Change function naming, add documentation.

.clang-tidy

@@ -2,7 +2,8 @@ Checks: '-*,bugprone-*,modernize-*,performance-*,-modernize-use-equals-delete,-m
 CheckOptions:
   - { key: readability-identifier-naming.NamespaceCase,         value: lower_case }
   - { key: readability-identifier-naming.ClassCase,             value: CamelCase  }
-  - { key: readability-identifier-naming.StructCase,            value: CamelCase  }
+  - { key: readability-identifier-naming.GlobalFunctionCase,    value: camelBack }
+  - { key: readability-identifier-naming.StructCase,            value: CamelCase }
   - { key: readability-identifier-naming.FunctionCase,          value: CamelCase }
   - { key: readability-identifier-naming.ParameterPrefix,       value: _ }
   - { key: readability-identifier-naming.VariableCase,          value: camelBack }

CONTRIBUTING.md

@@ -202,8 +202,34 @@ get aquainted with this development process.
 
     The tool does not catch all style errors. See the [code style](#markdown-header-style-guides) section below for more information.
 
+1. **(optional) Use clang-tidy for additional checks.**
+
+    clang-tidy should return no errors when run against the code base.
+
+    Ubuntu users can install via:
+
+        sudo apt-get install clang-tidy-6.0 # or clang-tidy-7 with LLVM PPAs
+
+    In order to run clang-tidy, CMake must be used to generate a `compliation_commands.json`, also referred to as a compilation command database. In order to generate this file, add a flag to your `cmake` invokation (or to the `--cmake-args` flag if using `colcon`)
+
+        # For CMake
+        mkdir build
+        cd build
+        cmake .. -DCMAKE_EXPORT_COMPILE_COMMANDS=1
+
+        # For colcon
+        colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1
+
+    Once the database is generated, execute from the `ign-gazebo` source directory:
+
+        run-clang-tidy-6.0.py -p=./build/ -header-filter=`pwd`/include/* -j6 -quiet
+
+    Address issues that are found.
+
+    If you are feeling adventurous, you can experiment with adding additional checks to the `.clang-tidy` file by referencing the full list of options in the [clang-tidy documentation](http://clang.llvm.org/extra/clang-tidy/checks/list.html)
+
 1. **Tests must pass.** You can check by running `make test` in
-    your build directory. Running tests may take a bit of time, be patient. 
+    your build directory. Running tests may take a bit of time, be patient.
 
 1. **Write documentation.** Document all your code. Every class, function, member variable must have doxygen comments. All code in source files must have documentation that describes the functionality. This will help reviewers and future developers.
 

include/ignition/gazebo/Conversions.hh

@@ -42,7 +42,7 @@ namespace ignition
     /// \return Conversion result.
     /// \tparam OUT Output type.
     template<class OUT>
-    OUT IGNITION_GAZEBO_VISIBLE Convert(const sdf::Geometry &_in)
+    OUT IGNITION_GAZEBO_VISIBLE convert(const sdf::Geometry &_in)
     {
       OUT::ConversionNotImplemented;
     }
@@ -52,14 +52,14 @@ namespace ignition
     /// \param[in] _in SDF geometry.
     /// \return Geometry message.
     template<>
-    msgs::Geometry IGNITION_GAZEBO_VISIBLE Convert(const sdf::Geometry &_in);
+    msgs::Geometry IGNITION_GAZEBO_VISIBLE convert(const sdf::Geometry &_in);
 
     /// \brief Generic conversion from an SDF material to another type.
     /// \param[in] _in SDF material.
     /// \return Conversion result.
     /// \tparam OUT Output type.
     template<class OUT>
-    OUT IGNITION_GAZEBO_VISIBLE Convert(const sdf::Material &_in)
+    OUT IGNITION_GAZEBO_VISIBLE convert(const sdf::Material &_in)
     {
       OUT::ConversionNotImplemented;
     }
@@ -69,14 +69,14 @@ namespace ignition
     /// \param[in] _in SDF material.
     /// \return Material message.
     template<>
-    msgs::Material IGNITION_GAZEBO_VISIBLE Convert(const sdf::Material &_in);
+    msgs::Material IGNITION_GAZEBO_VISIBLE convert(const sdf::Material &_in);
 
     /// \brief Generic conversion from an SDF light to another type.
     /// \param[in] _in SDF light.
     /// \return Conversion result.
     /// \tparam OUT Output type.
     template<class OUT>
-    OUT IGNITION_GAZEBO_VISIBLE Convert(const sdf::Light &_in)
+    OUT IGNITION_GAZEBO_VISIBLE convert(const sdf::Light &_in)
     {
       OUT::ConversionNotImplemented;
     }
@@ -86,14 +86,14 @@ namespace ignition
     /// \param[in] _in SDF light.
     /// \return Light message.
     template<>
-    msgs::Light IGNITION_GAZEBO_VISIBLE Convert(const sdf::Light &_in);
+    msgs::Light IGNITION_GAZEBO_VISIBLE convert(const sdf::Light &_in);
 
     /// \brief Generic conversion from an SDF gui to another type.
     /// \param[in] _in SDF gui.
     /// \return Conversion result.
     /// \tparam OUT Output type.
     template<class OUT>
-    OUT IGNITION_GAZEBO_VISIBLE Convert(const sdf::Gui &_in)
+    OUT IGNITION_GAZEBO_VISIBLE convert(const sdf::Gui &_in)
     {
       OUT::ConversionNotImplemented;
     }
@@ -102,7 +102,7 @@ namespace ignition
     /// \param[in] _in SDF gui.
     /// \return Gui message.
     template<>
-    msgs::GUI IGNITION_GAZEBO_VISIBLE Convert(const sdf::Gui &_in);
+    msgs::GUI IGNITION_GAZEBO_VISIBLE convert(const sdf::Gui &_in);
     }
   }
 }

src/Conversions.cc

@@ -47,7 +47,7 @@ using namespace gazebo;
 
 //////////////////////////////////////////////////
 template<>
-msgs::Geometry ignition::gazebo::Convert(const sdf::Geometry &_in)
+msgs::Geometry ignition::gazebo::convert(const sdf::Geometry &_in)
 {
   msgs::Geometry out;
   if (_in.Type() == sdf::GeometryType::BOX && _in.BoxShape())
@@ -96,7 +96,7 @@ msgs::Geometry ignition::gazebo::Convert(const sdf::Geometry &_in)
 
 //////////////////////////////////////////////////
 template<>
-msgs::Material ignition::gazebo::Convert(const sdf::Material &_in)
+msgs::Material ignition::gazebo::convert(const sdf::Material &_in)
 {
   msgs::Material out;
   msgs::Set(out.mutable_ambient(), _in.Ambient());
@@ -107,7 +107,7 @@ msgs::Material ignition::gazebo::Convert(const sdf::Material &_in)
 
 //////////////////////////////////////////////////
 template<>
-msgs::Light ignition::gazebo::Convert(const sdf::Light &_in)
+msgs::Light ignition::gazebo::convert(const sdf::Light &_in)
 {
   msgs::Light out;
   out.set_name(_in.Name());
@@ -134,7 +134,7 @@ msgs::Light ignition::gazebo::Convert(const sdf::Light &_in)
 
 //////////////////////////////////////////////////
 template<>
-msgs::GUI ignition::gazebo::Convert(const sdf::Gui &_in)
+msgs::GUI ignition::gazebo::convert(const sdf::Gui &_in)
 {
   msgs::GUI out;
 

src/Conversions_TEST.cc

@@ -51,7 +51,7 @@ TEST(Conversions, Light)
   light.SetSpotFalloff(0.9);
 
   msgs::Light lightMsg;
-  lightMsg = Convert<msgs::Light>(light);
+  lightMsg = convert<msgs::Light>(light);
   EXPECT_EQ("test_convert_light", lightMsg.name());
   EXPECT_EQ(msgs::Light_LightType_DIRECTIONAL, lightMsg.type());
   EXPECT_EQ(math::Pose3d(3, 2, 1, 0, IGN_PI, 0),
@@ -95,7 +95,7 @@ TEST(Conversions, Gui)
   auto gui = world->Gui();
   ASSERT_NE(nullptr, gui);
 
-  auto guiMsg = Convert<msgs::GUI>(*gui);
+  auto guiMsg = convert<msgs::GUI>(*gui);
   EXPECT_TRUE(guiMsg.fullscreen());
   ASSERT_EQ(2, guiMsg.plugin_size());