Merge branch 'master' into nobleci

tesseract-robotics · Jul 16, 2024 · e3d6c4e · e3d6c4e
2 parents 0adcf5c + efd9b8d
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diff --git a/.clang-tidy b/.clang-tidy
@@ -1,78 +1,76 @@
 ---
 Checks: >
     -*,
-    clang-diagnostic-*,
-    -clang-diagnostic-unknown-warning-option,
-    clang-analyzer-*,
-    -clang-analyzer-cplusplus*,
     bugprone-*,
     -bugprone-easily-swappable-parameters,
-    -bugprone-exception-escape,
+    clang-analyzer-*,
+    -clang-analyzer-cplusplus*,
+    clang-diagnostic-*,
     cppcoreguidelines-*,
-    -cppcoreguidelines-macro-usage,
-    -cppcoreguidelines-pro-type-static-cast-downcast,
-    -cppcoreguidelines-pro-type-vararg,
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-    -cppcoreguidelines-pro-bounds-array-to-pointer-decay,
-    -cppcoreguidelines-pro-bounds-pointer-arithmetic,
-    -cppcoreguidelines-pro-bounds-constant-array-index,
+    -cppcoreguidelines-avoid-const-or-ref-data-members,
     -cppcoreguidelines-avoid-magic-numbers,
+    -cppcoreguidelines-macro-usage,
     -cppcoreguidelines-non-private-member-variables-in-classes,
     -cppcoreguidelines-owning-memory,
+    -cppcoreguidelines-pro-bounds-array-to-pointer-decay,
+    -cppcoreguidelines-pro-bounds-constant-array-index,
+    -cppcoreguidelines-pro-bounds-pointer-arithmetic,
+    -cppcoreguidelines-pro-type-static-cast-downcast,
+    -cppcoreguidelines-pro-type-union-access,
+    -cppcoreguidelines-pro-type-vararg,
     misc-*,
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-    -misc-non-private-member-variables-in-classes,
     -misc-no-recursion,
+    -misc-non-private-member-variables-in-classes,
     modernize-*,
-    -modernize-use-trailing-return-type,
     -modernize-use-nodiscard,
+    -modernize-use-trailing-return-type,
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-    -readability-use-anyofallof,
     -readability-identifier-length,
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+    -readability-magic-numbers,
+    -readability-named-parameter,
+    -readability-suspicious-call-argument,
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diff --git a/trajopt/include/trajopt/problem_description.hpp b/trajopt/include/trajopt/problem_description.hpp
@@ -35,25 +35,25 @@ enum class TermType : char
 
 inline TermType operator|(TermType lhs, TermType rhs)
 {
-  using T = std::underlying_type<TermType>::type;
+  using T = std::underlying_type_t<TermType>;
   return TermType(static_cast<T>(lhs) | static_cast<T>(rhs));
 }
 
 inline TermType operator&(TermType lhs, TermType rhs)
 {
-  using T = std::underlying_type<TermType>::type;
+  using T = std::underlying_type_t<TermType>;
   return TermType(static_cast<T>(lhs) & static_cast<T>(rhs));
 }
 
 inline TermType operator^(TermType lhs, TermType rhs)
 {
-  using T = std::underlying_type<TermType>::type;
+  using T = std::underlying_type_t<TermType>;
   return TermType(static_cast<T>(lhs) ^ static_cast<T>(rhs));
 }
 
 inline TermType operator~(TermType rhs)
 {
-  using T = std::underlying_type<TermType>::type;
+  using T = std::underlying_type_t<TermType>;
   return TermType(~static_cast<T>(rhs));
 }
 

diff --git a/trajopt/include/trajopt/typedefs.hpp b/trajopt/include/trajopt/typedefs.hpp
@@ -84,7 +84,7 @@ class TrajOptCostFromErrFunc : public sco::CostFromErrFunc, public Plotter
     // If error function has a inherited from TrajOptVectorOfVector, call its Plot function
     if (auto* plt = dynamic_cast<TrajOptVectorOfVector*>(f_.get()))
     {
-      Eigen::VectorXd dof_vals = sco::getVec(x, vars_);
+      const Eigen::VectorXd dof_vals = sco::getVec(x, vars_);
       plt->Plot(plotter, dof_vals);
     }
   }
@@ -120,7 +120,7 @@ class TrajOptConstraintFromErrFunc : public sco::ConstraintFromErrFunc, public P
     // If error function has a inherited from TrajOptVectorOfVector, call its Plot function
     if (auto* plt = dynamic_cast<TrajOptVectorOfVector*>(f_.get()))
     {
-      Eigen::VectorXd dof_vals = sco::getVec(x, vars_);
+      const Eigen::VectorXd dof_vals = sco::getVec(x, vars_);
       plt->Plot(plotter, dof_vals);
     }
   }