOptions.html">here</a>.</p>
|
|||
|
|
<div class="section" id="script-usage">
|
|||
|
|
<h4>2.6.1. Script usage</h4>
|
|||
|
|
<p>PCL also creates a build target ‘format’ to format the whitelisted directories using clang-format.</p>
|
|||
|
|
<p>Command line usage:</p>
|
|||
|
|
<div class="highlight-shell notranslate"><div class="highlight"><pre><span></span>$ make format
|
|||
|
|
</pre></div>
|
|||
|
|
</div>
|
|||
|
|
</div>
|
|||
|
|
</div>
|
|||
|
|
<div class="section" id="id3">
|
|||
|
|
<h3>2.7. Includes</h3>
|
|||
|
|
<p>For consistent usage, headers should be included in the following order with alphabetical grouping ensured:</p>
|
|||
|
|
<ol class="arabic">
|
|||
|
|
<li><p class="first">PCL headers</p>
|
|||
|
|
<ol class="lowerroman">
|
|||
|
|
<li><p class="first">All modular PCL includes, except main includes of common module.</p>
|
|||
|
|
<p>Examples:</p>
|
|||
|
|
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="cp">#include</span> <span class="cpf"><pcl/common/common.h></span><span class="cp"></span>
|
|||
|
|
<span class="cp">#include</span> <span class="cpf"><pcl/simulation/camera.h></span><span class="cp"></span>
|
|||
|
|
<span class="cp">#include</span> <span class="cpf"><pcl/ml/dt/decision_forest.h></span><span class="cp"></span>
|
|||
|
|
</pre></div>
|
|||
|
|
</div>
|
|||
|
|
</li>
|
|||
|
|
<li><p class="first">The main PCL includes of common module. These are the header files in the <code class="docutils literal notranslate"><span class="pre">pcl/common/include/pcl/</span></code> directory.</p>
|
|||
|
|
<p>Examples:</p>
|
|||
|
|
<div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="cp">#include</span> <span class="cpf"><pcl/memory.h></span><span class="cp"></span>
|
|||
|
|
<span class="cp">#include</span> <span class="cpf"><pcl/pcl_macros.h></span><span class="cp"></span>
|
|||
|
|
<span class="cp">#include</span> <span class="cpf"><pcl/point_cloud.h></span><span class="cp"></span>
|
|||
|
|
</pre></div>
|
|||
|
|
</div>
|
|||
|
|
</li>
|
|||
|
|
</ol>
|
|||
|
|
</li>
|
|||
|
|
<li><p class="first">Major 3rd-Party components of tests and modules</p>
|
|||
|
|
<ol class="lowerroman simple">
|
|||
|
|
<li>gtest</li>
|
|||
|
|
<li>boost</li>
|
|||
|
|
<li>Eigen</li>
|
|||
|
|
<li>flann</li>
|
|||
|
|
</ol>
|
|||
|
|
</li>
|
|||
|
|
<li><p class="first">Major 3rd-Party components of apps</p>
|
|||
|
|
<ol class="lowerroman simple">
|
|||
|
|
<li>Qt</li>
|
|||
|
|
<li>ui-files</li>
|
|||
|
|
<li>vtk</li>
|
|||
|
|
</ol>
|
|||
|
|
</li>
|
|||
|
|
<li><p class="first">Minor 3rd-Party components</p>
|
|||
|
|
<ol class="lowerroman simple">
|
|||
|
|
<li>librealsense</li>
|
|||
|
|
<li>ros/message_filters</li>
|
|||
|
|
<li>opencv/opencv2</li>
|
|||
|
|
<li>tide</li>
|
|||
|
|
<li>thrust</li>
|
|||
|
|
<li>OpenGL, GL & GLUT</li>
|
|||
|
|
</ol>
|
|||
|
|
</li>
|
|||
|
|
<li><p class="first">C++ standard library headers (alphabetical)</p>
|
|||
|
|
</li>
|
|||
|
|
<li><p class="first">Others</p>
|
|||
|
|
</li>
|
|||
|
|
</ol>
|
|||
|
|
<p>This style can also be enforced via clang-format. For usage instructions, refer <a class="reference internal" href="#automatic-code-formatting">2.6. Automatic code formatting</a>.</p>
|
|||
|
|
</div>
|
|||
|
|
</div>
|
|||
|
|
<div class="section" id="structuring">
|
|||
|
|
<h2>3. Structuring</h2>
|
|||
|
|
<div class="section" id="classes-and-api">
|
|||
|
|
<h3>3.1. Classes and API</h3>
|
|||
|
|
<p>For most classes in PCL, it is preferred that the interface (all public
|
|||
|
|
members) does not contain variables and only two types of methods:</p>
|
|||
|
|
<ul class="simple">
|
|||
|
|
<li>The first method type is the get/set type that allows to manipulate the
|
|||
|
|
parameters and input data used by the class.</li>
|
|||
|
|
<li>The second type of methods is actually performing the class functionality
|
|||
|
|
and produces output, e.g. compute, filter, segment.</li>
|
|||
|
|
</ul>
|
|||
|
|
</div>
|
|||
|
|
<div class="section" id="passing-arguments">
|
|||
|
|
<h3>3.2. Passing arguments</h3>
|
|||
|
|
<p>For get/set type methods the following rules apply:</p>
|
|||
|
|
<ul class="simple">
|
|||
|
|
<li>If large amounts of data needs to be set (usually the case with input data
|
|||
|
|
in PCL) it is preferred to pass a boost shared pointer instead of the actual
|
|||
|
|
data.</li>
|
|||
|
|
<li>Getters always need to pass exactly the same types as their repsective setters
|
|||
|
|
and vice versa.</li>
|
|||
|
|
<li>For getters, if only one argument needs to be passed this will be done via
|
|||
|
|
the return keyword. If two or more arguments need to be passed they will
|
|||
|
|
all be passed by reference instead.</li>
|
|||
|
|
</ul>
|
|||
|
|
<p>For the compute, filter, segment, etc. type methods the following rules apply:</p>
|
|||
|
|
<ul class="simple">
|
|||
|
|
<li>The output arguments are preferably non-pointer type, regardless of data
|
|||
|
|
size.</li>
|
|||
|
|
<li>The output arguments will always be passed by reference.</li>
|
|||
|
|
</ul>
|
|||
|
|
</div>
|
|||
|
|
<div class="section" id="object-declaration">
|
|||
|
|
<h3>3.3. Object declaration</h3>
|
|||
|
|
<div class="section" id="use-of-auto">
|
|||
|
|
<h4>3.3.1 Use of auto</h4>
|
|||
|
|
<ul class="simple">
|
|||
|
|
<li>For Iterators auto must be used as much as possible</li>
|
|||
|
|
<li>In all the other cases auto can be used at the author’s discretion</li>
|
|||
|
|
<li>Use const auto references by default in range loops. Drop the const if the item needs to be modified.</li>
|
|||
|
|
</ul>
|
|||
|
|
</div>
|
|||
|
|
<div class="section" id="type-qualifiers-of-variables">
|
|||
|
|
<h4>3.3.2 Type qualifiers of variables</h4>
|
|||
|
|
<ul class="simple">
|
|||
|
|
<li>Declare variables const when they don’t need to be modified.</li>
|
|||
|
|
<li>Use const references whenever you don’t need a copy of the variable.</li>
|
|||
|
|
<li>Use of unsigned variables if the value is sure to not go negative by
|
|||
|
|
use and by definition of the variable</li>
|
|||
|
|
</ul>
|
|||
|
|
</div>
|
|||
|
|
</div>
|
|||
|
|
</div>
|
|||
|
|
</div>
|
|||
|
|
|
|||
|
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|
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</div>
|
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<footer>
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<hr/>
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<div role="contentinfo">
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<p>
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© Copyright
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