Merge branch 'master' into circle-ci-clang-format-linter

MRPT · Oct 19, 2018 · 8bff2b0 · 8bff2b0
2 parents 52233ef + adbfed3
commit 8bff2b0
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diff --git a/.circleci/config.yml b/.circleci/config.yml
@@ -11,6 +11,22 @@ jobs:
       - run: make gcov -C build
       - run: make -C build
       - run: bash <(curl -s https://codecov.io/bash) -X gcov -y .codecov.yml -s build
+  clang:
+    docker:
+      - image: mrpt/mrpt-build-env:full-bionic
+    steps:
+      - checkout
+      - run:
+          name: Generate cmake files
+          command: cmake -DBUILD_EXAMPLES=On -DBUILD_TESTING=On -DENABLE_COVERAGE=On -H. -Bbuild
+          environment:
+            CC: /usr/bin/clang-6.0
+            CXX: /usr/bin/clang++-6.0
+      - run: make -C build tests_build_all
+      - run: make CTEST_OUTPUT_ON_FAILURE=1 test -C build
+      - run: make gcov -C build
+      - run: make -C build
+      - run: bash <(curl -s https://codecov.io/bash) -X gcov -y .codecov.yml -s build
   headless:
     docker:
       - image: mrpt/mrpt-build-env:headless-bionic
@@ -48,4 +64,5 @@ workflows:
       - full
       - headless
       - minimal
+      - clang
       - clang-format-lint
diff --git a/apps/2d-slam-demo/CDlgParams.cpp b/apps/2d-slam-demo/CDlgParams.cpp
@@ -402,8 +402,9 @@ CDlgParams::CDlgParams(
 	FlexGridSizer12->AddGrowableCol(0);
 	FlexGridSizer13 = new wxFlexGridSizer(0, 3, 0, 0);
 	cbSensorDistin = new wxCheckBox(
-		this, ID_CHECKBOX1, _("Sensor distingishes landmarks (Checked: avoids "
-							  "data association problem)"),
+		this, ID_CHECKBOX1,
+		_("Sensor distingishes landmarks (Checked: avoids "
+		  "data association problem)"),
 		wxDefaultPosition, wxDefaultSize, 0, wxDefaultValidator,
 		_T("ID_CHECKBOX1"));
 	cbSensorDistin->SetValue(false);
@@ -518,8 +519,9 @@ CDlgParams::CDlgParams(
 	FlexGridSizer20 = new wxFlexGridSizer(1, 2, 0, 0);
 	FlexGridSizer20->AddGrowableCol(1);
 	StaticText26 = new wxStaticText(
-		this, ID_STATICTEXT26, _("Normally-distributeed number\nof spurious "
-								 "per \"observation\":\n(Both to 0 = disable)"),
+		this, ID_STATICTEXT26,
+		_("Normally-distributeed number\nof spurious "
+		  "per \"observation\":\n(Both to 0 = disable)"),
 		wxDefaultPosition, wxDefaultSize, wxALIGN_CENTRE,
 		_T("ID_STATICTEXT26"));
 	FlexGridSizer20->Add(

diff --git a/apps/2d-slam-demo/batch_experiments.cpp b/apps/2d-slam-demo/batch_experiments.cpp
@@ -80,10 +80,9 @@ void slamdemoApp::DoBatchExperiments(const std::string& cfgFil)
 		{
 		}
 		err_D2 += dm2;
-		err_phi += fabs(
-			wrapToPi(
-				win->m_historicData[i].GT_robot_pose.phi() -
-				win->m_historicData[i].estimate_robot_pose.getMeanVal().phi()));
+		err_phi += fabs(wrapToPi(
+			win->m_historicData[i].GT_robot_pose.phi() -
+			win->m_historicData[i].estimate_robot_pose.getMeanVal().phi()));
 	}
 
 	if (N)

diff --git a/apps/DifOdometry-Camera/DifOdometry_Camera.cpp b/apps/DifOdometry-Camera/DifOdometry_Camera.cpp
@@ -169,8 +169,7 @@ void CDifodoCamera::loadFrame()
 	const int width = framed.getWidth();
 
 	// Store the depth values
-	const openni::DepthPixel* pDepthRow =
-		(const openni::DepthPixel*)framed.getData();
+	const auto* pDepthRow = (const openni::DepthPixel*)framed.getData();
 	int rowSize = framed.getStrideInBytes() / sizeof(openni::DepthPixel);
 
 	for (int yc = height - 1; yc >= 0; --yc)

diff --git a/apps/DifOdometry-Camera/DifOdometry_Camera.h b/apps/DifOdometry-Camera/DifOdometry_Camera.h
@@ -55,14 +55,14 @@ class CDifodoCamera : public mrpt::vision::CDifodo
 
 	/** A pre-step that should be performed before starting to estimate the
 	 * camera velocity.
-	  * It can also be called to reset the estimated trajectory and pose */
+	 * It can also be called to reset the estimated trajectory and pose */
 	void reset();
 
 	/** Save the pose estimation following the format of the TUM datasets:
-	  *
-	  * 'timestamp tx ty tz qx qy qz qw'
-	  *
-	  * Please visit
+	 *
+	 * 'timestamp tx ty tz qx qy qz qw'
+	 *
+	 * Please visit
 	 * http://vision.in.tum.de/data/datasets/rgbd-dataset/file_formats for
 	 * further details.*/
 	void writeTrajectoryFile();

diff --git a/apps/DifOdometry-Datasets/DifOdometry_Datasets.h b/apps/DifOdometry-Datasets/DifOdometry_Datasets.h
@@ -63,16 +63,16 @@ class CDifodoDatasets : public mrpt::vision::CDifodo
 
 	/** A pre-step that should be performed before starting to estimate the
 	 * camera speed
-	  * As a couple of frames are necessary to estimate the camera motion, this
+	 * As a couple of frames are necessary to estimate the camera motion, this
 	 * methods loads the first frame
-	  * before any motion can be estimated.*/
+	 * before any motion can be estimated.*/
 	void reset();
 
 	/** Save the pose estimation following the format of the TUM datasets:
-	  *
-	  * 'timestamp tx ty tz qx qy qz qw'
-	  *
-	  * Please visit
+	 *
+	 * 'timestamp tx ty tz qx qy qz qw'
+	 *
+	 * Please visit
 	 * http://vision.in.tum.de/data/datasets/rgbd-dataset/file_formats for
 	 * further details.*/
 	void writeTrajectoryFile();

diff --git a/apps/GridmapNavSimul/gridmapSimulApp.cpp b/apps/GridmapNavSimul/gridmapSimulApp.cpp
@@ -36,7 +36,7 @@ bool gridmapSimulApp::OnInit()
 	wxInitAllImageHandlers();
 	if (wxsOK)
 	{
-		gridmapSimulFrame* Frame = new gridmapSimulFrame(nullptr);
+		auto* Frame = new gridmapSimulFrame(nullptr);
 		Frame->Show();
 		SetTopWindow(Frame);
 	}

diff --git a/apps/RawLogViewer/CFormBatchSensorPose.cpp b/apps/RawLogViewer/CFormBatchSensorPose.cpp
@@ -155,9 +155,10 @@ void CFormBatchSensorPose::OnbtnOpenClick(wxCommandEvent& event)
 	wxFileDialog dialog(
 		this, _("Select file with sensor parameters") /* caption */,
 		_U(iniFile->read_string(iniFileSect, "LastDir", ".").c_str()),
-		_("*.ini") /* defaultFilename */, _("rawlog-grabber config files "
-											"(*.ini)|*.ini|All files "
-											"(*.*)|*.*") /* wildcard */,
+		_("*.ini") /* defaultFilename */,
+		_("rawlog-grabber config files "
+		  "(*.ini)|*.ini|All files "
+		  "(*.*)|*.*") /* wildcard */,
 		wxFD_OPEN | wxFD_FILE_MUST_EXIST);
 
 	if (dialog.ShowModal() != wxID_OK) return;

diff --git a/apps/RawLogViewer/CFormChangeSensorPositions.cpp b/apps/RawLogViewer/CFormChangeSensorPositions.cpp
@@ -866,8 +866,8 @@ void CFormChangeSensorPositions::executeOperationOnRawlog(
 
 				if (!isInMemory) archiveFrom(*out_fil) << *acts;
 			}
-			else if (
-				newObj->GetRuntimeClass()->derivedFrom(CLASS_ID(CObservation)))
+			else if (newObj->GetRuntimeClass()->derivedFrom(
+						 CLASS_ID(CObservation)))
 			{
 				// A sensory frame:
 				CObservation::Ptr o(
@@ -884,10 +884,9 @@ void CFormChangeSensorPositions::executeOperationOnRawlog(
 			}
 			else
 			{  // Unknown class:
-				THROW_EXCEPTION(
-					format(
-						"Unexpected class found in the file: '%s'",
-						newObj->GetRuntimeClass()->className));
+				THROW_EXCEPTION(format(
+					"Unexpected class found in the file: '%s'",
+					newObj->GetRuntimeClass()->className));
 			}
 		}
 		catch (exception& e)
@@ -971,7 +970,7 @@ void exec_setPoseByLabel(
 	{
 		for (auto obs : *SF)
 		{
-				if (obs->sensorLabel == labelToProcess)
+			if (obs->sensorLabel == labelToProcess)
 			{
 				if (changeOnlyXYZ)
 				{
@@ -1106,7 +1105,7 @@ void exec_getCurrentCamCfgByIdx(
 			if (SF->getObservationByIndex(idxToProcess)->GetRuntimeClass() ==
 				CLASS_ID(CObservationImage))
 			{
-				CObservationImage::Ptr obsIm =
+				auto obsIm =
 					SF->getObservationByIndexAs<CObservationImage::Ptr>(
 						idxToProcess);
 				camDistortion =
@@ -1127,7 +1126,7 @@ void exec_getCurrentCamCfgByLabel(
 
 		if (o && o->GetRuntimeClass() == CLASS_ID(CObservationImage))
 		{
-			CObservationImage::Ptr obsIm =
+			auto obsIm =
 				SF->getObservationBySensorLabelAs<CObservationImage::Ptr>(
 					labelToProcess);
 			camDistortion = obsIm->cameraParams.getDistortionParamsAsVector();
@@ -1191,7 +1190,7 @@ void exec_setCurrentCamCfgByIdx(
 			if (SF->getObservationByIndex(idxToProcess)->GetRuntimeClass() ==
 				CLASS_ID(CObservationImage))
 			{
-				CObservationImage::Ptr obsIm =
+				auto obsIm =
 					SF->getObservationByIndexAs<CObservationImage::Ptr>(
 						idxToProcess);
 				obsIm->cameraParams.setDistortionParamsVector(camDistortion);
@@ -1210,7 +1209,7 @@ void exec_setCurrentCamCfgByLabel(
 		CObservation::Ptr o = SF->getObservationBySensorLabel(labelToProcess);
 		if (o && o->GetRuntimeClass() == CLASS_ID(CObservationImage))
 		{
-			CObservationImage::Ptr obsIm =
+			auto obsIm =
 				SF->getObservationBySensorLabelAs<CObservationImage::Ptr>(
 					labelToProcess);
 			obsIm->cameraParams.setDistortionParamsVector(camDistortion);

diff --git a/apps/RawLogViewer/CFormEdit.cpp b/apps/RawLogViewer/CFormEdit.cpp
@@ -361,8 +361,8 @@ CFormEdit::CFormEdit(wxWindow* parent, wxWindowID id)
 	FlexGridSizer5->AddGrowableCol(0);
 	FlexGridSizer5->AddGrowableRow(0);
 	cbObsClass = new wxCheckListBox(
-		this, ID_CHECKLISTBOX2, wxDefaultPosition, wxSize(-1, 200), 0, nullptr, 0,
-		wxDefaultValidator, _T("ID_CHECKLISTBOX2"));
+		this, ID_CHECKLISTBOX2, wxDefaultPosition, wxSize(-1, 200), 0, nullptr,
+		0, wxDefaultValidator, _T("ID_CHECKLISTBOX2"));
 	cbObsClass->SetMaxSize(wxSize(-1, 200));
 	FlexGridSizer5->Add(
 		cbObsClass, 1, wxALL | wxEXPAND | wxALIGN_LEFT | wxALIGN_TOP, 5);
@@ -397,8 +397,8 @@ CFormEdit::CFormEdit(wxWindow* parent, wxWindowID id)
 	FlexGridSizer13->AddGrowableCol(0);
 	FlexGridSizer13->AddGrowableRow(0);
 	cbObsLabel = new wxCheckListBox(
-		this, ID_CHECKLISTBOX1, wxDefaultPosition, wxSize(-1, 200), 0, nullptr, 0,
-		wxDefaultValidator, _T("ID_CHECKLISTBOX1"));
+		this, ID_CHECKLISTBOX1, wxDefaultPosition, wxSize(-1, 200), 0, nullptr,
+		0, wxDefaultValidator, _T("ID_CHECKLISTBOX1"));
 	cbObsLabel->SetMaxSize(wxSize(-1, 200));
 	FlexGridSizer13->Add(
 		cbObsLabel, 1, wxALL | wxEXPAND | wxALIGN_LEFT | wxALIGN_TOP, 5);
@@ -624,7 +624,7 @@ void filter_delObsByIndex(
 	if (SF)
 	{
 		int j = 0;
-		for (CSensoryFrame::iterator it = SF->begin(); it != SF->end(); ++j)
+		for (auto it = SF->begin(); it != SF->end(); ++j)
 		{
 			if (auxMask[j])
 			{
@@ -664,7 +664,7 @@ void filter_delObsByClass(
 {
 	if (SF)
 	{
-		for (CSensoryFrame::iterator it = SF->begin(); it != SF->end();)
+		for (auto it = SF->begin(); it != SF->end();)
 		{
 			CObservation::Ptr obs = *it;
 			if (string::npos != find_in_vector(
@@ -687,7 +687,7 @@ void filter_remObsByClass(
 {
 	if (SF)
 	{
-		for (CSensoryFrame::iterator it = SF->begin(); it != SF->end();)
+		for (auto it = SF->begin(); it != SF->end();)
 		{
 			CObservation::Ptr obs = *it;
 			if (string::npos == find_in_vector(
@@ -726,8 +726,7 @@ void filter_delActsByIndex(
 	if (acts)
 	{
 		int j = 0;
-		for (CActionCollection::iterator it = acts->begin(); it != acts->end();
-			 ++j)
+		for (auto it = acts->begin(); it != acts->end(); ++j)
 		{
 			if (auxMask[j])
 			{
@@ -783,9 +782,9 @@ void filter_swapColors(
 	{
 		for (auto obs : *SF)
 		{
-				if (IS_CLASS(obs, CObservationImage))
+			if (IS_CLASS(obs, CObservationImage))
 			{
-				CObservationImage* o = (CObservationImage*)obs.get();
+				auto* o = (CObservationImage*)obs.get();
 				if (o->image.isColor())
 				{
 					swapColors(o->image);
@@ -794,8 +793,7 @@ void filter_swapColors(
 			}
 			else if (IS_CLASS(obs, CObservationStereoImages))
 			{
-				CObservationStereoImages* o =
-					(CObservationStereoImages*)obs.get();
+				auto* o = (CObservationStereoImages*)obs.get();
 				if (o->imageLeft.isColor())
 				{
 					swapColors(o->imageLeft);
@@ -1052,8 +1050,8 @@ void CFormEdit::executeOperationOnRawlog(
 
 				if (!isInMemory) archiveFrom(*out_fil) << *sf;
 			}
-			else if (
-				newObj->GetRuntimeClass()->derivedFrom(CLASS_ID(CObservation)))
+			else if (newObj->GetRuntimeClass()->derivedFrom(
+						 CLASS_ID(CObservation)))
 			{
 				// A single observation:
 				dummy_sf->clear();
@@ -1092,10 +1090,9 @@ void CFormEdit::executeOperationOnRawlog(
 			}
 			else
 			{  // Unknown class:
-				THROW_EXCEPTION(
-					format(
-						"Unexpected class found in the file: '%s'",
-						newObj->GetRuntimeClass()->className));
+				THROW_EXCEPTION(format(
+					"Unexpected class found in the file: '%s'",
+					newObj->GetRuntimeClass()->className));
 			}
 		}
 		catch (exception& e)
@@ -1149,7 +1146,7 @@ void filter_delObsByLabel(
 {
 	if (SF)
 	{
-		for (CSensoryFrame::iterator it = SF->begin(); it != SF->end();)
+		for (auto it = SF->begin(); it != SF->end();)
 		{
 			CObservation::Ptr obs = *it;
 			if (string::npos !=
@@ -1171,7 +1168,7 @@ void filter_NotDelObsByLabel(
 {
 	if (SF)
 	{
-		for (CSensoryFrame::iterator it = SF->begin(); it != SF->end();)
+		for (auto it = SF->begin(); it != SF->end();)
 		{
 			CObservation::Ptr obs = *it;
 			if (string::npos ==
@@ -1225,14 +1222,13 @@ void leave_horizontalScans(
 {
 	if (SF)
 	{
-		for (CSensoryFrame::iterator it = SF->begin(); it != SF->end();)
+		for (auto it = SF->begin(); it != SF->end();)
 		{
 			CObservation::Ptr obs = *it;
 
 			if (IS_CLASS(obs, CObservation2DRangeScan))
 			{
-				CObservation2DRangeScan* o =
-					static_cast<CObservation2DRangeScan*>(obs.get());
+				auto* o = static_cast<CObservation2DRangeScan*>(obs.get());
 
 				if (fabs(o->sensorPose.pitch()) > minPitchToDeleteLaserScan)
 				{

diff --git a/apps/RawLogViewer/CFormMotionModel.cpp b/apps/RawLogViewer/CFormMotionModel.cpp
@@ -821,7 +821,7 @@ void CFormMotionModel::applyToRawlogFile()
 	CFileGZInputStream in_fil(fileName_IN);
 	CFileGZOutputStream out_fil(fileName_OUT);
 
-	unsigned int filSize = (unsigned int)in_fil.getTotalBytesCount();
+	auto filSize = (unsigned int)in_fil.getTotalBytesCount();
 
 	wxProgressDialog progDia(
 		wxT("Modifying motion model"), wxT("Processing file..."),