Fix build and lint errors

grid_map_cv/include/grid_map_cv/GridMapCvConverter.hpp

@@ -119,13 +119,15 @@ class GridMapCvConverter
 
       // Check for alpha layer.
       if (hasAlpha) {
-        const Type_ alpha = image.at<cv::Vec<Type_, NChannels_>>(imageIndex(0), imageIndex(1))[NChannels_ - 1];
-        if (alpha < alphaTreshold) continue;
+        const Type_ alpha = image.at<cv::Vec<Type_,
+            NChannels_>>(imageIndex(0), imageIndex(1))[NChannels_ - 1];
+        if (alpha < alphaTreshold) {continue;}
       }
 
       // Compute value.
       const Type_ imageValue = imageMono.at<Type_>(imageIndex(0), imageIndex(1));
-      const float mapValue = lowerValue + mapValueDifference * ((float) imageValue / maxImageValue);
+      const float mapValue =
+        lowerValue + mapValueDifference * (static_cast<float>(imageValue) / maxImageValue);
       data(gridMapIndex(0), gridMapIndex(1)) = mapValue;
     }
 
@@ -243,7 +245,7 @@ class GridMapCvConverter
 
     for (GridMapIterator iterator(map); !iterator.isPastEnd(); ++iterator) {
       const Index index(*iterator);
-      const float& value = data(index(0), index(1));
+      const float & value = data(index(0), index(1));
       if (std::isfinite(value)) {
         const Type_ imageValue =
           (Type_) (((value - lowerValue) / (upperValue - lowerValue)) *

grid_map_cv/include/grid_map_cv/GridMapCvProcessing.hpp

@@ -8,6 +8,8 @@
 
 #pragma once
 
+#include <string>
+
 #include <grid_map_core/grid_map_core.hpp>
 
 // OpenCV
@@ -63,8 +65,11 @@ class GridMapCvProcessing
    * @throw std::out_of_range if no map layer with name `heightLayerName` is present.
    * @throw std::invalid_argument if the transform is not approximately z-aligned.
    */
-  static GridMap getTransformedMap(GridMap&& gridMapSource, const Eigen::Isometry3d& transform, const std::string& heightLayerName,
-                                   const std::string& newFrameId);
+  static GridMap getTransformedMap(
+    GridMap && gridMapSource,
+    const Eigen::Isometry3d & transform,
+    const std::string & heightLayerName,
+    const std::string & newFrameId);
 };
 
 }  // namespace grid_map

grid_map_cv/src/GridMapCvProcessing.cpp

@@ -82,11 +82,16 @@ bool GridMapCvProcessing::changeResolution(
   return true;
 }
 
-GridMap GridMapCvProcessing::getTransformedMap(GridMap&& gridMapSource, const Eigen::Isometry3d& transform,
-                                               const std::string& heightLayerName, const std::string& newFrameId) {
+GridMap GridMapCvProcessing::getTransformedMap(
+  GridMap && gridMapSource,
+  const Eigen::Isometry3d & transform,
+  const std::string & heightLayerName,
+  const std::string & newFrameId)
+{
   // Check if height layer is valid.
   if (!gridMapSource.exists(heightLayerName)) {
-    throw std::out_of_range("GridMap::getTransformedMap(...) : No map layer '" + heightLayerName + "' available.");
+    throw std::out_of_range("GridMap::getTransformedMap(...) : No map layer '" +
+                            heightLayerName + "' available.");
   }
 
   // Check if transformation is z aligned.
@@ -96,7 +101,9 @@ GridMap GridMapCvProcessing::getTransformedMap(GridMap&& gridMapSource, const Ei
 
   auto yawPitchRoll = transform.rotation().eulerAngles(2, 1, 0);  // Double check convention!
   double rotationAngle = yawPitchRoll.x() * 180 / CV_PI;
-  if (std::abs(yawPitchRoll.y()) >= 3 && std::abs(yawPitchRoll.z()) >= 3) {  // Resolve yaw ambiguity in euler angles.
+  if (std::abs(yawPitchRoll.y()) >= 3 &&
+    std::abs(yawPitchRoll.z()) >= 3)
+  {  // Resolve yaw ambiguity in euler angles.
     rotationAngle += 180;
   }
 
@@ -113,7 +120,7 @@ GridMap GridMapCvProcessing::getTransformedMap(GridMap&& gridMapSource, const Ei
   cv::Rect2f boundingBox;
 
   bool firstLayer = true;
-  for (const auto& layer : gridMapSource.getLayers()) {
+  for (const auto & layer : gridMapSource.getLayers()) {
     cv::Mat imageSource, imageResult;
 
     // From gridMap to openCV image. Assumes defaultStartIndex.
@@ -124,28 +131,32 @@ GridMap GridMapCvProcessing::getTransformedMap(GridMap&& gridMapSource, const Ei
       // Get rotation matrix for rotating the image around its center in pixel coordinates. See
       // https://answers.opencv.org/question/82708/rotation-center-confusion/
       cv::Point2f imageCenter =
-          cv::Point2f((imageSource.cols - 1) / 2.0, (imageSource.rows - 1) / 2.0);
+        cv::Point2f((imageSource.cols - 1) / 2.0, (imageSource.rows - 1) / 2.0);
 
       imageRotationMatrix = cv::getRotationMatrix2D(imageCenter, rotationAngle, 1.0);
-      boundingBox = cv::RotatedRect(cv::Point2f(0, 0), imageSource.size(), rotationAngle).boundingRect2f();
+      boundingBox = cv::RotatedRect(cv::Point2f(0, 0),
+                          imageSource.size(), rotationAngle).boundingRect2f();
 
       // Adjust transformation matrix. See
       // https://docs.opencv.org/3.4/da/d54/group__imgproc__transform.html#gafbbc470ce83812914a70abfb604f4326 and https://stackoverflow.com/questions/22041699/rotate-an-image-without-cropping-in-opencv-in-c
       imageRotationMatrix.at<double>(0, 2) += boundingBox.width / 2.0 - imageSource.cols / 2.0;
       imageRotationMatrix.at<double>(1, 2) += boundingBox.height / 2.0 - imageSource.rows / 2.0;
 
       // Calculate the new center of the gridMap.
-      Position3 newCenter = transform * Position3{(gridMapSource.getPosition().x()), (gridMapSource.getPosition().y()), 0.0};
+      Position3 newCenter = transform * Position3{(gridMapSource.getPosition().x()),
+        (gridMapSource.getPosition().y()), 0.0};
 
       // Set the size of the rotated gridMap.
-      transformedMap.setGeometry({boundingBox.height * gridMapSource.getResolution(), boundingBox.width * gridMapSource.getResolution()},
-                         gridMapSource.getResolution(), Position(newCenter.x(), newCenter.y()));
+      transformedMap.setGeometry({boundingBox.height * gridMapSource.getResolution(),
+          boundingBox.width * gridMapSource.getResolution()},
+          gridMapSource.getResolution(), Position(newCenter.x(), newCenter.y()));
       firstLayer = false;
     }
 
     // Rotate the layer.
     imageResult = cv::Mat(boundingBox.size(), CV_32F, std::numeric_limits<double>::quiet_NaN());
-    cv::warpAffine(imageSource, imageResult, imageRotationMatrix, boundingBox.size(), cv::INTER_NEAREST, cv::BORDER_TRANSPARENT);
+    cv::warpAffine(imageSource, imageResult, imageRotationMatrix,
+                   boundingBox.size(), cv::INTER_NEAREST, cv::BORDER_TRANSPARENT);
 
     // Copy result into gridMapLayer. Assumes default start index.
     Matrix resultLayer;