Format all documents and add docstrings to DROAN-GL

.vscode/settings.json

@@ -5,5 +5,6 @@
         "**/ros_ws/install/**": true,
         "**/ros_ws/log/**": true
     },
-    "github.copilot.chat.codeGeneration.useInstructionFiles": true
+    "github.copilot.chat.codeGeneration.useInstructionFiles": true,
+    "ROS2.distro": "humble"
 }

robot/ros_ws/src/autonomy/3_local/b_planners/droan_gl/CMakeLists.txt

@@ -23,34 +23,28 @@ find_package(airstack_common REQUIRED)
 find_package(airstack_msgs REQUIRED)
 find_package(trajectory_library REQUIRED)
 
-#add_executable(droan src/droan.cpp src/glad/src/glad.c)
-#target_include_directories(droan PUBLIC
-#  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-#  $<INSTALL_INTERFACE:include>)
-#target_compile_features(droan PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
-#ament_target_dependencies(droan rclcpp sensor_msgs stereo_msgs nav_msgs visualization_msgs tf2 tf2_ros tf2_geometry_msgs cv_bridge ament_index_cpp pcl_conversions airstack_common airstack_msgs)
-#target_link_libraries(droan glfw dl assimp EGL GL)
-
-
 add_executable(expand src/expand.cpp src/gl_interface.cpp src/global_plan.cpp src/rewind_monitor.cpp src/glad/src/glad.c)
 target_include_directories(expand PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
-target_compile_features(expand PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+target_compile_features(expand PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17
 ament_target_dependencies(expand rclcpp sensor_msgs stereo_msgs nav_msgs visualization_msgs tf2 tf2_ros tf2_geometry_msgs cv_bridge ament_index_cpp pcl_conversions airstack_common airstack_msgs trajectory_library)
 target_link_libraries(expand glfw dl assimp EGL GL)
 
-#install(TARGETS droan DESTINATION lib/${PROJECT_NAME})
+# install(TARGETS droan DESTINATION lib/${PROJECT_NAME})
 install(TARGETS expand DESTINATION lib/${PROJECT_NAME})
-#install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+
+# install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY shaders DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
+
   # the following line skips the linter which checks for copyrights
   # comment the line when a copyright and license is added to all source files
   set(ament_cmake_copyright_FOUND TRUE)
+
   # the following line skips cpplint (only works in a git repo)
   # comment the line when this package is in a git repo and when
   # a copyright and license is added to all source files

robot/ros_ws/src/autonomy/3_local/b_planners/droan_gl/README.md

@@ -30,14 +30,13 @@ Trajectories are generated using snaps in different directions. Collision checki
 
 `dt` - The increment in seconds for generating points along the trajectory.
 
-`downsample_scale` - The factor by which the input disparity image will be downsampled. 
+`downsample_scale` - The factor by which the input disparity image will be downsampled.
 
 `graph_nodes` - The number of expanded foreground and background disparity image pairs to do collision checking on.
 
 `graph_distance_threshold` - The distance in meters after which a new node will be added to the list.
 `graph_angle_threshold` - The angle in degrees that the drone has to yaw before a new node will be added to the list.
 
-
 Rewinds are triggered by two events. When all trajectories are in collision from length of time the drone will rewind for a set duraiton. When the drone is considered to be staionary for too long, the drone will rewind for some distance or duration, whichever is satisfied first.
 
 `all_in_collision_duration_threshold` - The amount of time in seconds all trajectories need to be in collision for a rewind to be triggered.

robot/ros_ws/src/autonomy/3_local/b_planners/droan_gl/include/KHR/khrplatform.h

@@ -91,7 +91,7 @@
  */
 
 #if defined(__SCITECH_SNAP__) && !defined(KHRONOS_STATIC)
-#   define KHRONOS_STATIC 1
+#define KHRONOS_STATIC 1
 #endif
 
 /*-------------------------------------------------------------------------
@@ -100,17 +100,17 @@
  * This precedes the return type of the function in the function prototype.
  */
 #if defined(KHRONOS_STATIC)
-    /* If the preprocessor constant KHRONOS_STATIC is defined, make the
-     * header compatible with static linking. */
-#   define KHRONOS_APICALL
+/* If the preprocessor constant KHRONOS_STATIC is defined, make the
+ * header compatible with static linking. */
+#define KHRONOS_APICALL
 #elif defined(_WIN32)
-#   define KHRONOS_APICALL __declspec(dllimport)
-#elif defined (__SYMBIAN32__)
-#   define KHRONOS_APICALL IMPORT_C
+#define KHRONOS_APICALL __declspec(dllimport)
+#elif defined(__SYMBIAN32__)
+#define KHRONOS_APICALL IMPORT_C
 #elif defined(__ANDROID__)
-#   define KHRONOS_APICALL __attribute__((visibility("default")))
+#define KHRONOS_APICALL __attribute__((visibility("default")))
 #else
-#   define KHRONOS_APICALL
+#define KHRONOS_APICALL
 #endif
 
 /*-------------------------------------------------------------------------
@@ -120,18 +120,18 @@
  * name in the function prototype.
  */
 #if defined(_WIN32) && !defined(_WIN32_WCE) && !defined(__SCITECH_SNAP__)
-    /* Win32 but not WinCE */
-#   define KHRONOS_APIENTRY __stdcall
+/* Win32 but not WinCE */
+#define KHRONOS_APIENTRY __stdcall
 #else
-#   define KHRONOS_APIENTRY
+#define KHRONOS_APIENTRY
 #endif
 
 /*-------------------------------------------------------------------------
  * Definition of KHRONOS_APIATTRIBUTES
  *-------------------------------------------------------------------------
  * This follows the closing parenthesis of the function prototype arguments.
  */
-#if defined (__ARMCC_2__)
+#if defined(__ARMCC_2__)
 #define KHRONOS_APIATTRIBUTES __softfp
 #else
 #define KHRONOS_APIATTRIBUTES
@@ -142,17 +142,16 @@
  *-----------------------------------------------------------------------*/
 #if (defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L) || defined(__GNUC__) || defined(__SCO__) || defined(__USLC__)
 
-
 /*
  * Using <stdint.h>
  */
 #include <stdint.h>
-typedef int32_t                 khronos_int32_t;
-typedef uint32_t                khronos_uint32_t;
-typedef int64_t                 khronos_int64_t;
-typedef uint64_t                khronos_uint64_t;
-#define KHRONOS_SUPPORT_INT64   1
-#define KHRONOS_SUPPORT_FLOAT   1
+typedef int32_t khronos_int32_t;
+typedef uint32_t khronos_uint32_t;
+typedef int64_t khronos_int64_t;
+typedef uint64_t khronos_uint64_t;
+#define KHRONOS_SUPPORT_INT64 1
+#define KHRONOS_SUPPORT_FLOAT 1
 /*
  * To support platform where unsigned long cannot be used interchangeably with
  * inptr_t (e.g. CHERI-extended ISAs), we can use the stdint.h intptr_t.
@@ -168,111 +167,110 @@ typedef uint64_t                khronos_uint64_t;
 #endif
 #endif
 
-#elif defined(__VMS ) || defined(__sgi)
+#elif defined(__VMS) || defined(__sgi)
 
 /*
  * Using <inttypes.h>
  */
 #include <inttypes.h>
-typedef int32_t                 khronos_int32_t;
-typedef uint32_t                khronos_uint32_t;
-typedef int64_t                 khronos_int64_t;
-typedef uint64_t                khronos_uint64_t;
-#define KHRONOS_SUPPORT_INT64   1
-#define KHRONOS_SUPPORT_FLOAT   1
+typedef int32_t khronos_int32_t;
+typedef uint32_t khronos_uint32_t;
+typedef int64_t khronos_int64_t;
+typedef uint64_t khronos_uint64_t;
+#define KHRONOS_SUPPORT_INT64 1
+#define KHRONOS_SUPPORT_FLOAT 1
 
 #elif defined(_WIN32) && !defined(__SCITECH_SNAP__)
 
 /*
  * Win32
  */
-typedef __int32                 khronos_int32_t;
-typedef unsigned __int32        khronos_uint32_t;
-typedef __int64                 khronos_int64_t;
-typedef unsigned __int64        khronos_uint64_t;
-#define KHRONOS_SUPPORT_INT64   1
-#define KHRONOS_SUPPORT_FLOAT   1
+typedef __int32 khronos_int32_t;
+typedef unsigned __int32 khronos_uint32_t;
+typedef __int64 khronos_int64_t;
+typedef unsigned __int64 khronos_uint64_t;
+#define KHRONOS_SUPPORT_INT64 1
+#define KHRONOS_SUPPORT_FLOAT 1
 
 #elif defined(__sun__) || defined(__digital__)
 
 /*
  * Sun or Digital
  */
-typedef int                     khronos_int32_t;
-typedef unsigned int            khronos_uint32_t;
+typedef int khronos_int32_t;
+typedef unsigned int khronos_uint32_t;
 #if defined(__arch64__) || defined(_LP64)
-typedef long int                khronos_int64_t;
-typedef unsigned long int       khronos_uint64_t;
+typedef long int khronos_int64_t;
+typedef unsigned long int khronos_uint64_t;
 #else
-typedef long long int           khronos_int64_t;
-typedef unsigned long long int  khronos_uint64_t;
+typedef long long int khronos_int64_t;
+typedef unsigned long long int khronos_uint64_t;
 #endif /* __arch64__ */
-#define KHRONOS_SUPPORT_INT64   1
-#define KHRONOS_SUPPORT_FLOAT   1
+#define KHRONOS_SUPPORT_INT64 1
+#define KHRONOS_SUPPORT_FLOAT 1
 
 #elif 0
 
 /*
  * Hypothetical platform with no float or int64 support
  */
-typedef int                     khronos_int32_t;
-typedef unsigned int            khronos_uint32_t;
-#define KHRONOS_SUPPORT_INT64   0
-#define KHRONOS_SUPPORT_FLOAT   0
+typedef int khronos_int32_t;
+typedef unsigned int khronos_uint32_t;
+#define KHRONOS_SUPPORT_INT64 0
+#define KHRONOS_SUPPORT_FLOAT 0
 
 #else
 
 /*
  * Generic fallback
  */
 #include <stdint.h>
-typedef int32_t                 khronos_int32_t;
-typedef uint32_t                khronos_uint32_t;
-typedef int64_t                 khronos_int64_t;
-typedef uint64_t                khronos_uint64_t;
-#define KHRONOS_SUPPORT_INT64   1
-#define KHRONOS_SUPPORT_FLOAT   1
+typedef int32_t khronos_int32_t;
+typedef uint32_t khronos_uint32_t;
+typedef int64_t khronos_int64_t;
+typedef uint64_t khronos_uint64_t;
+#define KHRONOS_SUPPORT_INT64 1
+#define KHRONOS_SUPPORT_FLOAT 1
 
 #endif
 
-
 /*
  * Types that are (so far) the same on all platforms
  */
-typedef signed   char          khronos_int8_t;
-typedef unsigned char          khronos_uint8_t;
-typedef signed   short int     khronos_int16_t;
-typedef unsigned short int     khronos_uint16_t;
+typedef signed char khronos_int8_t;
+typedef unsigned char khronos_uint8_t;
+typedef signed short int khronos_int16_t;
+typedef unsigned short int khronos_uint16_t;
 
 /*
  * Types that differ between LLP64 and LP64 architectures - in LLP64,
  * pointers are 64 bits, but 'long' is still 32 bits. Win64 appears
  * to be the only LLP64 architecture in current use.
  */
 #ifdef KHRONOS_USE_INTPTR_T
-typedef intptr_t               khronos_intptr_t;
-typedef uintptr_t              khronos_uintptr_t;
+typedef intptr_t khronos_intptr_t;
+typedef uintptr_t khronos_uintptr_t;
 #elif defined(_WIN64)
-typedef signed   long long int khronos_intptr_t;
+typedef signed long long int khronos_intptr_t;
 typedef unsigned long long int khronos_uintptr_t;
 #else
-typedef signed   long  int     khronos_intptr_t;
-typedef unsigned long  int     khronos_uintptr_t;
+typedef signed long int khronos_intptr_t;
+typedef unsigned long int khronos_uintptr_t;
 #endif
 
 #if defined(_WIN64)
-typedef signed   long long int khronos_ssize_t;
+typedef signed long long int khronos_ssize_t;
 typedef unsigned long long int khronos_usize_t;
 #else
-typedef signed   long  int     khronos_ssize_t;
-typedef unsigned long  int     khronos_usize_t;
+typedef signed long int khronos_ssize_t;
+typedef unsigned long int khronos_usize_t;
 #endif
 
 #if KHRONOS_SUPPORT_FLOAT
 /*
  * Float type
  */
-typedef          float         khronos_float_t;
+typedef float khronos_float_t;
 #endif
 
 #if KHRONOS_SUPPORT_INT64
@@ -285,8 +283,8 @@ typedef          float         khronos_float_t;
  * 64 bit value that wraps back to 0 every 584 years.  Time intervals
  * may be either signed or unsigned.
  */
-typedef khronos_uint64_t       khronos_utime_nanoseconds_t;
-typedef khronos_int64_t        khronos_stime_nanoseconds_t;
+typedef khronos_uint64_t khronos_utime_nanoseconds_t;
+typedef khronos_int64_t khronos_stime_nanoseconds_t;
 #endif
 
 /*
@@ -302,9 +300,10 @@ typedef khronos_int64_t        khronos_stime_nanoseconds_t;
  * Values other than zero should be considered to be true.  Therefore
  * comparisons should not be made against KHRONOS_TRUE.
  */
-typedef enum {
+typedef enum
+{
     KHRONOS_FALSE = 0,
-    KHRONOS_TRUE  = 1,
+    KHRONOS_TRUE = 1,
     KHRONOS_BOOLEAN_ENUM_FORCE_SIZE = KHRONOS_MAX_ENUM
 } khronos_boolean_enum_t;