switched to AZStd where possible (#319)

Signed-off-by: Michał Pełka <[email protected]>

Gems/ROS2/Code/Source/Camera/CameraSensor.cpp

@@ -51,7 +51,7 @@ namespace ROS2
         AZ_Assert(!m_cameraName.empty(), "Camera name cannot be empty");
     }
 
-    std::array<double, 9> CameraSensorDescription::MakeCameraIntrinsics() const
+    AZStd::array<double, 9> CameraSensorDescription::MakeCameraIntrinsics() const
     {
         //  Intrinsic camera matrix of the camera image is being created here
         //  It is based on other parameters available in the structure - they must be initialized before this function is called
@@ -126,7 +126,7 @@ namespace ROS2
     }
 
     void CameraSensor::RequestFrame(
-        const AZ::Transform& cameraPose, std::function<void(const AZ::RPI::AttachmentReadback::ReadbackResult& result)> callback)
+        const AZ::Transform& cameraPose, AZStd::function<void(const AZ::RPI::AttachmentReadback::ReadbackResult& result)> callback)
     {
         AZ::Transform inverse = (cameraPose * kAtomToRos).GetInverse();
         m_view->SetWorldToViewMatrix(AZ::Matrix4x4::CreateFromQuaternionAndTranslation(inverse.GetRotation(), inverse.GetTranslation()));

Gems/ROS2/Code/Source/Camera/CameraSensor.h

@@ -34,12 +34,12 @@ namespace ROS2
 
         const float m_aspectRatio; //!< camera image aspect ratio; equal to (width / height)
         const AZ::Matrix4x4 m_viewToClipMatrix; //!< camera view to clip space transform matrix; derived from other parameters
-        const std::array<double, 9> m_cameraIntrinsics; //!< camera intrinsics; derived from other parameters
+        const AZStd::array<double, 9> m_cameraIntrinsics; //!< camera intrinsics; derived from other parameters
 
     private:
         AZ::Matrix4x4 MakeViewToClipMatrix() const;
 
-        std::array<double, 9> MakeCameraIntrinsics() const;
+        AZStd::array<double, 9> MakeCameraIntrinsics() const;
 
         void validateParameters() const;
     };
@@ -61,7 +61,7 @@ namespace ROS2
         //! @param callback - callback function object that will be called when capture is ready
         //!                   it's argument is readback structure containing, among other thins, captured image
         void RequestFrame(
-            const AZ::Transform& cameraPose, std::function<void(const AZ::RPI::AttachmentReadback::ReadbackResult& result)> callback);
+            const AZ::Transform& cameraPose, AZStd::function<void(const AZ::RPI::AttachmentReadback::ReadbackResult& result)> callback);
 
         //! Function to get camera sensor description
         [[nodiscard]] const CameraSensorDescription& GetCameraSensorDescription() const;

Gems/ROS2/Code/Source/Camera/ROS2CameraSensorComponent.cpp

@@ -145,7 +145,11 @@ namespace ROS2
                 cameraInfo.width = descriptor.m_size.m_width;
                 cameraInfo.height = descriptor.m_size.m_height;
                 cameraInfo.distortion_model = sensor_msgs::distortion_models::PLUMB_BOB;
-                cameraInfo.k = m_cameraSensor->GetCameraSensorDescription().m_cameraIntrinsics;
+                AZ_Assert(m_cameraSensor->GetCameraSensorDescription().m_cameraIntrinsics.size() == cameraInfo.k.size(), "should be 9");
+                std::copy_n(
+                    m_cameraSensor->GetCameraSensorDescription().m_cameraIntrinsics.data(),
+                    m_cameraSensor->GetCameraSensorDescription().m_cameraIntrinsics.size(),
+                    cameraInfo.k.begin());
                 cameraInfo.p = { cameraInfo.k[0], cameraInfo.k[1], cameraInfo.k[2], 0, cameraInfo.k[3], cameraInfo.k[4], cameraInfo.k[5], 0,
                                  cameraInfo.k[6], cameraInfo.k[7], cameraInfo.k[8], 0 };
 

Gems/ROS2/Code/Source/RobotImporter/URDF/CollidersMaker.h

@@ -20,7 +20,7 @@
 
 namespace ROS2
 {
-    using BuildReadyCallback = std::function<void()>;
+    using BuildReadyCallback = AZStd::function<void()>;
 
     //! Populates a given entity with all the contents of the <collider> tag in robot description.
     class CollidersMaker

Gems/ROS2/Code/Source/RobotImporter/URDF/RobotImporter.cpp

@@ -44,7 +44,7 @@ namespace ROS2
             });
     }
 
-    void RobotImporter::CheckIfAssetsWereLoadedAndCreatePrefab(std::function<void()> importFinishedCb)
+    void RobotImporter::CheckIfAssetsWereLoadedAndCreatePrefab(AZStd::function<void()> importFinishedCb)
     {
         if (m_loadingURDFFailed)
         {

Gems/ROS2/Code/Source/RobotImporter/URDF/RobotImporter.h

@@ -49,7 +49,7 @@ namespace ROS2
         //! This function should be called from the main thread repeatedly after ParseURDFAndStartLoadingAssets
         //! It will poll the asset import process and if it is finished, it will proceed with prefab creation
         //! @param importFinishedCb Function that is called when the import process is finished
-        void CheckIfAssetsWereLoadedAndCreatePrefab(std::function<void()> importFinishedCb);
+        void CheckIfAssetsWereLoadedAndCreatePrefab(AZStd::function<void()> importFinishedCb);
 
         AZStd::string GetProgress()
         {
@@ -61,9 +61,9 @@ namespace ROS2
         }
 
     private:
-        std::atomic_bool m_isProcessingAssets;
-        std::atomic_bool m_loadingURDFFailed;
-        std::optional<URDFPrefabMaker> m_prefabMaker;
+        AZStd::atomic_bool m_isProcessingAssets;
+        AZStd::atomic_bool m_loadingURDFFailed;
+        AZStd::optional<URDFPrefabMaker> m_prefabMaker;
         LoggerFunction m_logger;
     };
 

Gems/ROS2/Code/Source/Utilities/ROS2Names.cpp

@@ -50,7 +50,7 @@ namespace ROS2
         const AZStd::regex ros2Disallowedlist("[^0-9|a-z|A-Z|_]");
         rosified = AZStd::regex_replace(rosified, ros2Disallowedlist, stringToReplaceViolations);
 
-        if (std::isdigit(rosified[0]) || (input[0] != underscore && rosified[0] == underscore))
+        if (AZStd::isdigit(rosified[0]) || (input[0] != underscore && rosified[0] == underscore))
         { // Prepend "o3de_" if it would otherwise start with a number (which would violate ros2 name requirements)
             // Also, starting with '_' is not desired unless explicit. Topics/namespaces/parameters starting with "_" are hidden by default.
             const AZStd::string prependToNumberStart = "o3de_";

Gems/ROS2/Code/Source/VehicleDynamics/VehicleModelLimits.cpp

@@ -40,7 +40,7 @@ namespace VehicleDynamics
 
     float VehicleModelLimits::LimitValue(float value, float absoluteLimit)
     {
-        absoluteLimit = std::fabs(absoluteLimit);
+        absoluteLimit = AZStd::abs(absoluteLimit);
         return AZStd::clamp(value, -absoluteLimit, absoluteLimit);
     }
 } // namespace VehicleDynamics

Gems/ROS2/Code/Tests/GNSSTest.cpp

@@ -20,7 +20,7 @@ namespace UnitTest
 
     TEST_F(GNSSTest, WGS84ToECEF)
     {
-        const std::vector<std::pair<AZ::Vector3, AZ::Vector3>> input_gold_set = {
+        const AZStd::vector<AZStd::pair<AZ::Vector3, AZ::Vector3>> input_gold_set = {
             { { 10.0f, 20.0f, 300.0f }, { 5903307.167667380f, 2148628.092761247f, 1100300.642188661f } },
             { { -70.0f, 170.0f, 500.0f }, { -2154856.524084172f, 379959.3447517005f, -5971509.853428957f } },
             { { 50.0f, -120.0f, -100.0f }, { -2053899.906222906f, -3557458.991239029f, 4862712.433262121f } },
@@ -36,7 +36,7 @@ namespace UnitTest
 
     TEST_F(GNSSTest, ECEFToENU)
     {
-        const std::vector<std::tuple<AZ::Vector3, AZ::Vector3, AZ::Vector3>> input_gold_set = {
+        const AZStd::vector<AZStd::tuple<AZ::Vector3, AZ::Vector3, AZ::Vector3>> input_gold_set = {
             { { -2053900.0f, -3557459.0f, 4862712.0f }, { 50.0f, -120.0f, -100.0f }, { -0.076833f, -0.3202f, -0.2969f } },
             { { 5903307.167667380f, 2148628.092761247f, 1100300.642188661f },
               { 11.0f, 21.0f, 400.0f },
@@ -56,7 +56,7 @@ namespace UnitTest
 
     TEST_F(GNSSTest, ENUToECEF)
     {
-        const std::vector<std::tuple<AZ::Vector3, AZ::Vector3, AZ::Vector3>> input_gold_set = {
+        const AZStd::vector<AZStd::tuple<AZ::Vector3, AZ::Vector3, AZ::Vector3>> input_gold_set = {
             { { -0.076833f, -0.3202f, -0.2969f }, { 50.0f, -120.0f, -100.0f }, { -2053900.0f, -3557459.0f, 4862712.0f } },
             { { -109638.9539891188f, -110428.2398398574f, -2004.501240225796f },
               { 11.0f, 21.0f, 400.0f },
@@ -76,7 +76,7 @@ namespace UnitTest
 
     TEST_F(GNSSTest, ECEFToWSG84)
     {
-        const std::vector<std::pair<AZ::Vector3, AZ::Vector3>> input_gold_set = {
+        const AZStd::vector<AZStd::pair<AZ::Vector3, AZ::Vector3>> input_gold_set = {
             { { 5903307.167667380f, 2148628.092761247f, 1100300.642188661f }, { 10.0f, 20.0f, 300.0f } },
             { { -2154856.524084172f, 379959.3447517005f, -5971509.853428957f }, { -70.0f, 170.0f, 500.0f } },
             { { -2053899.906222906f, -3557458.991239029f, 4862712.433262121f }, { 50.0f, -120.0f, -100.0f } },