Code Style

C++

• Use clang-format before committing. Read this for VSCode and for CLion it should work automatically by detecting the .clang-format file.
• Never use raw pointers, prefer smart pointers (usually std::shared_ptr).
• Check if something exists in the standard library before you reinvent the wheel!
• Prefer static_cast etc. instead of C style cast
• Use auto on iterator types (ranged for) and when the type is obvious, for example casting or std::make_shared
• Pass primitives by value (int, float, etc.) and complex types by reference or smart pointers
• Do not use references (&) types for out parameters in functions, prefer returning a struct
• Prefer using an explicit struct instead of std::pair or std::tuple
• Use structured binding when possible (e.g. iterating named map, unpacking a std::pair, ...)
• Avoid std::bind, use an explicit lambda

Python

• Currently pycodestyle, flake8, and isort are used as a basic check. Read this for VSCode, ideally you adhere to pylint too but it can be very strict so right now it wont be enforced.
  • To install use pip (pip install isort pycodestyle flake8 pylint)
  • While in the src directory run isort ., pycodestyle . --max-line-length=119, pylint. --max-line-length=119, etc.
• If you are writing a function, please use type hinting for the signature. For other places, only use if necessary, for example a situation where the types are confusing.
• Document your code! Use the reST standard specifically

Here is a good concrete example:

def pos_distance_to(self, p: SE3) -> float:
    """
    Get the euclidean distance from the position of this SE3 pose to the position of another SE3 pose.
    :param p: another SE3 pose object
    :returns: euclidean distance between the two SE3 poses
    """
    return np.linalg.norm(p.position_vector() - self.position_vector())