Trajopt clang-tidy clean-up v2

tesseract-robotics · Jul 15, 2024 · 4a908dd · 4a908dd
1 parent 56d8d46
commit 4a908dd
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Showing 32 changed files with 169 additions and 171 deletions.
diff --git a/trajopt/include/trajopt/collision_terms.hpp b/trajopt/include/trajopt/collision_terms.hpp
@@ -1,4 +1,5 @@
 #pragma once
+#include <cstdint>
 #include <vector>
 #include <memory>
 #include <Eigen/Core>
@@ -24,7 +25,7 @@ using ContactResultVectorConstPtr = std::shared_ptr<const ContactResultVectorWra
 /**
  * @brief This contains the different types of expression evaluators used when performing continuous collision checking.
  */
-enum class CollisionExpressionEvaluatorType
+enum class CollisionExpressionEvaluatorType : std::uint8_t
 {
   START_FREE_END_FREE = 0,  /**< @brief Both start and end state variables are free to be adjusted */
   START_FREE_END_FIXED = 1, /**< @brief Only start state variables are free to be adjusted */

diff --git a/trajopt/include/trajopt/fwd.hpp b/trajopt/include/trajopt/fwd.hpp
@@ -1,10 +1,12 @@
 #ifndef TRAJOPT_FWD_HPP
 #define TRAJOPT_FWD_HPP
 
+#include <cstdint>
+
 namespace trajopt
 {
 // collision_terms.hpp
-enum class CollisionExpressionEvaluatorType;
+enum class CollisionExpressionEvaluatorType : std::uint8_t;
 struct LinkGradientResults;
 struct GradientResults;
 struct CollisionEvaluator;
@@ -25,7 +27,7 @@ struct JointPosTermInfo;
 struct JointVelTermInfo;
 struct JointAccTermInfo;
 struct JointJerkTermInfo;
-enum class CollisionEvaluatorType;
+enum class CollisionEvaluatorType : std::uint8_t;
 struct CollisionTermInfo;
 struct TotalTimeTermInfo;
 struct AvoidSingularityTermInfo;

diff --git a/trajopt/include/trajopt/json_marshal.hpp b/trajopt/include/trajopt/json_marshal.hpp
@@ -10,7 +10,7 @@ TRAJOPT_IGNORE_WARNINGS_POP
 namespace Json
 {
 class Value;
-}
+}  // namespace Json
 
 namespace json_marshal
 {

diff --git a/trajopt/include/trajopt/problem_description.hpp b/trajopt/include/trajopt/problem_description.hpp
@@ -16,7 +16,7 @@ TRAJOPT_IGNORE_WARNINGS_POP
 namespace sco
 {
 struct OptResults;
-}
+}  // namespace sco
 
 namespace trajopt
 {
@@ -169,7 +169,7 @@ struct InitInfo
 
     In all cases the dt column (if present) is appended the selected method is defined.
  */
-  enum Type
+  enum Type : std::uint8_t
   {
     STATIONARY,
     JOINT_INTERPOLATED,
@@ -581,7 +581,7 @@ struct JointJerkTermInfo : public TermInfo
   JointJerkTermInfo() : TermInfo(TermType::TT_COST | TermType::TT_CNT) {}
 };
 
-enum class CollisionEvaluatorType
+enum class CollisionEvaluatorType : std::uint8_t
 {
   SINGLE_TIMESTEP = 0,
   DISCRETE_CONTINUOUS = 1,

diff --git a/trajopt/src/collision_terms.cpp b/trajopt/src/collision_terms.cpp
@@ -809,7 +809,7 @@ void CollisionEvaluator::removeInvalidContactResults(tesseract_collision::Contac
                                                      const std::array<double, 2>& pair_data) const
 {
   auto end = std::remove_if(
-      contact_results.begin(), contact_results.end(), [=, &pair_data](const tesseract_collision::ContactResult& r) {
+      contact_results.begin(), contact_results.end(), [this, &pair_data](const tesseract_collision::ContactResult& r) {
         switch (evaluator_type_)
         {
           case CollisionExpressionEvaluatorType::START_FREE_END_FREE:
@@ -1010,7 +1010,7 @@ void SingleTimestepCollisionEvaluator::Plot(const std::shared_ptr<tesseract_visu
     }
   }
 
-  auto margin_fn = [=](const std::string& link1, const std::string& link2) {
+  auto margin_fn = [this](const std::string& link1, const std::string& link2) {
     return getSafetyMarginData()->getPairSafetyMarginData(link1, link2)[0];
   };
 
@@ -1256,7 +1256,7 @@ void DiscreteCollisionEvaluator::Plot(const std::shared_ptr<tesseract_visualizat
     }
   }
 
-  auto margin_fn = [=](const std::string& link1, const std::string& link2) {
+  auto margin_fn = [this](const std::string& link1, const std::string& link2) {
     return getSafetyMarginData()->getPairSafetyMarginData(link1, link2)[0];
   };
 
@@ -1508,7 +1508,7 @@ void CastCollisionEvaluator::Plot(const std::shared_ptr<tesseract_visualization:
     }
   }
 
-  auto margin_fn = [=](const std::string& link1, const std::string& link2) {
+  auto margin_fn = [this](const std::string& link1, const std::string& link2) {
     return getSafetyMarginData()->getPairSafetyMarginData(link1, link2)[0];
   };
 

diff --git a/trajopt/src/file_write_callback.cpp b/trajopt/src/file_write_callback.cpp
@@ -88,9 +88,9 @@ void WriteFile(const std::shared_ptr<std::ofstream>& file,
       *file << ',' << constraint;
     }
 
-    *file << std::endl;
+    *file << '\n';
   }
-  *file << std::endl;
+  *file << '\n' << std::flush;
 }  // namespace trajopt
 
 std::function<void(sco::OptProb*, sco::OptResults&)> WriteCallback(std::shared_ptr<std::ofstream> file,
@@ -133,7 +133,7 @@ std::function<void(sco::OptProb*, sco::OptResults&)> WriteCallback(std::shared_p
     *file << ',' << cnt->name();
   }
 
-  *file << std::endl;
+  *file << '\n' << std::flush;
 
   // return callback function
   return [file, capture0 = prob->GetKin(), &capture1 = prob->GetVars()](auto&&, auto&& PH2) {

diff --git a/trajopt/src/problem_description.cpp b/trajopt/src/problem_description.cpp
@@ -243,7 +243,7 @@ void ProblemConstructionInfo::readInitInfo(const Json::Value& v)
     for (int i = 0; i < n_steps; ++i)
     {
       DblVec row;
-      json_marshal::fromJsonArray(vdata[i], row, static_cast<int>(n_dof));
+      json_marshal::fromJsonArray(vdata[i], row, n_dof);
       init_info.data.row(i) = trajopt_common::toVectorXd(row);
     }
   }

diff --git a/trajopt_common/CMakeLists.txt b/trajopt_common/CMakeLists.txt
@@ -26,7 +26,6 @@ set(UTILS_SOURCE_FILES
     src/clock.cpp
     src/collision_types.cpp
     src/collision_utils.cpp
-    src/config.cpp
     src/logging.cpp
     src/utils.cpp)
 

diff --git a/trajopt_common/include/trajopt_common/logging.hpp b/trajopt_common/include/trajopt_common/logging.hpp
@@ -1,12 +1,13 @@
 #pragma once
 #include <trajopt_common/macros.h>
+#include <cstdint>
 TRAJOPT_IGNORE_WARNINGS_PUSH
 #include <cstdio>
 TRAJOPT_IGNORE_WARNINGS_POP
 
 namespace trajopt_common
 {
-enum LogLevel
+enum LogLevel : std::uint8_t
 {
   LevelFatal = 0,
   LevelError = 1,

diff --git a/trajopt_common/include/trajopt_common/math.hpp b/trajopt_common/include/trajopt_common/math.hpp
diff --git a/trajopt_common/src/config.cpp b/trajopt_common/src/config.cpp
@@ -19,8 +19,8 @@ void CommandParser::read(int argc, char* argv[])
   po::store(po::command_line_parser(argc, argv).options(od).run(), vm);
   if (vm.count("help") != 0U)
   {
-    std::cout << "usage: " << argv[0] << " [options]" << std::endl;
-    std::cout << od << std::endl;
+    std::cout << "usage: " << argv[0] << " [options]" << '\n';
+    std::cout << od << '\n';
     exit(0);
   }
   po::notify(vm);

diff --git a/trajopt_common/src/logging.cpp b/trajopt_common/src/logging.cpp
@@ -14,7 +14,7 @@ int LoggingInit()
 {
   const char* VALID_THRESH_VALUES = "FATAL ERROR WARN INFO DEBUG TRACE";
 
-  char* lvlc = getenv("TRAJOPT_LOG_THRESH");
+  const char* lvlc = getenv("TRAJOPT_LOG_THRESH");
   std::string lvlstr;
   if (lvlc == nullptr)
   {

diff --git a/trajopt_ifopt/include/trajopt_ifopt/constraints/cartesian_position_constraint.h b/trajopt_ifopt/include/trajopt_ifopt/constraints/cartesian_position_constraint.h
@@ -46,7 +46,7 @@ struct CartPosInfo
   using Ptr = std::shared_ptr<CartPosInfo>;
   using ConstPtr = std::shared_ptr<const CartPosInfo>;
 
-  enum class Type
+  enum class Type : std::uint8_t
   {
     TARGET_ACTIVE,
     SOURCE_ACTIVE,

diff --git a/trajopt_optimizers/trajopt_sqp/include/trajopt_sqp/fwd.h b/trajopt_optimizers/trajopt_sqp/include/trajopt_sqp/fwd.h
@@ -1,12 +1,14 @@
 #ifndef TRAJOPT_SQP_FWD_H
 #define TRAJOPT_SQP_FWD_H
 
+#include <cstdint>
+
 namespace trajopt_sqp
 {
 // types.h
-enum class ConstraintType;
-enum class CostPenaltyType;
-enum class SQPStatus;
+enum class ConstraintType : std::uint8_t;
+enum class CostPenaltyType : std::uint8_t;
+enum class SQPStatus : std::uint8_t;
 struct SQPParameters;
 struct SQPResults;
 
@@ -19,7 +21,7 @@ struct QuadExprs;
 class QPProblem;
 
 // qp_solver.h
-enum class QPSolverStatus;
+enum class QPSolverStatus : std::uint8_t;
 class QPSolver;
 
 // osqp_eigen_solver.h

diff --git a/trajopt_optimizers/trajopt_sqp/include/trajopt_sqp/ifopt_qp_problem.h b/trajopt_optimizers/trajopt_sqp/include/trajopt_sqp/ifopt_qp_problem.h
@@ -33,7 +33,7 @@
 namespace ifopt
 {
 class Problem;
-}
+}  // namespace ifopt
 
 namespace trajopt_sqp
 {

diff --git a/trajopt_optimizers/trajopt_sqp/include/trajopt_sqp/osqp_eigen_solver.h b/trajopt_optimizers/trajopt_sqp/include/trajopt_sqp/osqp_eigen_solver.h
@@ -31,7 +31,7 @@
 namespace OsqpEigen
 {
 class Solver;
-}
+}  // namespace OsqpEigen
 
 namespace trajopt_sqp
 {

diff --git a/trajopt_optimizers/trajopt_sqp/include/trajopt_sqp/qp_problem.h b/trajopt_optimizers/trajopt_sqp/include/trajopt_sqp/qp_problem.h
@@ -12,7 +12,7 @@ class ConstraintSet;
 
 namespace trajopt_sqp
 {
-enum class CostPenaltyType;
+enum class CostPenaltyType : std::uint8_t;
 
 /** @brief QP Problem Base */
 class QPProblem

diff --git a/trajopt_optimizers/trajopt_sqp/include/trajopt_sqp/qp_solver.h b/trajopt_optimizers/trajopt_sqp/include/trajopt_sqp/qp_solver.h
@@ -32,7 +32,7 @@
 
 namespace trajopt_sqp
 {
-enum class QPSolverStatus
+enum class QPSolverStatus : std::uint8_t
 {
   UNITIALIZED,
   INITIALIZED,

diff --git a/trajopt_optimizers/trajopt_sqp/include/trajopt_sqp/types.h b/trajopt_optimizers/trajopt_sqp/include/trajopt_sqp/types.h
@@ -30,13 +30,13 @@
 
 namespace trajopt_sqp
 {
-enum class ConstraintType
+enum class ConstraintType : std::uint8_t
 {
   EQ,
   INEQ
 };
 
-enum class CostPenaltyType
+enum class CostPenaltyType : std::uint8_t
 {
   SQUARED,
   ABSOLUTE,
@@ -157,7 +157,7 @@ struct SQPResults
 /**
  * @brief Status codes for the SQP Optimization
  */
-enum class SQPStatus
+enum class SQPStatus : std::uint8_t
 {
   RUNNING,                 /**< Optimization is currently running */
   NLP_CONVERGED,           /**< NLP Successfully converged */

diff --git a/trajopt_optimizers/trajopt_sqp/src/callbacks/collision_plotter.cpp b/trajopt_optimizers/trajopt_sqp/src/callbacks/collision_plotter.cpp
@@ -39,7 +39,7 @@ CollisionPlottingCallback::CollisionPlottingCallback(std::shared_ptr<tesseract_v
 
 void CollisionPlottingCallback::plot(const QPProblem& /*problem*/)  // NOLINT Remove after implementation
 {
-  std::cout << "Collision plotting has not been implemented. PRs welcome" << std::endl;
+  std::cout << "Collision plotting has not been implemented. PRs welcome" << '\n';
 }
 
 void CollisionPlottingCallback::addConstraintSet(

diff --git a/trajopt_optimizers/trajopt_sqp/src/ifopt_qp_problem.cpp b/trajopt_optimizers/trajopt_sqp/src/ifopt_qp_problem.cpp
@@ -501,23 +501,23 @@ void IfoptQPProblem::print() const
 {
   Eigen::IOFormat format(3);
 
-  std::cout << "-------------- QPProblem::print() --------------" << std::endl;
-  std::cout << "Num NLP Vars: " << num_nlp_vars_ << std::endl;
-  std::cout << "Num QP Vars: " << num_qp_vars_ << std::endl;
-  std::cout << "Num NLP Constraints: " << num_qp_cnts_ << std::endl;
+  std::cout << "-------------- QPProblem::print() --------------" << '\n';
+  std::cout << "Num NLP Vars: " << num_nlp_vars_ << '\n';
+  std::cout << "Num QP Vars: " << num_qp_vars_ << '\n';
+  std::cout << "Num NLP Constraints: " << num_qp_cnts_ << '\n';
   std::cout << "Detected Constraint Type: ";
   for (const auto& cnt : constraint_types_)
     std::cout << static_cast<int>(cnt) << ", ";
 
-  std::cout << std::endl;
-  std::cout << "box_size_: " << box_size_.transpose().format(format) << std::endl;  // NOLINT
-  std::cout << "constraint_merit_coeff_: " << constraint_merit_coeff_.transpose().format(format) << std::endl;
+  std::cout << '\n';
+  std::cout << "box_size_: " << box_size_.transpose().format(format) << '\n';  // NOLINT
+  std::cout << "constraint_merit_coeff_: " << constraint_merit_coeff_.transpose().format(format) << '\n';
 
-  std::cout << "Hessian:\n" << hessian_.toDense().format(format) << std::endl;
-  std::cout << "Gradient: " << gradient_.transpose().format(format) << std::endl;
-  std::cout << "Constraint Matrix:\n" << constraint_matrix_.toDense().format(format) << std::endl;
-  std::cout << "bounds_lower: " << bounds_lower_.transpose().format(format) << std::endl;
-  std::cout << "bounds_upper: " << bounds_upper_.transpose().format(format) << std::endl;
-  std::cout << "NLP values: " << nlp_->GetVariableValues().transpose().format(format) << std::endl;
+  std::cout << "Hessian:\n" << hessian_.toDense().format(format) << '\n';
+  std::cout << "Gradient: " << gradient_.transpose().format(format) << '\n';
+  std::cout << "Constraint Matrix:\n" << constraint_matrix_.toDense().format(format) << '\n';
+  std::cout << "bounds_lower: " << bounds_lower_.transpose().format(format) << '\n';
+  std::cout << "bounds_upper: " << bounds_upper_.transpose().format(format) << '\n';
+  std::cout << "NLP values: " << nlp_->GetVariableValues().transpose().format(format) << '\n';
 }
 }  // namespace trajopt_sqp