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https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
Fix clang-tidy warnings
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7ff2f70b66
commit
7d5f9fe6e3
@ -48,7 +48,7 @@ namespace stages {
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class FixedState : public Generator
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{
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public:
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FixedState(const std::string& name = "initial state", planning_scene::PlanningScenePtr = nullptr);
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FixedState(const std::string& name = "initial state", planning_scene::PlanningScenePtr scene = nullptr);
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void setState(const planning_scene::PlanningScenePtr& scene);
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void reset() override;
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@ -248,7 +248,7 @@ private:
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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 Interface& interface);
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std::ostream& operator<<(std::ostream& os, Interface::Direction);
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std::ostream& operator<<(std::ostream& os, Interface::Direction dir);
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/// Find index of the iterator in the container. Counting starts at 1. Zero corresponds to not found.
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template <typename T>
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@ -125,8 +125,8 @@ StagePrivate& StagePrivate::operator=(StagePrivate&& other) {
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prev_ends_ = std::move(other.prev_ends_);
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next_starts_ = std::move(other.next_starts_);
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parent_ = std::move(other.parent_);
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it_ = std::move(other.it_);
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parent_ = other.parent_;
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it_ = other.it_;
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other.unparent();
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return *this;
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@ -373,7 +373,7 @@ void ComputeIK::compute() {
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req.max_contacts = 1;
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scene->checkCollision(req, res, *state);
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solution.feasible = ignore_collisions || !res.collision;
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if (res.contacts.size() > 0) {
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if (!res.contacts.empty()) {
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solution.contact = res.contacts.begin()->second.front();
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}
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return solution.feasible;
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@ -44,7 +44,7 @@ namespace task_constructor {
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namespace stages {
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FixedState::FixedState(const std::string& name, planning_scene::PlanningScenePtr scene)
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: Generator(name), scene_(scene) {
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: Generator(name), scene_(std::move(scene)) {
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properties().declare("ignore_collisions", false);
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setCostTerm(std::make_unique<cost::Constant>(0.0));
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}
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@ -113,9 +113,9 @@ TEST_F(PandaMoveRelative, cartesianCircular) {
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}
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TEST_F(PandaMoveRelative, cartesianRotateAttachedIKFrame) {
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const std::string ATTACHED_OBJECT{ "attached_object" };
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scene->processAttachedCollisionObjectMsg(createAttachedObject(ATTACHED_OBJECT));
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move->setIKFrame(ATTACHED_OBJECT);
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const std::string attached_object{ "attached_object" };
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scene->processAttachedCollisionObjectMsg(createAttachedObject(attached_object));
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move->setIKFrame(attached_object);
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move->setDirection([] {
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geometry_msgs::TwistStamped twist;
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@ -125,7 +125,7 @@ TEST_F(PandaMoveRelative, cartesianRotateAttachedIKFrame) {
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}());
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ASSERT_TRUE(t.plan()) << "Failed to plan";
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EXPECT_CONST_POSITION(move->solutions().front(), ATTACHED_OBJECT);
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EXPECT_CONST_POSITION(move->solutions().front(), attached_object);
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}
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int main(int argc, char** argv) {
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@ -72,7 +72,8 @@ TEST_F(PandaMoveTo, stateTarget) {
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EXPECT_ONE_SOLUTION;
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}
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geometry_msgs::PoseStamped getFramePoseOfNamedState(RobotState state, std::string pose, std::string frame) {
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geometry_msgs::PoseStamped getFramePoseOfNamedState(RobotState state, const std::string& pose,
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const std::string& frame) {
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state.setToDefaultValues(state.getRobotModel()->getJointModelGroup("panda_arm"), pose);
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auto frame_eigen{ state.getFrameTransform(frame) };
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geometry_msgs::PoseStamped p;
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@ -98,9 +99,9 @@ TEST_F(PandaMoveTo, poseTarget) {
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}
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TEST_F(PandaMoveTo, poseIKFrameLinkTarget) {
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const std::string IK_FRAME{ "panda_hand" };
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move_to->setIKFrame(IK_FRAME);
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move_to->setGoal(getFramePoseOfNamedState(scene->getCurrentState(), "ready", IK_FRAME));
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const std::string ik_frame{ "panda_hand" };
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move_to->setIKFrame(ik_frame);
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move_to->setGoal(getFramePoseOfNamedState(scene->getCurrentState(), "ready", ik_frame));
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EXPECT_ONE_SOLUTION;
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}
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@ -129,22 +130,22 @@ moveit_msgs::AttachedCollisionObject createAttachedObject(const std::string& id)
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}
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TEST_F(PandaMoveTo, poseIKFrameAttachedTarget) {
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const std::string ATTACHED_OBJECT{ "attached_object" };
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scene->processAttachedCollisionObjectMsg(createAttachedObject(ATTACHED_OBJECT));
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const std::string attached_object{ "attached_object" };
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scene->processAttachedCollisionObjectMsg(createAttachedObject(attached_object));
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move_to->setIKFrame(ATTACHED_OBJECT);
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move_to->setGoal(getFramePoseOfNamedState(scene->getCurrentState(), "ready", ATTACHED_OBJECT));
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move_to->setIKFrame(attached_object);
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move_to->setGoal(getFramePoseOfNamedState(scene->getCurrentState(), "ready", attached_object));
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EXPECT_ONE_SOLUTION;
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}
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TEST_F(PandaMoveTo, poseIKFrameAttachedSubframeTarget) {
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const std::string ATTACHED_OBJECT{ "attached_object" };
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const std::string IK_FRAME{ ATTACHED_OBJECT + "/subframe" };
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const std::string attached_object{ "attached_object" };
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const std::string ik_frame{ attached_object + "/subframe" };
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scene->processAttachedCollisionObjectMsg(createAttachedObject(ATTACHED_OBJECT));
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scene->processAttachedCollisionObjectMsg(createAttachedObject(attached_object));
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move_to->setIKFrame(IK_FRAME);
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move_to->setGoal(getFramePoseOfNamedState(scene->getCurrentState(), "ready", IK_FRAME));
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move_to->setIKFrame(ik_frame);
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move_to->setGoal(getFramePoseOfNamedState(scene->getCurrentState(), "ready", ik_frame));
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EXPECT_ONE_SOLUTION;
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}
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@ -19,7 +19,7 @@ struct StandaloneGeneratorMockup : public GeneratorMockup
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InterfacePtr next;
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StandaloneGeneratorMockup(std::initializer_list<double>&& costs)
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: StandaloneGeneratorMockup{ PredefinedCosts{ std::move(costs), true } } {}
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: StandaloneGeneratorMockup{ PredefinedCosts{ costs, true } } {}
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StandaloneGeneratorMockup(PredefinedCosts&& costs = PredefinedCosts{ { 0.0 }, true })
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: GeneratorMockup{ std::move(costs) } {
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@ -172,7 +172,7 @@ TaskPanelPrivate::TaskPanelPrivate(TaskPanel* panel) : q_ptr(panel) {
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tool_buttons_group = new QButtonGroup(panel);
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tool_buttons_group->setExclusive(true);
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button_show_stage_dock_widget->setEnabled(bool(getStageFactory()));
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button_show_stage_dock_widget->setToolTip(QStringLiteral("Show available stages"));
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button_show_stage_dock_widget->setToolTip("Show available stages");
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property_root = new rviz::Property("Global Settings");
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}
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