2/25/2023 0 Comments Wiki tab custom name![]() Be consistent in how you use iterators (e.g., i on the outer loop, j on the next inner loop). Integral iterator variables can be very short, such as i, j, k. Longer variable names don't take up more space in memory, I promise. In general, variable names are under_scored.īe reasonably descriptive and try not to be cryptic. By making function names verbs and following other naming conventions programs can be read more naturally. In general, function and class method names are camelCased, and arguments are under_scored, e.g.:įunctions and methods usually perform an action, so their name should make clear what they do: checkForErrors() instead of errorCheck(), dumpDataToFile() instead of dataFile(). If you can't think of what it is, perhaps you have not thought through the design well enough.Ĭompound names of over three words are a clue that your design may be unnecessarily confusing. Libraries, being files, are under_scored.ĭon't insert an underscore immediately after the lib prefix in the library name.Ĭlass names (and other type names) are CamelCasedĮxception: if the class name contains a short acronym, the acronym itself should be all capitals, e.g.: For example the class ActionServer would live in the file action_server.h. If the file primarily implements a class, name the file after the class. ROS topics and service names are under_scored.īe descriptive, e.g., instead of laser.cpp, use hokuyo_topurg_laser.cpp. This is not C++-specific see the DevelopersGuide for more information. (yes, I realize that under_scored should be underscored, because it's just one word).ĪLL_CAPITALS: All capital letters, with words separated by underscores. Under_scored: The name uses only lower-case letters, with words separated by underscores. The following shortcuts are used in this section to denote naming schemes:ĬamelCased: The name starts with a capital letter, and has a capital letter for each new word, with no underscores.ĬamelCased: Like CamelCase, but with a lower-case first letter If you are doing major work on a non-conforming package, take the opportunity to re-style it to conform to this guide.If you are doing minor edits to a non-conforming package, follow the existing stylistic conventions in that package (if any).If you are author of a non-conforming package, try to find time to update the code to conform.Unless you have copious free time, don't undertake converting the existing codebase to conform to this guide.All new package should conform to this guide.The following advice is intended for the developer working with non-conforming code: Thus, the codebase contains a lot of code that doesn't conform to this guide. Why waste your valuable development time formatting code manually when we are trying to build amazing robots? Use a robot to format your code using "clang-format" and these instructions.Ī lot of ROS C++ code was written prior to the release of this style guide. Here's the first such reference, which gives a longer motivation of the need consistent style: Throughout this guide, we will refer to the Google C++ style guide, as it is a well-written document on the topic at hand. Follow this guide whenever possible, but if you are editing a package written by someone else, follow the existing stylistic conventions in that package (unless you are retrofitting the whole package to follow this guide, for which you deserve an award). When deviating from the guidelines given here, just be sure to consider your options carefully, and to document your reasoning, in the code.Ībove all else, be consistent. With very few exceptions, this document does not completely ban any particular C++ pattern or feature, but rather describes best practice, to be used in the large majority of cases. Our goal is to encourage agile but reasoned development of code that can be easily understood by others. To this end, we prescribe (and proscribe) a variety of practices. We strive to write elegant code that will not only perform its desired function today, but will also live on, to be re-used and improved by other developers for many years to come. A clean, consistent style leads to code that is more readable, debuggable, and maintainable. This guide applies to all ROS code, both core and non-core.įor Python, see the PyStyleGuide and for Javascript, see the ROS JavaScript Style Guideįor general ROS developer guidelines, see the DevelopersGuide.Ĭoding style is important. This page defines a style guide to be followed in writing C++ code for ROS. What about all this non-conforming code?.
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