more meaningful names

tf2/include/tf2/convert.h

@@ -47,16 +47,17 @@
 
 namespace tf2
 {
-/**\brief The templated function expected to be able to do a transform
+/** \brief The templated function expected to be able to do a transform.
  *
  * This is the method which tf2 will use to try to apply a transform for any given datatype.
- * \param data_in[in] The data to be transformed.
- * \param data_out[inout] A reference to the output data. Note this can point to data in and the method should be mutation safe.
- * \param transform[in] The transform to apply to data_in to fill data_out.
+ * \param[in] data_in The data to be transformed.
+ * \param[in,out] data_out A reference to the output data. Note this can point to data in and the method should be mutation safe.
+ * \param[in] transform The transform to apply to data_in to fill data_out.
+ * \tparam T The type of the data to be transformed.
  *
  * This method needs to be implemented by client library developers
  */
-template <class T>
+template<class T>
 void doTransform(
   const T & data_in, T & data_out, const geometry_msgs::msg::TransformStamped & transform)
 {
@@ -66,7 +67,16 @@ void doTransform(
   data_out = t * data_in;
 }
 
-template <class T>
+/** \brief The templated function expected to be able to do a transform.
+ *
+ * This is the method which tf2 will use to try to apply a transform for any given datatype.
+ * Overload for tf2::Stamped\<T\> types, uses doTransform(const T&, T&, const geometry_msgs::msg::TransformStamped&).
+ * \param[in] data_in The data to be transformed.
+ * \param[in,out] data_out A reference to the output data. Note this can point to data in and the method should be mutation safe.
+ * \param[in] transform The transform to apply to data_in to fill data_out.
+ * \tparam T The type of the data to be transformed.
+ */
+template<class T>
 void doTransform(
   tf2::Stamped<T> const & data_in, tf2::Stamped<T> & data_out,
   const geometry_msgs::msg::TransformStamped & transform)
@@ -80,20 +90,20 @@ void doTransform(
  * \param[in] t The data input.
  * \return The timestamp associated with the data.
  */
-template <class T>
+template<class T>
 inline tf2::TimePoint getTimestamp(const T & t)
 {
-  return impl::DefaultStampedImpl<T>::getTimestamp(t);
+  return impl::StampedAttributesHelper<T>::getTimestamp(t);
 }
 
 /**\brief Get the frame_id from data
  * \param[in] t The data input.
  * \return The frame_id associated with the data.
  */
-template <class T>
+template<class T>
 inline std::string getFrameId(const T & t)
 {
-  return impl::DefaultStampedImpl<T>::getFrameId(t);
+  return impl::StampedAttributesHelper<T>::getFrameId(t);
 }
 
 /**\brief Get the covariance matrix from data
@@ -103,7 +113,7 @@ inline std::string getFrameId(const T & t)
 template<class T>
 std::array<std::array<double, 6>, 6> getCovarianceMatrix(const T & t)
 {
-  using traits = impl::stampedMessageTraits<T>;
+  using traits = impl::StampedMessageTraits<T>;
   return covarianceRowMajorToNested(traits::getCovariance(t));
 }
 
@@ -124,52 +134,52 @@ std::array<std::array<double, 6>, 6> getCovarianceMatrix(const tf2::WithCovarian
  * \brief Function that converts from one type to a ROS message type.
  *
  * The implementation of this function should be done in the tf2_* packages
- * for each datatypes. Preferably in a specialization of the impl::ImplDetails struct.
- * \param a an object of whatever type
+ * for each datatypes. Preferably in a specialization of the impl::ConversionImplementation struct.
+ * \param[in] a an object of whatever type
  * \tparam A Non-message Datatype
- * \tparam B ROS message Datatype. The default value will be taken from impl::defaultMessage\<A\>::type.
+ * \tparam B ROS message Datatype. The default value will be taken from impl::DefaultMessageForDatatype\<A\>::type.
  * \return the conversion as a ROS message
  */
-template <typename A, typename B>
+template<typename A, typename B>
 inline B toMsg(const A & a)
 {
   B b;
-  impl::ImplDetails<A, B>::toMsg(a, b);
+  impl::ConversionImplementation<A, B>::toMsg(a, b);
   return b;
 }
 
 /**
  * \brief Function that converts from one type to a ROS message type.
  *
  * The implementation of this function should be done in the tf2_* packages
- * for each datatypes. Preferably in a specialization of the impl::ImplDetails struct.
- * \param a an object of whatever type
- * \param b ROS message
+ * for each datatypes. Preferably in a specialization of the impl::ConversionImplementation struct.
+ * \param[in] a an object of whatever type
+ * \param[out] b ROS message
  * \tparam A Non-message Datatype
  * \tparam B Type of the ROS Message
  * \return Reference to the parameter b
  */
-template <typename A, typename B>
+template<typename A, typename B>
 inline B & toMsg(const A & a, B & b)
 {
-  impl::ImplDetails<A, B>::toMsg(a, b);
+  impl::ConversionImplementation<A, B>::toMsg(a, b);
   return b;
 }
 
 /**
  * \brief Function that converts from a ROS message type to another type.
  *
  * The implementation of this function should be done in the tf2_* packages
- * for each datatypes. Preferably in a specialization of the impl::ImplDetails struct.
- * \param a a ROS message to convert from
- * \param b the object to convert to
+ * for each datatypes. Preferably in a specialization of the impl::ConversionImplementation struct.
+ * \param[in] a a ROS message to convert from
+ * \param[out] b the object to convert to
  * \tparam A ROS message type
  * \tparam B Arbitrary type
  */
-template <typename A, typename B>
+template<typename A, typename B>
 inline void fromMsg(const A & a, B & b)
 {
-  impl::ImplDetails<B, A>::fromMsg(a, b);
+  impl::ConversionImplementation<B, A>::fromMsg(a, b);
 }
 
 /**
@@ -178,34 +188,41 @@ inline void fromMsg(const A & a, B & b)
  * Matching toMsg and from Msg conversion functions need to exist.
  * If they don't exist or do not apply (for example, if your two
  * classes are ROS messages), just write a specialization of the function.
- * \param a an object to convert from
- * \param b the object to convert to
+ * \param[in] a an object to convert from
+ * \param[in,out] b the object to convert to
  * \tparam A Type of the object to convert from
  * \tparam B Type of the object to convert to
  */
-template <class A, class B>
+template<class A, class B>
 inline void convert(const A & a, B & b)
 {
   impl::Converter<
     rosidl_generator_traits::is_message<A>::value,
     rosidl_generator_traits::is_message<B>::value>::convert(a, b);
 }
 
-template <class A>
+/** \brief Overload of tf2::convert() for the same types.
+ * \param[in] a1 an object to convert from
+ * \param[in,out] a2 the object to convert to
+ * \tparam A Type of the object to convert
+ */
+template<class A>
 void convert(const A & a1, A & a2)
 {
   if (&a1 != &a2) {
     a2 = a1;
   }
 }
 
-/**\brief Function that converts from a row-major representation of a 6x6
+/** \brief Function that converts from a row-major representation of a 6x6
  * covariance matrix to a nested array representation.
- * \param row_major A row-major array of 36 covariance values.
+ * \param[in] row_major A row-major array of 36 covariance values.
  * \return A nested array representation of 6x6 covariance values.
  */
 inline
-std::array<std::array<double, 6>, 6> covarianceRowMajorToNested(const std::array<double, 36> & row_major)
+std::array<std::array<double, 6>, 6> covarianceRowMajorToNested(
+  const std::array<double,
+  36> & row_major)
 {
   std::array<std::array<double, 6>, 6> nested_array = {};
   size_t l1 = 0, l2 = 0;
@@ -222,13 +239,15 @@ std::array<std::array<double, 6>, 6> covarianceRowMajorToNested(const std::array
   return nested_array;
 }
 
-/**\brief Function that converts from a nested array representation of a 6x6
+/** \brief Function that converts from a nested array representation of a 6x6
  * covariance matrix to a row-major representation.
- * \param nested_array A nested array representation of 6x6 covariance values.
+ * \param[in] nested_array A nested array representation of 6x6 covariance values.
  * \return A row-major array of 36 covariance values.
  */
 inline
-std::array<double, 36> covarianceNestedToRowMajor(const std::array<std::array<double, 6>, 6> & nested_array)
+std::array<double, 36> covarianceNestedToRowMajor(
+  const std::array<std::array<double, 6>,
+  6> & nested_array)
 {
   std::array<double, 36> row_major = {};
   size_t counter = 0;