From 4096f86e210e7caa94e7be2edfd1eb2c247175e8 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Mon, 28 Dec 2020 20:36:23 -0800
Subject: [PATCH] lgtm fixes (#19610)

* pass matrices by reference

* suppress that

* destructor

* that's wrong, suppress it
---
 common/transformations/orientation.cc   | 4 ++--
 common/transformations/orientation.hpp  | 4 ++--
 selfdrive/debug/mpc/live_lateral_mpc.py | 2 +-
 selfdrive/locationd/models/loc_kf.py    | 2 +-
 selfdrive/sensord/sensors/sensor.hpp    | 1 +
 5 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/common/transformations/orientation.cc b/common/transformations/orientation.cc
index 086219d2..9dbc2421 100644
--- a/common/transformations/orientation.cc
+++ b/common/transformations/orientation.cc
@@ -39,7 +39,7 @@ Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat){
   return quat.toRotationMatrix();
 }
 
-Eigen::Quaterniond rot2quat(Eigen::Matrix3d rot){
+Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot){
   return ensure_unique(Eigen::Quaterniond(rot));
 }
 
@@ -47,7 +47,7 @@ Eigen::Matrix3d euler2rot(Eigen::Vector3d euler){
   return quat2rot(euler2quat(euler));
 }
 
-Eigen::Vector3d rot2euler(Eigen::Matrix3d rot){
+Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot){
   return quat2euler(rot2quat(rot));
 }
 
diff --git a/common/transformations/orientation.hpp b/common/transformations/orientation.hpp
index da95f709..ebd7da0a 100644
--- a/common/transformations/orientation.hpp
+++ b/common/transformations/orientation.hpp
@@ -8,9 +8,9 @@ Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat);
 Eigen::Quaterniond euler2quat(Eigen::Vector3d euler);
 Eigen::Vector3d quat2euler(Eigen::Quaterniond quat);
 Eigen::Matrix3d quat2rot(Eigen::Quaterniond quat);
-Eigen::Quaterniond rot2quat(Eigen::Matrix3d rot);
+Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot);
 Eigen::Matrix3d euler2rot(Eigen::Vector3d euler);
-Eigen::Vector3d rot2euler(Eigen::Matrix3d rot);
+Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot);
 Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw);
 Eigen::Matrix3d rot(Eigen::Vector3d axis, double angle);
 Eigen::Vector3d ecef_euler_from_ned(ECEF ecef_init, Eigen::Vector3d ned_pose);
diff --git a/selfdrive/debug/mpc/live_lateral_mpc.py b/selfdrive/debug/mpc/live_lateral_mpc.py
index 7cd5c677..558cdcf8 100755
--- a/selfdrive/debug/mpc/live_lateral_mpc.py
+++ b/selfdrive/debug/mpc/live_lateral_mpc.py
@@ -70,7 +70,7 @@ def mpc_vwr_thread(addr="127.0.0.1"):
       l_poly = np.array(md.model.leftLane.poly)
       r_poly = np.array(md.model.rightLane.poly)
 
-      p_path_y = np.polyval(p_poly, path_x)
+      p_path_y = np.polyval(p_poly, path_x)  # lgtm[py/multiple-definition]
       l_path_y = np.polyval(r_poly, path_x)
       r_path_y = np.polyval(l_poly, path_x)
 
diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py
index c8cd9dc5..4e05c4c7 100755
--- a/selfdrive/locationd/models/loc_kf.py
+++ b/selfdrive/locationd/models/loc_kf.py
@@ -378,7 +378,7 @@ class LocKalman():
     self.dim_state_err = self.dim_main_err + self.dim_augment_err * self.N
 
     if self.N > 0:
-      x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q)  # pylint: disable=unbalanced-tuple-unpacking
+      x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q)  # lgtm[py/mismatched-multiple-assignment] pylint: disable=unbalanced-tuple-unpacking
       self.computer = LstSqComputer(generated_dir, N)
       self.max_tracks = max_tracks
 
diff --git a/selfdrive/sensord/sensors/sensor.hpp b/selfdrive/sensord/sensors/sensor.hpp
index 91f41790..3fb58ad2 100644
--- a/selfdrive/sensord/sensors/sensor.hpp
+++ b/selfdrive/sensord/sensors/sensor.hpp
@@ -4,6 +4,7 @@
 
 class Sensor {
 public:
+  virtual ~Sensor() {};
   virtual int init() = 0;
   virtual void get_event(cereal::SensorEventData::Builder &event) = 0;
 };