From d1161b5f8ea120326fb38c3c316fac63393a152f Mon Sep 17 00:00:00 2001
From: jie <zhengj@google.com>
Date: Wed, 11 Apr 2018 00:56:22 -0700
Subject: [PATCH] Internal cleanup (#1051)

Fix lint errors.
---
 .../mapping/internal/2d/local_trajectory_builder_2d.h |  6 +++---
 cartographer/mapping/internal/2d/pose_graph_2d.h      | 11 +++++++----
 .../mapping/internal/testing/fake_trimmable.h         |  9 +++++++++
 .../mapping/internal/testing/mock_map_builder.h       |  6 +++---
 .../mapping/internal/testing/mock_pose_graph.h        |  6 +++---
 cartographer/mapping/local_slam_result_data.h         |  6 +++---
 cartographer/sensor/internal/dispatchable.h           |  6 +++---
 7 files changed, 31 insertions(+), 19 deletions(-)

diff --git a/cartographer/mapping/internal/2d/local_trajectory_builder_2d.h b/cartographer/mapping/internal/2d/local_trajectory_builder_2d.h
index 86b7d96..77de6db 100644
--- a/cartographer/mapping/internal/2d/local_trajectory_builder_2d.h
+++ b/cartographer/mapping/internal/2d/local_trajectory_builder_2d.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_TRAJECTORY_BUILDER_H_
-#define CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_TRAJECTORY_BUILDER_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_TRAJECTORY_BUILDER_2D_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_TRAJECTORY_BUILDER_2D_H_
 
 #include <chrono>
 #include <memory>
@@ -119,4 +119,4 @@ class LocalTrajectoryBuilder2D {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_TRAJECTORY_BUILDER_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_TRAJECTORY_BUILDER_2D_H_
diff --git a/cartographer/mapping/internal/2d/pose_graph_2d.h b/cartographer/mapping/internal/2d/pose_graph_2d.h
index 2d4030a..3276f42 100644
--- a/cartographer/mapping/internal/2d/pose_graph_2d.h
+++ b/cartographer/mapping/internal/2d/pose_graph_2d.h
@@ -153,7 +153,8 @@ class PoseGraph2D : public PoseGraph {
     SubmapState state = SubmapState::kActive;
   };
 
-  MapById<SubmapId, PoseGraphInterface::SubmapData> GetSubmapDataUnderLock();
+  MapById<SubmapId, PoseGraphInterface::SubmapData> GetSubmapDataUnderLock()
+      REQUIRES(mutex_);
 
   // Handles a new work item.
   void AddWorkItem(const std::function<void()>& work_item) REQUIRES(mutex_);
@@ -279,9 +280,11 @@ class PoseGraph2D : public PoseGraph {
     int num_submaps(int trajectory_id) const override;
     std::vector<SubmapId> GetSubmapIds(int trajectory_id) const override;
     MapById<SubmapId, PoseGraphInterface::SubmapData> GetAllSubmapData()
-        const override;
-    MapById<NodeId, TrajectoryNode> GetTrajectoryNodes() const override;
-    std::vector<PoseGraphInterface::Constraint> GetConstraints() const override;
+        const override REQUIRES(parent_->mutex_);
+    MapById<NodeId, TrajectoryNode> GetTrajectoryNodes() const override
+        REQUIRES(parent_->mutex_);
+    std::vector<PoseGraphInterface::Constraint> GetConstraints() const override
+        REQUIRES(parent_->mutex_);
     void MarkSubmapAsTrimmed(const SubmapId& submap_id)
         REQUIRES(parent_->mutex_) override;
     bool IsFinished(int trajectory_id) const override REQUIRES(parent_->mutex_);
diff --git a/cartographer/mapping/internal/testing/fake_trimmable.h b/cartographer/mapping/internal/testing/fake_trimmable.h
index c86066d..f6cb885 100644
--- a/cartographer/mapping/internal/testing/fake_trimmable.h
+++ b/cartographer/mapping/internal/testing/fake_trimmable.h
@@ -14,6 +14,13 @@
  * limitations under the License.
  */
 
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_TESTING_FAKE_TRIMMABLE_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_TESTING_FAKE_TRIMMABLE_H_
+
+#include <vector>
+
+#include "cartographer/mapping/pose_graph_trimmer.h"
+
 namespace cartographer {
 namespace mapping {
 namespace testing {
@@ -64,3 +71,5 @@ class FakeTrimmable : public Trimmable {
 }  // namespace testing
 }  // namespace mapping
 }  // namespace cartographer
+
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_TESTING_FAKE_TRIMMABLE_H_
diff --git a/cartographer/mapping/internal/testing/mock_map_builder.h b/cartographer/mapping/internal/testing/mock_map_builder.h
index c5075d1..92f2412 100644
--- a/cartographer/mapping/internal/testing/mock_map_builder.h
+++ b/cartographer/mapping/internal/testing/mock_map_builder.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_MAP_BUILDER_H
-#define CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_MAP_BUILDER_H
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_MAP_BUILDER_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_MAP_BUILDER_H_
 
 #include "cartographer/mapping/map_builder_interface.h"
 #include "cartographer/mapping/trajectory_builder_interface.h"
@@ -60,4 +60,4 @@ class MockMapBuilder : public mapping::MapBuilderInterface {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_MAP_BUILDER_H
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_MAP_BUILDER_H_
diff --git a/cartographer/mapping/internal/testing/mock_pose_graph.h b/cartographer/mapping/internal/testing/mock_pose_graph.h
index fccd967..780c39b 100644
--- a/cartographer/mapping/internal/testing/mock_pose_graph.h
+++ b/cartographer/mapping/internal/testing/mock_pose_graph.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_POSE_GRAPH_H
-#define CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_POSE_GRAPH_H
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_POSE_GRAPH_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_POSE_GRAPH_H_
 
 #include "cartographer/mapping/pose_graph_interface.h"
 #include "glog/logging.h"
@@ -55,4 +55,4 @@ class MockPoseGraph : public mapping::PoseGraphInterface {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_POSE_GRAPH_H
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_POSE_GRAPH_H_
diff --git a/cartographer/mapping/local_slam_result_data.h b/cartographer/mapping/local_slam_result_data.h
index b24d272..2af12cf 100644
--- a/cartographer/mapping/local_slam_result_data.h
+++ b/cartographer/mapping/local_slam_result_data.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_LOCAL_SLAM_RESULT_DATA_H
-#define CARTOGRAPHER_MAPPING_LOCAL_SLAM_RESULT_DATA_H
+#ifndef CARTOGRAPHER_MAPPING_LOCAL_SLAM_RESULT_DATA_H_
+#define CARTOGRAPHER_MAPPING_LOCAL_SLAM_RESULT_DATA_H_
 
 #include "cartographer/mapping/pose_graph.h"
 #include "cartographer/sensor/data.h"
@@ -39,4 +39,4 @@ class LocalSlamResultData : public sensor::Data {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_LOCAL_SLAM_RESULT_DATA_H
+#endif  // CARTOGRAPHER_MAPPING_LOCAL_SLAM_RESULT_DATA_H_
diff --git a/cartographer/sensor/internal/dispatchable.h b/cartographer/sensor/internal/dispatchable.h
index f694ea5..50eadbb 100644
--- a/cartographer/sensor/internal/dispatchable.h
+++ b/cartographer/sensor/internal/dispatchable.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_SENSOR_INTERNAL_MAPPING_DISPATCHABLE_H_
-#define CARTOGRAPHER_SENSOR_INTERNAL_MAPPING_DISPATCHABLE_H_
+#ifndef CARTOGRAPHER_SENSOR_INTERNAL_DISPATCHABLE_H_
+#define CARTOGRAPHER_SENSOR_INTERNAL_DISPATCHABLE_H_
 
 #include "cartographer/mapping/trajectory_builder_interface.h"
 #include "cartographer/sensor/data.h"
@@ -49,4 +49,4 @@ std::unique_ptr<Dispatchable<DataType>> MakeDispatchable(
 }  // namespace sensor
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_SENSOR_INTERNAL_MAPPING_DISPATCHABLE_H_
+#endif  // CARTOGRAPHER_SENSOR_INTERNAL_DISPATCHABLE_H_