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https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
clang-tidy: fix variable/method naming
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4f74af8fb7
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164ce4eab8
@ -86,7 +86,7 @@ public:
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ARMED, // disabled state in a Connecting interface that will become re-enabled with a new opposite state
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ARMED, // disabled state in a Connecting interface that will become re-enabled with a new opposite state
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PRUNED, // disabled state on a pruned solution branch
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PRUNED, // disabled state on a pruned solution branch
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};
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};
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static const char* STATUS_COLOR[];
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static const char* colorForStatus(unsigned int s) { return STATUS_COLOR_[s]; }
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/** InterfaceStates are ordered according to two values:
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/** InterfaceStates are ordered according to two values:
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* Depth of interlinked trajectory parts and accumulated trajectory costs along that path.
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* Depth of interlinked trajectory parts and accumulated trajectory costs along that path.
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@ -157,6 +157,7 @@ private:
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inline void setPriority(const Priority& prio) { priority_ = prio; }
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inline void setPriority(const Priority& prio) { priority_ = prio; }
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private:
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private:
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static const char* STATUS_COLOR_[];
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planning_scene::PlanningSceneConstPtr scene_;
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planning_scene::PlanningSceneConstPtr scene_;
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PropertyMap properties_;
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PropertyMap properties_;
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/// trajectories which are *timewise before* this state
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/// trajectories which are *timewise before* this state
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@ -1052,6 +1052,7 @@ void FallbacksPrivateConnect::onNewFailure(const Stage& child, const InterfaceSt
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// ... thus we can use std::next(active_) to find the next child
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// ... thus we can use std::next(active_) to find the next child
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auto next = std::next(active_);
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auto next = std::next(active_);
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// NOLINTNEXTLINE(readability-identifier-naming)
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auto findIteratorFor = [](const InterfaceState* state, const Interface& interface) {
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auto findIteratorFor = [](const InterfaceState* state, const Interface& interface) {
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auto it = std::find(interface.begin(), interface.end(), state);
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auto it = std::find(interface.begin(), interface.end(), state);
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assert(it != interface.end());
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assert(it != interface.end());
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@ -1061,9 +1062,9 @@ void FallbacksPrivateConnect::onNewFailure(const Stage& child, const InterfaceSt
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if (next != children().end()) { // pass job to next child
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if (next != children().end()) { // pass job to next child
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auto next_con = static_cast<ConnectingPrivate*>(const_cast<StagePrivate*>((*next)->pimpl()));
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auto next_con = static_cast<ConnectingPrivate*>(const_cast<StagePrivate*>((*next)->pimpl()));
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auto first_con = static_cast<const ConnectingPrivate*>(children().front()->pimpl());
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auto first_con = static_cast<const ConnectingPrivate*>(children().front()->pimpl());
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auto fromIt = findIteratorFor(from, *first_con->starts());
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auto from_it = findIteratorFor(from, *first_con->starts());
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auto toIt = findIteratorFor(to, *first_con->ends());
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auto to_it = findIteratorFor(to, *first_con->ends());
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next_con->pending.insert(std::make_pair(fromIt, toIt));
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next_con->pending.insert(std::make_pair(from_it, to_it));
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} else // or report failure to parent
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} else // or report failure to parent
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parent()->pimpl()->onNewFailure(*me(), from, to);
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parent()->pimpl()->onNewFailure(*me(), from, to);
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}
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}
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@ -854,12 +854,12 @@ void ConnectingPrivate::compute() {
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}
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}
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std::ostream& ConnectingPrivate::printPendingPairs(std::ostream& os) const {
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std::ostream& ConnectingPrivate::printPendingPairs(std::ostream& os) const {
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const char* reset = InterfaceState::STATUS_COLOR[3];
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const char* reset = InterfaceState::colorForStatus(3);
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for (const auto& candidate : pending) {
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for (const auto& candidate : pending) {
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size_t first = getIndex(*starts(), candidate.first);
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size_t first = getIndex(*starts(), candidate.first);
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size_t second = getIndex(*ends(), candidate.second);
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size_t second = getIndex(*ends(), candidate.second);
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os << InterfaceState::STATUS_COLOR[candidate.first->priority().status()] << first << reset << ":"
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os << InterfaceState::colorForStatus(candidate.first->priority().status()) << first << reset << ":"
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<< InterfaceState::STATUS_COLOR[candidate.second->priority().status()] << second << reset << " ";
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<< InterfaceState::colorForStatus(candidate.second->priority().status()) << second << reset << " ";
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}
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}
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if (pending.empty())
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if (pending.empty())
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os << "---";
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os << "---";
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@ -242,7 +242,7 @@ bool MoveRelative::compute(const InterfaceState& state, planning_scene::Planning
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// linear+angular are expressed w.r.t. model frame and thus we need left-multiplication
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// linear+angular are expressed w.r.t. model frame and thus we need left-multiplication
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linear = frame_pose.linear() * linear;
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linear = frame_pose.linear() * linear;
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angular = frame_pose.linear() * angular;
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angular = frame_pose.linear() * angular;
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auto R = Eigen::AngleAxisd(angular_norm, angular);
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auto R = Eigen::AngleAxisd(angular_norm, angular); // NOLINT(readability-identifier-naming)
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auto p = ik_pose_world.translation();
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auto p = ik_pose_world.translation();
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target_eigen = Eigen::Translation3d(linear + p - R * p) * (R * ik_pose_world);
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target_eigen = Eigen::Translation3d(linear + p - R * p) * (R * ik_pose_world);
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goto COMPUTE;
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goto COMPUTE;
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@ -167,7 +167,7 @@ std::ostream& operator<<(std::ostream& os, const Interface& interface) {
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os << istate->priority() << " ";
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os << istate->priority() << " ";
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return os;
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return os;
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}
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}
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const char* InterfaceState::STATUS_COLOR[] = {
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const char* InterfaceState::STATUS_COLOR_[] = {
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"\033[32m", // ENABLED - green
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"\033[32m", // ENABLED - green
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"\033[33m", // ARMED - yellow
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"\033[33m", // ARMED - yellow
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"\033[31m", // PRUNED - red
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"\033[31m", // PRUNED - red
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@ -175,8 +175,8 @@ const char* InterfaceState::STATUS_COLOR[] = {
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};
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};
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std::ostream& operator<<(std::ostream& os, const InterfaceState::Priority& prio) {
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std::ostream& operator<<(std::ostream& os, const InterfaceState::Priority& prio) {
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// maps InterfaceState::Status values to output (color-changing) prefix
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// maps InterfaceState::Status values to output (color-changing) prefix
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os << InterfaceState::STATUS_COLOR[prio.status()] << prio.depth() << ":" << prio.cost()
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os << InterfaceState::colorForStatus(prio.status()) << prio.depth() << ":" << prio.cost()
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<< InterfaceState::STATUS_COLOR[3];
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<< InterfaceState::colorForStatus(3);
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return os;
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return os;
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}
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}
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std::ostream& operator<<(std::ostream& os, Interface::Direction dir) {
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std::ostream& operator<<(std::ostream& os, Interface::Direction dir) {
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@ -225,7 +225,7 @@ TaskViewPrivate::TaskViewPrivate(TaskView* view) : q_ptr(view), exec_action_clie
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meta_model->setMimeTypes({ factory->mimeType() });
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meta_model->setMimeTypes({ factory->mimeType() });
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tasks_view->setModel(meta_model);
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tasks_view->setModel(meta_model);
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QObject::connect(meta_model, SIGNAL(rowsInserted(QModelIndex, int, int)), q_ptr,
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QObject::connect(meta_model, SIGNAL(rowsInserted(QModelIndex, int, int)), q_ptr,
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SLOT(_q_configureInsertedModels(QModelIndex, int, int)));
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SLOT(configureInsertedModels(QModelIndex, int, int)));
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tasks_view->setSelectionMode(QAbstractItemView::ExtendedSelection);
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tasks_view->setSelectionMode(QAbstractItemView::ExtendedSelection);
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tasks_view->setAcceptDrops(true);
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tasks_view->setAcceptDrops(true);
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@ -261,7 +261,7 @@ void TaskViewPrivate::configureExistingModels() {
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configureTaskListModel(meta_model->getTaskListModel(meta_model->index(row, 0)).first);
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configureTaskListModel(meta_model->getTaskListModel(meta_model->index(row, 0)).first);
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}
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}
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void TaskViewPrivate::_q_configureInsertedModels(const QModelIndex& parent, int first, int last) {
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void TaskViewPrivate::configureInsertedModels(const QModelIndex& parent, int first, int last) {
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if (parent.isValid() && !parent.parent().isValid()) { // top-level task items inserted
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if (parent.isValid() && !parent.parent().isValid()) { // top-level task items inserted
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int expand = q_ptr->initial_task_expand->getOptionInt();
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int expand = q_ptr->initial_task_expand->getOptionInt();
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for (int row = first; row <= last; ++row) {
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for (int row = first; row <= last; ++row) {
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@ -156,7 +156,7 @@ protected Q_SLOTS:
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void onOldTaskHandlingChanged();
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void onOldTaskHandlingChanged();
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private:
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private:
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Q_PRIVATE_SLOT(d_ptr, void _q_configureInsertedModels(QModelIndex, int, int));
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Q_PRIVATE_SLOT(d_ptr, void configureInsertedModels(QModelIndex, int, int));
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Q_SIGNALS:
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Q_SIGNALS:
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void oldTaskHandlingChanged(int old_task_handling);
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void oldTaskHandlingChanged(int old_task_handling);
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@ -82,9 +82,8 @@ public:
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void configureTaskListModel(TaskListModel* model);
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void configureTaskListModel(TaskListModel* model);
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/// configure all TaskListModels that were already created when TaskView gets instantiated
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/// configure all TaskListModels that were already created when TaskView gets instantiated
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void configureExistingModels();
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void configureExistingModels();
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// NOLINTNEXTLINE(readability-identifier-naming)
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/// configure newly inserted models
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/// configure newly inserted models
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void _q_configureInsertedModels(const QModelIndex& parent, int first, int last);
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void configureInsertedModels(const QModelIndex& parent, int first, int last);
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/// unlock locked_display_ if given display is different
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/// unlock locked_display_ if given display is different
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void lock(TaskDisplay* display);
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void lock(TaskDisplay* display);
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@ -238,8 +238,8 @@ int main(int argc, char** argv) {
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// NOLINTNEXTLINE(clang-analyzer-cplusplus.NewDeleteLeaks)
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// NOLINTNEXTLINE(clang-analyzer-cplusplus.NewDeleteLeaks)
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QTimer::singleShot(0, [&]() {
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QTimer::singleShot(0, [&]() {
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::testing::InitGoogleTest(&argc, argv);
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::testing::InitGoogleTest(&argc, argv);
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auto testResult = RUN_ALL_TESTS();
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auto test_result = RUN_ALL_TESTS();
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app.exit(testResult);
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app.exit(test_result);
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});
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});
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return app.exec();
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return app.exec();
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}
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}
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