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panther_gazebo/include/panther_gazebo/led_strip.hpp

@@ -16,7 +16,6 @@
 #define PANTHER_GAZEBO_LED_STRIP_HPP_
 
 #include <chrono>
-#include <mutex>
 #include <string>
 
 #include <realtime_tools/realtime_box.h>
@@ -78,7 +77,7 @@ class LEDStrip : public gz::sim::System,
    * @brief Return Light command based on light configuration specified in URDF file Light
    * properties
    *
-   * @param ecm Entity Component Manager
+   * @param ecm The entity component manager.
    * @return Light command message
    * @exception std::runtime_error if the light entity is not found.
    */
@@ -97,13 +96,19 @@ class LEDStrip : public gz::sim::System,
 
   /**
    * @brief Manage color of robot simulated lights based on the image message
+   *
+   * @param ecm The entity component manager.
+   * @param image The image message
    */
   void VisualizeLights(gz::sim::EntityComponentManager & ecm, const gz::msgs::Image & image);
 
   /**
    * @brief Manage color of robot LED strip based on the image message
+   *
+   * @param image The image message
+   * @param light_pose The pose of the light
    */
-  void VisualizeMarkers(const gz::msgs::Image & image, const gz::math::Pose3d & lightPose);
+  void VisualizeMarkers(const gz::msgs::Image & image, const gz::math::Pose3d & light_pose);
 
   /**
    * @brief Create a marker element (single LED from LED Strip)
@@ -117,7 +122,6 @@ class LEDStrip : public gz::sim::System,
     const uint id, const gz::math::Pose3d pose, const gz::math::Color & color,
     const gz::math::Vector3d size);
 
-  // Parameters
   std::string light_name_;
   std::string image_topic_;
   std::string ns_ = "";

panther_gazebo/src/led_strip.cpp

@@ -14,7 +14,7 @@
 
 #include "panther_gazebo/led_strip.hpp"
 
-#include <stddef.h>
+#include <cstddef>
 #include <limits>
 
 #include <gz/plugin/Register.hh>
@@ -182,8 +182,8 @@ gz::math::Color LEDStrip::CalculateMeanColor(const gz::msgs::Image & msg)
     }
   }
 
-  float max_value = std::numeric_limits<uint8_t>::max();
-  float norm_factor = max_value * pixel_count;
+  const float max_value = std::numeric_limits<uint8_t>::max();
+  const float norm_factor = max_value * pixel_count;
 
   float norm_mean_r = sum_r / norm_factor;
   float norm_mean_g = sum_g / norm_factor;
@@ -223,7 +223,7 @@ void LEDStrip::VisualizeMarkers(const gz::msgs::Image & image, const gz::math::P
   double step_width = marker_width_ / image.width();
   double step_height = marker_height_ / image.height();
 
-  float max_value = std::numeric_limits<uint8_t>::max();
+  const float max_value = std::numeric_limits<uint8_t>::max();
   bool is_rgba = (image.pixel_format_type() == gz::msgs::PixelFormatType::RGBA_INT8);
   int step = is_rgba ? 4 : 3;