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<title>OMPL: OMPL Style Guide</title>
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<div class="title">OMPL Style Guide </div> </div>
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<div class="textblock"><p>This document provides a brief overview of OMPL coding standards. It is meant to assist developers who are contributing code to OMPL. <br/>
</p>
<h2><a class="anchor" id="Spacing"></a>
Spacing</h2>
<ul>
<li>Each source block should be indented by 4 space characters. No tab characters should appear in source code.</li>
<li>Each enclosing brace should reside on its own line, but braces can be omitted if the enclosed block consists of exactly one line.</li>
</ul>
<p>The following is an example of desirable code spacing. </p>
<div class="fragment"><pre class="fragment"><span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < 50 ; ++i)
{
<span class="keywordflow">if</span> (i % 2 == 0)
std::cout << i << <span class="stringliteral">" "</span>;
}
</pre></div><h2><a class="anchor" id="filenamesAndMacros"></a>
Filenames & Macros</h2>
<ul>
<li>Source filenames should begin each word with a capital letter, and there should be no underscores between words.</li>
<li>Header files should use the .h extension, and implementation files should use the .cpp extension.</li>
<li>Each implementation file should reside in a src/ directory, immediately below the directory containing the corresponding header file.</li>
<li>Include guards in header files should be of the form OMPL_PATH_FILENAME_, where the words in the filename are separated by underscores.</li>
</ul>
<p>For example, the header and implementation files in which <a class="el" href="classompl_1_1RNG.html" title="Random number generation. An instance of this class cannot be used by multiple threads at once (membe...">ompl::RNG</a> is defined are <a class="el" href="RandomNumbers_8h_source.html">ompl/util/RandomNumbers.h</a> and <a class="el" href="RandomNumbers_8cpp_source.html">ompl/util/src/RandomNumbers.cpp</a>, respectively. The header file begins with the include guard </p>
<div class="fragment"><pre class="fragment"><span class="preprocessor">#ifndef OMPL_UTIL_RANDOM_NUMBERS_</span>
</pre></div><h2><a class="anchor" id="functionsAndClasses"></a>
Functions & Classes</h2>
<ul>
<li>Function names should begin with a lower-case letter and should begin each subsequent word with a capital letter, and there should be no underscores between words (e.g., <em><a class="el" href="classompl_1_1base_1_1StateSpace.html#ad12cc022ef531dcb563f6d3d13b847ad" title="Set the name of the state space.">ompl::base::StateSpace::setName()</a></em>).</li>
<li>Functions accepting no parameters should have void in place of a parameter list.</li>
<li>Class names should begin each word with a capital letter, again with no underscores (e.g., <a class="el" href="classompl_1_1base_1_1StateSpace.html" title="Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.">ompl::base::StateSpace</a>).</li>
<li>Scoping directives (<em>public</em>, <em>protected</em>, <em>private</em>) should be at the same level of indentation as the class declaration.</li>
<li>Class member variable names should begin with a lower-case letter and should begin each subsequent word with a capital letter. They should end with a single underscore (e.g., <a class="el" href="classompl_1_1base_1_1StateSpace.html#a8967afde4dc99333aef63eb85554bf81" title="The longest valid segment at the time setup() was called.">ompl::base::StateSpace::longestValidSegment_</a>).</li>
<li>Names of constants and static variables should be in all capital letters, with an underscore between each word (e.g., <a class="el" href="classompl_1_1base_1_1StateSpace.html#a45e65cf86a2c5cb1e4394dd8aafb4d3b" title="The name used for the default projection.">ompl::base::StateSpace::DEFAULT_PROJECTION_NAME</a>).</li>
</ul>
<p>For example, consider the following source code, which follows the above guidelines. </p>
<div class="fragment"><pre class="fragment"><span class="keyword">class </span>SampleObject
{
<span class="keyword">public</span>:
SampleObject(<span class="keywordtype">void</span>) : objectTag_(NUM_INSTANCES++)
{
}
<span class="keywordtype">int</span> getObjectTag(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<span class="keyword"> </span>{
<span class="keywordflow">return</span> objectTag_;
}
<span class="keyword">static</span> <span class="keywordtype">int</span> NUM_INSTANCES;
<span class="keyword">private</span>:
<span class="keyword">const</span> <span class="keywordtype">int</span> objectTag_;
};
<span class="keywordtype">int</span> SampleObject::NUM_INSTANCES = 0;
</pre></div><h2><a class="anchor" id="otherCodingGuidelines"></a>
Other Coding Guidelines</h2>
<ul>
<li>Compiler specific features should never be used (avoid use of #ifdef).</li>
<li>Code must compile without warnings.</li>
<li>If a class member function can be marked <em>const</em>, then it should be marked <em>const</em>.</li>
<li>Member functions marked as <em>const</em> must be thread safe. If a function is intended to be thread safe, it should be marked as <em>const</em> (one can use the <em>mutable</em> keyword if needed).</li>
<li>All classes, methods and member variables must be documented (Doxygen style).</li>
<li>Forward declaration of types should be done with the ClassForward() macro when shared pointers to the type are also needed: ClassForward() will define a shared pointer to the type using the <em>Ptr</em> suffix (e.g., <a class="el" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">ompl::base::StateSpacePtr</a>).</li>
</ul>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
<a href="http://www.cs.rice.edu">Department of Computer Science</a> •
<a href="http://www.rice.edu">Rice University</a><br>
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