Fix sonarcloud warning

.github/workflows/ci.yml

@@ -16,7 +16,7 @@ jobs:
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
 
       # Runs a single command using the runners shell
       - name: Install dependencies
@@ -34,7 +34,7 @@ jobs:
     # Steps represent a sequence of tasks that will be executed as part of the job
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
       - name: Install dependencies
         run: sudo apt-get update && sudo apt-get install -y libeigen3-dev
       - name: Install lcov
@@ -48,7 +48,9 @@ jobs:
       - name: List coverage summary
         run: /usr/bin/lcov --list ./build/coverage.info
       - name: Upload report to codecov
-        run: bash <(curl -s https://codecov.io/bash) -t ${{ secrets.CODECOV_TOKEN }} -f ./build/coverage.info
+        env:
+          CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+        run: bash <(curl -s https://codecov.io/bash) -t $CODECOV_TOKEN -f ./build/coverage.info
       - name: Upload artifacts
         uses: actions/upload-artifact@v4
         with: 

.github/workflows/package.yml

@@ -15,17 +15,17 @@ jobs:
 
     steps:
       # Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
           submodules: recursive
 
       - name: Install dependencies
-        run: sudo apt-get update && sudo apt-get install -y libeigen3-dev python3-pip
+        run: sudo apt-get update && sudo apt-get install -y libeigen3-dev
 
       - name: Install conan
-        run: python3 -m pip install conan
+        run: pipx install "conan~=2.0"
 
       - name: Create conan package
         run: |
             conan profile detect
-            conan create .
+            conan create . --build=missing

.gitmodules

@@ -1,6 +1,3 @@
-[submodule "third_party"]
-	path = third_party
-	url = https://github.com/google/googletest.git
 [submodule "third_party/googletest"]
 	path = third_party/googletest
 	url = https://github.com/google/googletest.git

.sonarcloud.properties

@@ -0,0 +1,4 @@
+sonar.sources=src, include
+sonar.exclusions=third_party/**
+sonar.cfamily.reportingCppStandardVersion=c++17
+sonar.test.exclusions=**/test/**

include/algorithm/robotics/astar_variant/map_storage.hpp

@@ -40,20 +40,20 @@ class MapStorage {
   };
 
  public:
-  /*
-  y
-  ^
-  |
-  |
-  |
-  |_________>x
-  */
-  MapStorage(const size_t x_size, const size_t y_size)
-      : map_x_size_(x_size), map_y_size_(y_size) {
-    std::vector<std::vector<Cell>> map(map_x_size_,
-                                       std::vector<Cell>(map_y_size_));
-    map_ = map;
-  }
+/**
+ * Coordinate frame:
+ * @verbatim
+ * y
+ * ^
+ * |
+ * |
+ * |_________> x
+ * @endverbatim
+ */
+  MapStorage(size_t x_size, size_t y_size)
+      : map_x_size_(x_size),
+        map_y_size_(y_size),
+        map_(x_size, std::vector<Cell>(y_size)) {}
 
   bool Contains(const Coordinate &coordinate) const {
     return (coordinate.x >= 0 && coordinate.x < static_cast<int>(map_x_size_) &&
@@ -79,10 +79,10 @@ class MapStorage {
     }
   }
 
-  std::vector<std::vector<Cell>> map_;
-
   size_t map_x_size_;
   size_t map_y_size_;
+
+  std::vector<std::vector<Cell>> map_;
 };
 }  // namespace pllee4::graph
 #endif /* MAP_STORAGE_HPP */

src/generic/digital_filter/test/butterworth_test.cpp

@@ -78,11 +78,9 @@ TEST(Butterworth, StepFilter) {
                              Butterworth<double>::FilterType::kLowPass);
   std::vector<double> expected_values = {0.00773315, 0.0229602, 0.0377163,
                                          0.052016, 0.0658733};
-  auto check_filtered_signal = [&butter](const double value) {
-    EXPECT_NEAR(butter.StepFilter(0.5), value, 0.001);
-  };
-  std::for_each(expected_values.begin(), expected_values.end(),
-                check_filtered_signal);
+  for (const auto expected : expected_values) {
+    EXPECT_NEAR(butter.StepFilter(0.5), expected, 0.001);
+  }
 }
 
 TEST(Butterworth, SetCutoffFrequency) {
@@ -91,9 +89,7 @@ TEST(Butterworth, SetCutoffFrequency) {
   butter.SetCutoffFrequency(5);
   std::vector<double> expected_values = {0.00773315, 0.0229602, 0.0377163,
                                          0.052016, 0.0658733};
-  auto check_filtered_signal = [&butter](const double value) {
-    EXPECT_NEAR(butter.StepFilter(0.5), value, 0.001);
-  };
-  std::for_each(expected_values.begin(), expected_values.end(),
-                check_filtered_signal);
+  for (const auto expected : expected_values) {
+    EXPECT_NEAR(butter.StepFilter(0.5), expected, 0.001);
+  }
 }

src/robotics/astar_variant/src/astar_variant_base.cpp

@@ -13,9 +13,8 @@ namespace pllee4::graph {
 void AstarVariantBase::SetMapStorageSize(const size_t x_size,
                                          const size_t y_size) {
   map_storage_ = std::make_unique<MapStorage>(x_size, y_size);
-  std::vector<std::vector<bool>> visited_map(x_size,
-                                             std::vector<bool>(y_size, false));
-  visited_map_ = visited_map;
+  visited_map_ =
+      std::vector<std::vector<bool>>(x_size, std::vector<bool>(y_size, false));
 }
 
 bool AstarVariantBase::SetOccupiedGrid(

src/robotics/bresenham/src/bresenham.cpp

@@ -55,4 +55,4 @@ LineGenerator::LineGenerator(const Coordinate& start, const Coordinate& end) {
 
 std::vector<Coordinate> LineGenerator::GetPoints() const { return points_; }
 
-}  // namespace pllee4::graph
+}  // namespace pllee4::graph