Apply clang-format-10 (#199)

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Michael Görner 2020-08-20 11:56:53 +02:00 committed by GitHub
parent 47f052b93d
commit ee6c50ad31
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37 changed files with 97 additions and 91 deletions

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@ -24,6 +24,7 @@ BraceWrapping:
BeforeCatch: false
BeforeElse: false
IndentBraces: false
SplitEmptyRecord: false
BreakBeforeBinaryOperators: None
BreakBeforeBraces: Custom
BreakBeforeTernaryOperators: false

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@ -120,7 +120,7 @@ class ParallelContainerBase;
* - Fallbacks: the children are considered in series
* - Merger: solutions of all children (actuating disjoint groups)
* are merged into a single solution for parallel execution
*/
*/
class ParallelContainerBase : public ContainerBase
{
public:

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@ -49,8 +49,8 @@ namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(JointModelGroup)
MOVEIT_CLASS_FORWARD(RobotState)
}
}
} // namespace core
} // namespace moveit
namespace moveit {
namespace task_constructor {

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@ -12,8 +12,8 @@ namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(RobotState)
MOVEIT_CLASS_FORWARD(LinkModel)
}
}
} // namespace core
} // namespace moveit
namespace moveit {
namespace task_constructor {

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@ -54,8 +54,8 @@ namespace core {
MOVEIT_CLASS_FORWARD(LinkModel)
MOVEIT_CLASS_FORWARD(RobotModel)
MOVEIT_CLASS_FORWARD(JointModelGroup)
}
}
} // namespace core
} // namespace moveit
namespace moveit {
namespace task_constructor {

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@ -54,7 +54,7 @@ namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(RobotModel)
}
}
} // namespace moveit
namespace planning_scene {
MOVEIT_CLASS_FORWARD(PlanningScene)

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@ -45,8 +45,8 @@ namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(RobotState)
MOVEIT_CLASS_FORWARD(JointModelGroup)
}
}
} // namespace core
} // namespace moveit
namespace moveit {
namespace task_constructor {

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@ -47,7 +47,7 @@ namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(RobotState)
}
}
} // namespace moveit
namespace moveit {
namespace task_constructor {

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@ -48,7 +48,7 @@ namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(JointModelGroup)
}
}
} // namespace moveit
namespace moveit {
namespace task_constructor {

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@ -48,7 +48,7 @@ namespace moveit {
namespace core {
class RobotState;
}
}
} // namespace moveit
namespace moveit {
namespace task_constructor {
namespace stages {

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@ -48,7 +48,7 @@ namespace moveit {
namespace core {
class RobotState;
}
}
} // namespace moveit
namespace moveit {
namespace task_constructor {
namespace stages {
@ -101,10 +101,10 @@ protected:
bool getJointStateGoal(const boost::any& goal, const core::JointModelGroup* jmg, moveit::core::RobotState& state);
bool getPoseGoal(const boost::any& goal, const geometry_msgs::PoseStamped& ik_pose_msg,
const planning_scene::PlanningScenePtr& scene, Eigen::Isometry3d& target_eigen,
decltype(std::declval<SolutionBase>().markers()) & markers);
decltype(std::declval<SolutionBase>().markers())& markers);
bool getPointGoal(const boost::any& goal, const moveit::core::LinkModel* link,
const planning_scene::PlanningScenePtr& scene, Eigen::Isometry3d& target_eigen,
decltype(std::declval<SolutionBase>().markers()) & /*unused*/);
decltype(std::declval<SolutionBase>().markers())& /*unused*/);
protected:
solvers::PlannerInterfacePtr planner_;

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@ -41,7 +41,7 @@ namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(RobotState)
}
}
} // namespace moveit
namespace moveit {
namespace task_constructor {

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@ -45,7 +45,7 @@ namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(RobotModel)
}
}
} // namespace moveit
namespace moveit {
namespace task_constructor {
namespace stages {

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@ -182,10 +182,10 @@ private:
// restrict access to some functions to ensure consistency
// (we need to set/unset InterfaceState::owner_)
using base_type::moveTo;
using base_type::moveFrom;
using base_type::insert;
using base_type::erase;
using base_type::insert;
using base_type::moveFrom;
using base_type::moveTo;
using base_type::remove_if;
};
@ -329,4 +329,4 @@ struct less<moveit::task_constructor::SolutionBase*>
return *x < *y;
}
};
}
} // namespace std

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@ -52,8 +52,8 @@ namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(RobotModel)
MOVEIT_CLASS_FORWARD(RobotState)
}
}
} // namespace core
} // namespace moveit
namespace moveit {
namespace task_constructor {
@ -108,9 +108,9 @@ public:
void eraseTaskCallback(TaskCallbackList::const_iterator which);
/// expose SolutionCallback API
using WrapperBase::SolutionCallback;
using WrapperBase::addSolutionCallback;
using WrapperBase::removeSolutionCallback;
using WrapperBase::SolutionCallback;
/// reset all stages
void reset() final;

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@ -54,8 +54,9 @@ struct is_container_helper
template <typename T>
struct is_container<
T, std::conditional_t<false, is_container_helper<typename T::const_iterator, decltype(std::declval<T>().cbegin()),
decltype(std::declval<T>().cend())>,
T, std::conditional_t<false,
is_container_helper<typename T::const_iterator, decltype(std::declval<T>().cbegin()),
decltype(std::declval<T>().cend())>,
void> > : public std::true_type
{};
} // namespace task_constructor

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@ -57,7 +57,7 @@ std::string getProcessId() {
gethostname(our_hostname, sizeof(our_hostname) - 1);
return std::to_string(getpid()) + "@" + our_hostname;
}
}
} // namespace
class IntrospectionPrivate
{

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@ -47,6 +47,6 @@ PlannerInterface::PlannerInterface() {
p.declare<double>("max_velocity_scaling_factor", 1.0, "scale down max velocity by this factor");
p.declare<double>("max_acceleration_scaling_factor", 1.0, "scale down max acceleration by this factor");
}
}
}
} // namespace solvers
} // namespace task_constructor
} // namespace moveit

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@ -720,7 +720,7 @@ bool Connecting::compatible(const InterfaceState& from_state, const InterfaceSta
auto it = std::find_if(to_attached.cbegin(), to_attached.cend(),
[from_object](const moveit::core::AttachedBody* object) {
return object->getName() == from_object->getName();
});
});
if (it == to_attached.cend()) {
ROS_DEBUG_STREAM_NAMED("Connecting", name() << ": object missing: " << from_object->getName());
return false;

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@ -354,8 +354,9 @@ void ComputeIK::compute() {
double min_solution_distance = props.get<double>("min_solution_distance");
IKSolutions ik_solutions;
auto is_valid = [sandbox_scene, ignore_collisions, min_solution_distance, &ik_solutions](
robot_state::RobotState* state, const robot_model::JointModelGroup* jmg, const double* joint_positions) {
auto is_valid = [sandbox_scene, ignore_collisions, min_solution_distance,
&ik_solutions](robot_state::RobotState* state, const robot_model::JointModelGroup* jmg,
const double* joint_positions) {
for (const auto& sol : ik_solutions) {
if (jmg->distance(joint_positions, sol.data()) < min_solution_distance)
return false; // too close to already found solution

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@ -72,8 +72,8 @@ bool computeCorrection(const std::vector<cd::Contact>& contacts, Eigen::Vector3d
correction.setZero();
for (const cd::Contact& c : contacts) {
if ((c.body_type_1 != cd::BodyTypes::WORLD_OBJECT && c.body_type_2 != cd::BodyTypes::WORLD_OBJECT)) {
ROS_WARN_STREAM_NAMED("FixCollisionObjects", "Cannot fix collision between " << c.body_name_1 << " and "
<< c.body_name_2);
ROS_WARN_STREAM_NAMED("FixCollisionObjects",
"Cannot fix collision between " << c.body_name_1 << " and " << c.body_name_2);
return false;
}
if (c.body_type_1 == cd::BodyTypes::WORLD_OBJECT)

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@ -125,7 +125,7 @@ bool MoveTo::getJointStateGoal(const boost::any& goal, const moveit::core::Joint
bool MoveTo::getPoseGoal(const boost::any& goal, const geometry_msgs::PoseStamped& ik_pose_msg,
const planning_scene::PlanningScenePtr& scene, Eigen::Isometry3d& target_eigen,
decltype(std::declval<SolutionBase>().markers()) & markers) {
decltype(std::declval<SolutionBase>().markers())& markers) {
try {
const geometry_msgs::PoseStamped& target = boost::any_cast<geometry_msgs::PoseStamped>(goal);
tf::poseMsgToEigen(target.pose, target_eigen);
@ -147,7 +147,7 @@ bool MoveTo::getPoseGoal(const boost::any& goal, const geometry_msgs::PoseStampe
bool MoveTo::getPointGoal(const boost::any& goal, const moveit::core::LinkModel* link,
const planning_scene::PlanningScenePtr& scene, Eigen::Isometry3d& target_eigen,
decltype(std::declval<SolutionBase>().markers()) & /*unused*/) {
decltype(std::declval<SolutionBase>().markers())& /*unused*/) {
try {
const geometry_msgs::PointStamped& target = boost::any_cast<geometry_msgs::PointStamped>(goal);
Eigen::Vector3d target_point;

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@ -117,7 +117,7 @@ Task::Task(const std::string& id, bool introspection, ContainerBase::pointer&& c
}
Task::Task(Task&& other) // NOLINT(performance-noexcept-move-constructor)
: WrapperBase(new TaskPrivate(this, std::string()), std::make_unique<SerialContainer>()) {
: WrapperBase(new TaskPrivate(this, std::string()), std::make_unique<SerialContainer>()) {
*this = std::move(other);
}
@ -223,7 +223,7 @@ void Task::enableIntrospection(bool enable) {
[](Stage& stage, int /*depth*/) {
stage.pimpl()->setIntrospection(nullptr);
return true;
},
},
1, UINT_MAX);
impl->introspection_.reset();
}
@ -275,7 +275,7 @@ void Task::init() {
[impl](Stage& stage, int /*depth*/) {
stage.pimpl()->setIntrospection(impl->introspection_.get());
return true;
},
},
1, UINT_MAX);
// first time publish task

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@ -6,7 +6,7 @@ namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(RobotModel)
}
}
} // namespace moveit
// get a hard-coded model
moveit::core::RobotModelPtr getModel();

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@ -48,7 +48,7 @@ namespace rviz {
class Property;
class PropertyTreeModel;
class DisplayContext;
}
} // namespace rviz
namespace planning_scene {
class PlanningScene;
}
@ -56,7 +56,7 @@ namespace moveit {
namespace task_constructor {
class Stage;
}
}
} // namespace moveit
namespace moveit_rviz_plugin {

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@ -11,5 +11,5 @@ const Icon FORWARD({ { QLatin1String(":icons/downarrow.png"), QColor::fromRgba(0
const Icon BACKWARD({ { QLatin1String(":icons/uparrow.png"), QColor::fromRgba(0xff000000) } }, Icon::TINT);
const Icon BOTHWAY({ { QLatin1String(":icons/updownarrow.png"), QColor::fromRgba(0xff000000) } }, Icon::TINT);
const Icon GENERATE({ { QLatin1String(":icons/generatearrow.png"), QColor::fromRgba(0xff000000) } }, Icon::TINT);
}
}
} // namespace icons
} // namespace moveit_rviz_plugin

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@ -10,5 +10,5 @@ extern const moveit_rviz_plugin::utils::Icon FORWARD;
extern const moveit_rviz_plugin::utils::Icon BACKWARD;
extern const moveit_rviz_plugin::utils::Icon BOTHWAY;
extern const moveit_rviz_plugin::utils::Icon GENERATE;
}
}
} // namespace icons
} // namespace moveit_rviz_plugin

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@ -596,7 +596,7 @@ void RemoteSolutionModel::sortInternal() {
if (comp == 0) // if still undecided, id decides
comp = (left->id < right->id ? -1 : 1);
return (sort_order_ == Qt::AscendingOrder) ? (comp < 0) : (comp >= 0);
});
});
}
// map old indexes to new ones

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@ -54,13 +54,13 @@
namespace rviz {
class StringProperty;
class RosTopicProperty;
}
} // namespace rviz
namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(RobotModel)
}
}
} // namespace moveit
namespace rdf_loader {
MOVEIT_CLASS_FORWARD(RDFLoader)
}

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@ -58,7 +58,7 @@ class ServiceClient;
namespace rviz {
class PropertyTreeModel;
class DisplayContext;
}
} // namespace rviz
namespace moveit_rviz_plugin {

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@ -226,7 +226,7 @@ TaskViewPrivate::TaskViewPrivate(TaskView* q_ptr) : q_ptr(q_ptr), exec_action_cl
}
tasks_view->setExpanded(parent, true); // expand parent group item
}
});
});
tasks_view->setSelectionMode(QAbstractItemView::ExtendedSelection);
tasks_view->setAcceptDrops(true);

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@ -49,7 +49,7 @@ class WindowManagerInterface;
class Property;
class BoolProperty;
class EnumProperty;
}
} // namespace rviz
namespace moveit_rviz_plugin {
@ -108,7 +108,7 @@ class MetaTaskListModel;
* Subscribing to task_monitoring and task_solution topics, it collects information
* about running tasks and their solutions and allows to inspect both,
* successful solutions and failed solution attempts.
*/
*/
class TaskViewPrivate;
class TaskView : public SubPanel
{

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@ -61,17 +61,18 @@ void modifySourceModel(QAbstractItemModel* src, T* proxy, const QModelIndex& src
const char* new_value = "foo";
#if QT_VERSION >= QT_VERSION_CHECK(5, 0, 0)
auto con = proxy->connect(proxy, &T::dataChanged, [&called, &src_index, new_value](const QModelIndex& topLeft,
const QModelIndex& bottomRight) {
EXPECT_EQ(topLeft.row(), src_index.row());
EXPECT_EQ(topLeft.column(), src_index.column());
auto con =
proxy->connect(proxy, &T::dataChanged,
[&called, &src_index, new_value](const QModelIndex& topLeft, const QModelIndex& bottomRight) {
EXPECT_EQ(topLeft.row(), src_index.row());
EXPECT_EQ(topLeft.column(), src_index.column());
EXPECT_EQ(bottomRight.row(), src_index.row());
EXPECT_EQ(bottomRight.column(), src_index.column());
EXPECT_EQ(bottomRight.row(), src_index.row());
EXPECT_EQ(bottomRight.column(), src_index.column());
EXPECT_STREQ(topLeft.data().toString().toLatin1().data(), new_value);
called = true;
});
EXPECT_STREQ(topLeft.data().toString().toLatin1().data(), new_value);
called = true;
});
#endif
EXPECT_TRUE(src->setData(src_index, new_value));

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@ -43,7 +43,7 @@ namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(RobotState)
}
}
} // namespace moveit
namespace planning_scene {
MOVEIT_CLASS_FORWARD(PlanningScene)
}

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@ -14,7 +14,7 @@ class SceneNode;
namespace rviz {
class DisplayContext;
class MarkerBase;
}
} // namespace rviz
namespace planning_scene {
MOVEIT_CLASS_FORWARD(PlanningScene)
@ -23,7 +23,7 @@ namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(RobotState)
}
}
} // namespace moveit
namespace moveit_rviz_plugin {

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@ -67,7 +67,7 @@ namespace moveit {
namespace core {
MOVEIT_CLASS_FORWARD(RobotModel)
}
}
} // namespace moveit
namespace planning_scene {
MOVEIT_CLASS_FORWARD(PlanningScene)
}

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@ -72,10 +72,10 @@ namespace moveit_rviz_plugin {
TaskSolutionVisualization::TaskSolutionVisualization(rviz::Property* parent, rviz::Display* display)
: display_(display) {
// trajectory properties
interrupt_display_property_ =
new rviz::BoolProperty("Interrupt Display", false, "Immediately show newly planned trajectory, "
"interrupting the currently displayed one.",
parent);
interrupt_display_property_ = new rviz::BoolProperty("Interrupt Display", false,
"Immediately show newly planned trajectory, "
"interrupting the currently displayed one.",
parent);
loop_display_property_ = new rviz::BoolProperty(
"Loop Animation", false, "Indicates whether the last received path is to be animated in a loop", parent,
@ -84,10 +84,11 @@ TaskSolutionVisualization::TaskSolutionVisualization(rviz::Property* parent, rvi
trail_display_property_ =
new rviz::BoolProperty("Show Trail", false, "Show a path trail", parent, SLOT(changedTrail()), this);
state_display_time_property_ = new rviz::EditableEnumProperty(
"State Display Time", "0.05 s", "The amount of wall-time to wait in between displaying "
"states along a received trajectory path",
parent);
state_display_time_property_ =
new rviz::EditableEnumProperty("State Display Time", "0.05 s",
"The amount of wall-time to wait in between displaying "
"states along a received trajectory path",
parent);
state_display_time_property_->addOptionStd("REALTIME");
state_display_time_property_->addOptionStd("0.05 s");
state_display_time_property_->addOptionStd("0.1 s");
@ -100,14 +101,15 @@ TaskSolutionVisualization::TaskSolutionVisualization(rviz::Property* parent, rvi
// robot properties
robot_property_ = new rviz::Property("Robot", QString(), QString(), parent);
robot_visual_enabled_property_ =
new rviz::BoolProperty("Show Robot Visual", true, "Indicates whether the geometry of the robot as defined for "
"visualisation purposes should be displayed",
robot_property_, SLOT(changedRobotVisualEnabled()), this);
robot_visual_enabled_property_ = new rviz::BoolProperty("Show Robot Visual", true,
"Indicates whether the geometry of the robot as defined for "
"visualisation purposes should be displayed",
robot_property_, SLOT(changedRobotVisualEnabled()), this);
robot_collision_enabled_property_ =
new rviz::BoolProperty("Show Robot Collision", false, "Indicates whether the geometry of the robot as defined "
"for collision detection purposes should be displayed",
new rviz::BoolProperty("Show Robot Collision", false,
"Indicates whether the geometry of the robot as defined "
"for collision detection purposes should be displayed",
robot_property_, SLOT(changedRobotCollisionEnabled()), this);
robot_alpha_property_ = new rviz::FloatProperty("Robot Alpha", 0.5f, "Specifies the alpha for the robot links",
@ -119,10 +121,10 @@ TaskSolutionVisualization::TaskSolutionVisualization(rviz::Property* parent, rvi
new rviz::ColorProperty("Fixed Robot Color", QColor(150, 50, 150), "The color of the animated robot",
robot_property_, SLOT(changedRobotColor()), this);
enable_robot_color_property_ =
new rviz::BoolProperty("Use Fixed Robot Color", false, "Specifies whether the fixed robot color should be used."
" If not, the original color is used.",
robot_property_, SLOT(enabledRobotColor()), this);
enable_robot_color_property_ = new rviz::BoolProperty("Use Fixed Robot Color", false,
"Specifies whether the fixed robot color should be used."
" If not, the original color is used.",
robot_property_, SLOT(enabledRobotColor()), this);
// planning scene properties
scene_enabled_property_ =
@ -404,9 +406,8 @@ void TaskSolutionVisualization::update(float wall_dt, float ros_dt) {
current_state_time_ = 0.0;
trail_scene_node_->setVisible(false);
} else if (tm < 0.0) { // using realtime: skip to next waypoint based on elapsed display time
while (current_state_ < max_state_index &&
(tm = displaying_solution_->getWayPointDurationFromPrevious(current_state_ + 1)) <
current_state_time_) {
while (current_state_ < max_state_index && (tm = displaying_solution_->getWayPointDurationFromPrevious(
current_state_ + 1)) < current_state_time_) {
++current_state_;
current_state_time_ -= tm;
}
@ -618,9 +619,10 @@ void TaskSolutionVisualization::setVisibility(Ogre::SceneNode* node, Ogre::Scene
void TaskSolutionVisualization::setVisibility() {
// main scene node is visible if animation, trail, or panel is shown, or if display is locked
setVisibility(main_scene_node_, parent_scene_node_, display_->isEnabled() && displaying_solution_ &&
(animating_ || locked_ || trail_scene_node_->getParent() ||
(slider_panel_ && slider_panel_->isVisible())));
setVisibility(
main_scene_node_, parent_scene_node_,
display_->isEnabled() && displaying_solution_ &&
(animating_ || locked_ || trail_scene_node_->getParent() || (slider_panel_ && slider_panel_->isVisible())));
}
} // namespace moveit_rviz_plugin