mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
fix clang-tidy warnings
- virtual functions used in constructor / destructor - captured variable in lambda expression not used - unhandled enums in switch
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ea75070155
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@ -7,12 +7,12 @@
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#include <algorithm>
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#include <algorithm>
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/// ValueOrPointeeLess provides correct comparison for plain and pointer-like types
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/// ValueOrPointeeLess provides correct comparison for plain and pointer-like types
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template <typename T, typename Default = void>
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template <typename T, typename = bool>
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struct ValueOrPointeeLess : public std::less<T> {};
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struct ValueOrPointeeLess : public std::less<T> {};
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/// The following template-specialization is for pointer-like types
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/// The following template-specialization is for pointer-like types
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template <typename T>
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template <typename T>
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struct ValueOrPointeeLess<T, decltype(*std::declval<T>(), std::declval<void>())> {
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struct ValueOrPointeeLess<T, decltype(*std::declval<T>() < *std::declval<T>())> {
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bool operator()(const T& x, const T& y) const {
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bool operator()(const T& x, const T& y) const {
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return *x < *y;
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return *x < *y;
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}
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}
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@ -192,6 +192,8 @@ class StagePrivate;
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/// abstract base class for solutions (primitive and sequences)
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/// abstract base class for solutions (primitive and sequences)
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class SolutionBase {
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class SolutionBase {
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public:
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public:
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virtual ~SolutionBase() = default;
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inline const InterfaceState* start() const { return start_; }
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inline const InterfaceState* start() const { return start_; }
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inline const InterfaceState* end() const { return end_; }
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inline const InterfaceState* end() const { return end_; }
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@ -89,7 +89,7 @@ public:
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// TODO: use Stage::insert as well?
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// TODO: use Stage::insert as well?
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void add(Stage::pointer &&stage);
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void add(Stage::pointer &&stage);
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void clear() override;
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void clear() final;
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/// enable introspection publishing for use with rviz
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/// enable introspection publishing for use with rviz
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void enableIntrospection(bool enable = true);
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void enableIntrospection(bool enable = true);
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@ -103,7 +103,7 @@ public:
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void erase(TaskCallbackList::const_iterator which);
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void erase(TaskCallbackList::const_iterator which);
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/// reset all stages
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/// reset all stages
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void reset() override;
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void reset() final;
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/// initialize all stages with given scene
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/// initialize all stages with given scene
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void init();
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void init();
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@ -836,7 +836,7 @@ WrapperBase::WrapperBase(const std::string &name, Stage::pointer &&child)
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WrapperBase::WrapperBase(WrapperBasePrivate *impl, Stage::pointer &&child)
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WrapperBase::WrapperBase(WrapperBasePrivate *impl, Stage::pointer &&child)
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: ParallelContainerBase(impl)
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: ParallelContainerBase(impl)
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{
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{
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if (child) insert(std::move(child));
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if (child) WrapperBase::insert(std::move(child));
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}
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}
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bool WrapperBase::insert(Stage::pointer &&stage, int before)
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bool WrapperBase::insert(Stage::pointer &&stage, int before)
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@ -379,7 +379,7 @@ void ComputeIK::compute()
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tried_current_state_as_seed= true;
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tried_current_state_as_seed= true;
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size_t previous = ik_solutions.size();
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size_t previous = ik_solutions.size();
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bool succeeded = sandbox_state.setFromIK(jmg, target_pose, link->getName(), 1, remaining_time, isValid);
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bool succeeded = sandbox_state.setFromIK(jmg, target_pose, link->getName(), remaining_time, isValid);
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auto now = std::chrono::steady_clock::now();
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auto now = std::chrono::steady_clock::now();
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remaining_time -= std::chrono::duration<double>(now - start_time).count();
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remaining_time -= std::chrono::duration<double>(now - start_time).count();
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@ -153,6 +153,8 @@ void GeneratePlacePose::compute() {
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target_pose.linear() = orig_object_pose.linear();
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target_pose.linear() = orig_object_pose.linear();
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spawner(target_pose, 1);
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spawner(target_pose, 1);
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return;
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return;
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default:
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break;
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}
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}
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}
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}
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@ -91,7 +91,7 @@ void SimpleGraspBase::setup(std::unique_ptr<Stage>&& generator, bool forward)
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p.declare<std::string>("object");
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p.declare<std::string>("object");
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p.configureInitFrom(Stage::PARENT | Stage::INTERFACE, { "eef", "object" });
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p.configureInitFrom(Stage::PARENT | Stage::INTERFACE, { "eef", "object" });
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allow_touch->setCallback([this, forward](const planning_scene::PlanningScenePtr& scene, const PropertyMap& p){
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allow_touch->setCallback([forward](const planning_scene::PlanningScenePtr& scene, const PropertyMap& p){
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collision_detection::AllowedCollisionMatrix& acm = scene->getAllowedCollisionMatrixNonConst();
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collision_detection::AllowedCollisionMatrix& acm = scene->getAllowedCollisionMatrixNonConst();
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const std::string& eef = p.get<std::string>("eef");
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const std::string& eef = p.get<std::string>("eef");
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const std::string& object = p.get<std::string>("object");
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const std::string& object = p.get<std::string>("object");
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@ -125,7 +125,7 @@ void SimpleGraspBase::setup(std::unique_ptr<Stage>&& generator, bool forward)
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p.declare<std::string>("object");
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p.declare<std::string>("object");
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p.configureInitFrom(Stage::PARENT | Stage::INTERFACE, { "eef", "object" });
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p.configureInitFrom(Stage::PARENT | Stage::INTERFACE, { "eef", "object" });
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attach->setCallback([this, forward](const planning_scene::PlanningScenePtr& scene, const PropertyMap& p){
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attach->setCallback([forward](const planning_scene::PlanningScenePtr& scene, const PropertyMap& p){
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const std::string& eef = p.get<std::string>("eef");
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const std::string& eef = p.get<std::string>("eef");
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moveit_msgs::AttachedCollisionObject obj;
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moveit_msgs::AttachedCollisionObject obj;
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obj.object.operation = forward ? (int8_t) moveit_msgs::CollisionObject::ADD
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obj.object.operation = forward ? (int8_t) moveit_msgs::CollisionObject::ADD
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@ -187,7 +187,7 @@ void Task::enableIntrospection(bool enable)
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else if (!enable && introspection_) {
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else if (!enable && introspection_) {
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// reset introspection instance of all stages
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// reset introspection instance of all stages
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pimpl()->setIntrospection(nullptr);
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pimpl()->setIntrospection(nullptr);
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pimpl()->traverseStages([this](Stage& stage, int) {
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pimpl()->traverseStages([](Stage& stage, int) {
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stage.pimpl()->setIntrospection(nullptr);
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stage.pimpl()->setIntrospection(nullptr);
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return true;
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return true;
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}, 1, UINT_MAX);
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}, 1, UINT_MAX);
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@ -25,7 +25,7 @@ public:
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pimpl()->setNextStarts(next);
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pimpl()->setNextStarts(next);
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}
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}
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void init(const moveit::core::RobotModelConstPtr &robot_model) {
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void init(const moveit::core::RobotModelConstPtr &robot_model) override {
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ps.reset((new PlanningScene(robot_model)));
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ps.reset((new PlanningScene(robot_model)));
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}
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}
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@ -133,6 +133,7 @@ rviz::Property* Parser::process(const yaml_event_t& event,
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case YAML_SEQUENCE_START_EVENT: return processSequence(name, description, old);
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case YAML_SEQUENCE_START_EVENT: return processSequence(name, description, old);
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case YAML_MAPPING_START_EVENT: return processMapping(name, description, old);
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case YAML_MAPPING_START_EVENT: return processMapping(name, description, old);
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case YAML_SCALAR_EVENT: return createScalar(name, description, byteArray(event), old);
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case YAML_SCALAR_EVENT: return createScalar(name, description, byteArray(event), old);
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default: break;
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}
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}
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assert(false); // should not be reached
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assert(false); // should not be reached
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}
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}
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