B. Coding Standards and Conventions

This appendix sets out the basic coding standards and conventions used in Gazebo and libgazebo .

B.1 Gazebo

Gazebo is written in a C++.

B.1.0.1 File Naming Conventions

• Source files are camel-capped; e.g., Pioneer2AT.cc.
• C++ header files are suffixed with .hh, C++ source files are suffixed with .cc; e.g., Model.hh, Model.cc.
• Directory names are lower case, with the exception of model directories, which are camel-capped.

B.1.0.2 Coding Conventions

• Class and function names are camel-capped with a leading upper-case character; e.g. BoxGeom, SetGravity().
• Variable names are camel-capped with a leading lower-case character, and do not include any type encoding (no Hungarian); e.g. myVariable.
• Class variables and methods are always accessed explicitly: e.g. this->MyMethod() and this->myVariable.
• Standard indentation is two spaces (no tab characters).
• Matching braces are aligned, e.g.:

    if (condition)
    {
      do_something();
      do_something_else();
    }
  

B.1.0.3 Other C++ ``features''

Use of the following C++ ``features'' is strongly discouraged:

• Templates and the STL.
• Multiple inheritance.

B.2 libgazebo 

For maximum compatibility and portability, libgazebo is written in C.

B.2.0.1 File Naming Conventions

• Source files are lower-case with underscores; e.g., gz_laser.c.
• Header files are suffixed with .h, C source files are suffixed with .c; e.g., gazebo.h, libgazebo.c.
• Source files for interfaces are prefixed by gz_; e.g., gz_position.c.

B.2.0.2 Coding Conventions

• Public functions (i.e., those included in gazebo.h are prefixed by gz_; e.g., gz_laser_alloc().
• Function names are lower-case with underscores; e.g., my_function().
• Variable names are lower-case with underscores, and do not include any type encoding (i.e., no Hungarian); e.g., my_variable.
• Standard indentation is two spaces (no tab characters).
• Matching braces are aligned, e.g.:

    if (condition)
    {
      do_something();
      do_something_else();
    }