moveit · davetcoleman · Feb 28, 2019 · Feb 25, 2019 · Feb 25, 2019 · Feb 25, 2019
diff --git a/.clang-tidy b/.clang-tidy
@@ -1,6 +1,7 @@
 ---
 Checks:          '-*,
                   performance-*,
+                  llvm-namespace-comment,
                   modernize-redundant-void-arg,
                   modernize-use-nullptr,
                   modernize-use-default,

diff --git a/moveit_core/collision_detection_fcl/src/collision_common.cpp b/moveit_core/collision_detection_fcl/src/collision_common.cpp
@@ -901,7 +901,7 @@ void cleanCollisionGeometryCache()
     cache2.bumpUseCount(true);
   }
 }
-}
+}  // namespace collision_detection
 
 void collision_detection::CollisionData::enableGroup(const robot_model::RobotModelConstPtr& robot_model)
 {

diff --git a/moveit_core/collision_distance_field/src/collision_common_distance_field.cpp b/moveit_core/collision_distance_field/src/collision_common_distance_field.cpp
@@ -39,6 +39,7 @@
 #include <boost/thread/mutex.hpp>
 #include <tf2_eigen/tf2_eigen.h>
 #include <memory>
+#include <utility>
 
 namespace collision_detection
 {
@@ -150,7 +151,7 @@ void getBodySphereVisualizationMarkers(GroupStateRepresentationConstPtr& gsr, st
 
   // creating sphere marker
   visualization_msgs::Marker sphere_marker;
-  sphere_marker.header.frame_id = reference_frame;
+  sphere_marker.header.frame_id = std::move(reference_frame);
   sphere_marker.header.stamp = ros::Time(0);
   sphere_marker.ns = robot_ns;
   sphere_marker.id = 0;
@@ -220,4 +221,4 @@ void getBodySphereVisualizationMarkers(GroupStateRepresentationConstPtr& gsr, st
     }
   }
 }
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_distance_field/src/collision_distance_field_types.cpp b/moveit_core/collision_distance_field/src/collision_distance_field_types.cpp
@@ -249,7 +249,7 @@ bool collision_detection::getCollisionSphereCollision(const distance_field::Dist
     }
   }
 
-  return colls.size() > 0;
+  return !colls.empty();
 }
 
 ///
@@ -402,11 +402,7 @@ bool collision_detection::doBoundingSpheresIntersect(const PosedBodySphereDecomp
   double p2_radius = p2->getBoundingSphereRadius();
 
   double dist = (p1_sphere_center - p2_sphere_center).squaredNorm();
-  if (dist < (p1_radius + p2_radius))
-  {
-    return true;
-  }
-  return false;
+  return dist < (p1_radius + p2_radius);
 }
 
 void collision_detection::getCollisionSphereMarkers(

diff --git a/moveit_core/collision_distance_field/src/collision_robot_distance_field.cpp b/moveit_core/collision_distance_field/src/collision_robot_distance_field.cpp
@@ -757,7 +757,7 @@ DistanceFieldCacheEntryPtr CollisionRobotDistanceField::generateDistanceFieldCac
       continue;
     }
 
-    if (link_state->getShapes().size() > 0)
+    if (!link_state->getShapes().empty())
     {
       dfce->link_has_geometry_.push_back(true);
       dfce->link_body_indices_.push_back(link_body_decomposition_index_map_.find(link_name)->second);
@@ -874,7 +874,7 @@ DistanceFieldCacheEntryPtr CollisionRobotDistanceField::generateDistanceFieldCac
     }
   }
 
-  const std::vector<std::string> state_variable_names = state.getVariableNames();
+  const std::vector<std::string>& state_variable_names = state.getVariableNames();
   for (std::vector<std::string>::const_iterator name_iter = state_variable_names.begin();
        name_iter != state_variable_names.end(); name_iter++)
   {
@@ -1372,4 +1372,4 @@ bool CollisionRobotDistanceField::compareCacheEntryToAllowedCollisionMatrix(
 //     if(dfce->acm.find
 //   }
 // }
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_distance_field/src/collision_robot_hybrid.cpp b/moveit_core/collision_distance_field/src/collision_robot_hybrid.cpp
@@ -93,4 +93,4 @@ void CollisionRobotHybrid::checkSelfCollisionDistanceField(const collision_detec
 {
   crobot_distance_->checkSelfCollision(req, res, state, acm, gsr);
 }
-}
+}  // namespace collision_detection
diff --git a/moveit_core/collision_distance_field/src/collision_world_distance_field.cpp b/moveit_core/collision_distance_field/src/collision_world_distance_field.cpp
@@ -562,7 +562,7 @@ CollisionWorldDistanceField::DistanceFieldCacheEntryPtr CollisionWorldDistanceFi
   dfce->distance_field_->addPointsToField(add_points);
   return dfce;
 }
-}
+}  // namespace collision_detection
 
 #include <moveit/collision_distance_field/collision_detector_allocator_distance_field.h>
 const std::string collision_detection::CollisionDetectorAllocatorDistanceField::NAME_("DISTANCE_FIELD");
diff --git a/moveit_core/collision_distance_field/src/collision_world_hybrid.cpp b/moveit_core/collision_distance_field/src/collision_world_hybrid.cpp
@@ -151,7 +151,7 @@ void CollisionWorldHybrid::getAllCollisions(const CollisionRequest& req, Collisi
 {
   cworld_distance_->getAllCollisions(req, res, robot, state, acm, gsr);
 }
-}
+}  // namespace collision_detection
 
 #include <moveit/collision_distance_field/collision_detector_allocator_hybrid.h>
 const std::string collision_detection::CollisionDetectorAllocatorHybrid::NAME_("HYBRID");
diff --git a/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp b/moveit_core/collision_distance_field/test/test_collision_distance_field.cpp
@@ -73,7 +73,7 @@ class DistanceFieldCollisionDetectionTester : public testing::Test
       }
       xml_file.close();
       urdf_model_ = urdf::parseURDF(xml_string);
-      urdf_ok_ = urdf_model_ ? true : false;
+      urdf_ok_ = static_cast<bool>(urdf_model_);
     }
     else
       urdf_ok_ = false;

diff --git a/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp b/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp
@@ -520,7 +520,7 @@ void samplingIkCallbackFnAdapter(robot_state::RobotState* state, const robot_mod
   else
     error_code.val = moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION;
 }
-}
+}  // namespace
 
 bool IKConstraintSampler::sample(robot_state::RobotState& state, const robot_state::RobotState& reference_state,
                                  unsigned int max_attempts)

diff --git a/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp b/moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp
@@ -428,4 +428,4 @@ const std::vector<std::string>& PR2ArmKinematicsPlugin::getLinkNames() const
   return fk_solver_info_.link_names;
 }
 
-}  // namespace
+}  // namespace pr2_arm_kinematics
diff --git a/moveit_core/distance_field/src/propagation_distance_field.cpp b/moveit_core/distance_field/src/propagation_distance_field.cpp
@@ -770,4 +770,4 @@ bool PropagationDistanceField::readFromStream(std::istream& is)
   addNewObstacleVoxels(obs_points);
   return true;
 }
-}
+}  // namespace distance_field
diff --git a/moveit_core/dynamics_solver/src/dynamics_solver.cpp b/moveit_core/dynamics_solver/src/dynamics_solver.cpp
@@ -62,7 +62,7 @@ inline geometry_msgs::Vector3 transformVector(const Eigen::Isometry3d& transform
 
   return result;
 }
-}
+}  // namespace
 
 DynamicsSolver::DynamicsSolver(const robot_model::RobotModelConstPtr& robot_model, const std::string& group_name,
                                const geometry_msgs::Vector3& gravity_vector)

diff --git a/moveit_core/kinematic_constraints/src/utils.cpp b/moveit_core/kinematic_constraints/src/utils.cpp
@@ -527,4 +527,4 @@ bool constructConstraints(XmlRpc::XmlRpcValue& params, moveit_msgs::Constraints&
   constraints.name = static_cast<std::string>(params["name"]);
   return collectConstraints(params["constraints"], constraints);
 }
-}
+}  // namespace kinematic_constraints
diff --git a/moveit_core/kinematics_base/src/kinematics_base.cpp b/moveit_core/kinematics_base/src/kinematics_base.cpp
@@ -44,7 +44,7 @@ namespace kinematics
 const double KinematicsBase::DEFAULT_SEARCH_DISCRETIZATION = 0.1;
 const double KinematicsBase::DEFAULT_TIMEOUT = 1.0;
 
-static void noDeleter(const moveit::core::RobotModel*)
+static void noDeleter(const moveit::core::RobotModel* /*unused*/)
 {
 }
 
@@ -186,9 +186,7 @@ KinematicsBase::KinematicsBase()
   supported_methods_.push_back(DiscretizationMethods::NO_DISCRETIZATION);
 }
 
-KinematicsBase::~KinematicsBase()
-{
-}
+KinematicsBase::~KinematicsBase() = default;
 
 bool KinematicsBase::getPositionIK(const std::vector<geometry_msgs::Pose>& ik_poses,
                                    const std::vector<double>& ik_seed_state,

diff --git a/moveit_core/planning_interface/src/planning_interface.cpp b/moveit_core/planning_interface/src/planning_interface.cpp
@@ -54,7 +54,7 @@ static ActiveContexts& getActiveContexts()
   static ActiveContexts ac;
   return ac;
 }
-}
+}  // namespace
 
 PlanningContext::PlanningContext(const std::string& name, const std::string& group) : name_(name), group_(group)
 {

diff --git a/moveit_core/planning_request_adapter/src/planning_request_adapter.cpp b/moveit_core/planning_request_adapter/src/planning_request_adapter.cpp
@@ -55,7 +55,7 @@ bool callPlannerInterfaceSolve(const planning_interface::PlannerManager* planner
   else
     return false;
 }
-}
+}  // namespace
 
 bool PlanningRequestAdapter::adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
                                           const planning_scene::PlanningSceneConstPtr& planning_scene,
@@ -115,7 +115,7 @@ bool callAdapter2(const PlanningRequestAdapter* adapter, const PlanningRequestAd
     return planner(planning_scene, req, res);
   }
 }
-}
+}  // namespace
 
 bool PlanningRequestAdapterChain::adaptAndPlan(const planning_interface::PlannerManagerPtr& planner,
                                                const planning_scene::PlanningSceneConstPtr& planning_scene,

diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -812,7 +812,7 @@ class ShapeVisitorAddToCollisionObject : public boost::static_visitor<void>
   moveit_msgs::CollisionObject* obj_;
   const geometry_msgs::Pose* pose_;
 };
-}
+}  // namespace
 
 bool PlanningScene::getCollisionObjectMsg(moveit_msgs::CollisionObject& collision_obj, const std::string& ns) const
 {
@@ -1603,7 +1603,7 @@ bool PlanningScene::processAttachedCollisionObjectMsg(const moveit_msgs::Attache
         poses.insert(poses.end(), ab->getFixedTransforms().begin(), ab->getFixedTransforms().end());
         trajectory_msgs::JointTrajectory detach_posture =
             object.detach_posture.joint_names.empty() ? ab->getDetachPosture() : object.detach_posture;
-        std::set<std::string> ab_touch_links = ab->getTouchLinks();
+        const std::set<std::string>& ab_touch_links = ab->getTouchLinks();
         robot_state_->clearAttachedBody(object.object.id);
         if (object.touch_links.empty())
           robot_state_->attachBody(object.object.id, shapes, poses, ab_touch_links, object.link_name, detach_posture);

diff --git a/moveit_core/profiler/src/profiler.cpp b/moveit_core/profiler/src/profiler.cpp
@@ -208,7 +208,7 @@ struct SortDoubleByValue
     return a.value_ > b.value_;
   }
 };
-}
+}  // namespace
 /// @endcond
 
 void Profiler::printThreadInfo(std::ostream& out, const PerThread& data)

diff --git a/moveit_core/robot_model/src/joint_model.cpp b/moveit_core/robot_model/src/joint_model.cpp
@@ -216,7 +216,7 @@ inline void printBoundHelper(std::ostream& out, double v)
   else
     out << v;
 }
-}
+}  // namespace
 
 std::ostream& operator<<(std::ostream& out, const VariableBounds& b)
 {

diff --git a/moveit_core/robot_model/src/joint_model_group.cpp b/moveit_core/robot_model/src/joint_model_group.cpp
@@ -94,7 +94,7 @@ bool jointPrecedes(const JointModel* a, const JointModel* b)
 
   return false;
 }
-}
+}  // namespace
 
 JointModelGroup::JointModelGroup(const std::string& group_name, const srdf::Model::Group& config,
                                  const std::vector<const JointModel*>& unsorted_group_joints,

diff --git a/moveit_core/robot_model/src/robot_model.cpp b/moveit_core/robot_model/src/robot_model.cpp
@@ -191,7 +191,7 @@ void computeCommonRootsHelper(const JointModel* joint, std::vector<int>& common_
     computeCommonRootsHelper(ch[i], common_roots, size);
   }
 }
-}
+}  // namespace
 
 void RobotModel::computeCommonRoots()
 {
@@ -840,7 +840,7 @@ static inline VariableBounds jointBoundsFromURDF(const urdf::Joint* urdf_joint)
   }
   return b;
 }
-}
+}  // namespace
 
 JointModel* RobotModel::constructJointModel(const urdf::Joint* urdf_joint, const urdf::Link* child_link,
                                             const srdf::Model& srdf_model)

diff --git a/moveit_core/robot_state/src/conversions.cpp b/moveit_core/robot_state/src/conversions.cpp
@@ -357,7 +357,7 @@ static bool _robotStateMsgToRobotStateHelper(const Transforms* tf, const moveit_
 
   return valid;
 }
-}
+}  // namespace
 
 // ********************************************
 

diff --git a/moveit_core/robot_state/src/robot_state.cpp b/moveit_core/robot_state/src/robot_state.cpp
@@ -1381,7 +1381,7 @@ bool ikCallbackFnAdapter(RobotState* state, const JointModelGroup* group,
     error_code.val = moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION;
   return true;
 }
-}
+}  // namespace
 
 bool RobotState::setToIKSolverFrame(Eigen::Isometry3d& pose, const kinematics::KinematicsBaseConstPtr& solver)
 {
@@ -2343,7 +2343,7 @@ void getPoseString(std::ostream& ss, const Eigen::Isometry3d& pose, const std::s
     ss << std::endl;
   }
 }
-}
+}  // namespace
 
 void RobotState::getStateTreeJointString(std::ostream& ss, const JointModel* jm, const std::string& pfx0,
                                          bool last) const

diff --git a/moveit_core/robot_state/test/test_aabb.cpp b/moveit_core/robot_state/test/test_aabb.cpp
@@ -62,13 +62,13 @@ class TestAABB : public testing::Test
 protected:
   void SetUp() override{};
 
-  robot_state::RobotState loadModel(const std::string robot_name)
+  robot_state::RobotState loadModel(const std::string& robot_name)
   {
     robot_model::RobotModelPtr model = moveit::core::loadTestingRobotModel(robot_name);
     return loadModel(model);
   }
 
-  robot_state::RobotState loadModel(robot_model::RobotModelPtr model)
+  robot_state::RobotState loadModel(const robot_model::RobotModelPtr& model)
   {
     robot_state::RobotState robot_state = robot_state::RobotState(model);
     robot_state.setToDefaultValues();

diff --git a/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp b/moveit_core/trajectory_processing/src/iterative_spline_parameterization.cpp
@@ -602,4 +602,4 @@ void globalAdjustment(std::vector<SingleJointTrajectory>& t2, int num_joints, co
     fit_cubic_spline(num_points, &time_diff[0], &t2[j].positions_[0], &t2[j].velocities_[0], &t2[j].accelerations_[0]);
   }
 }
-}
+}  // namespace trajectory_processing
diff --git a/moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp b/moveit_core/trajectory_processing/src/iterative_time_parameterization.cpp
@@ -95,7 +95,7 @@ void printStats(const trajectory_msgs::JointTrajectory& trajectory, const std::v
   for (std::size_t i = 0; i < trajectory.points.size(); ++i)
     printPoint(trajectory.points[i], i);
 }
-}
+}  // namespace
 
 // Applies velocity
 void IterativeParabolicTimeParameterization::applyVelocityConstraints(robot_trajectory::RobotTrajectory& rob_trajectory,
@@ -294,7 +294,7 @@ void updateTrajectory(robot_trajectory::RobotTrajectory& rob_trajectory, const s
     }
   }
 }
-}
+}  // namespace
 
 // Applies Acceleration constraints
 void IterativeParabolicTimeParameterization::applyAccelerationConstraints(
@@ -484,4 +484,4 @@ bool IterativeParabolicTimeParameterization::computeTimeStamps(robot_trajectory:
   updateTrajectory(trajectory, time_diff);
   return true;
 }
-}
+}  // namespace trajectory_processing
diff --git a/moveit_core/trajectory_processing/src/trajectory_tools.cpp b/moveit_core/trajectory_processing/src/trajectory_tools.cpp
@@ -47,4 +47,4 @@ std::size_t trajectoryWaypointCount(const moveit_msgs::RobotTrajectory& trajecto
 {
   return std::max(trajectory.joint_trajectory.points.size(), trajectory.multi_dof_joint_trajectory.points.size());
 }
-}
+}  // namespace trajectory_processing
diff --git a/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h b/moveit_core/utils/include/moveit/utils/robot_model_test_utils.h
@@ -179,10 +179,10 @@ class RobotModelBuilder
 
 private:
   /** \brief Adds different collision geometries to a link. */
-  void addLinkCollision(const std::string& link_name, urdf::CollisionSharedPtr coll, geometry_msgs::Pose origin);
+  void addLinkCollision(const std::string& link_name, const urdf::CollisionSharedPtr& coll, geometry_msgs::Pose origin);
 
   /** \brief Adds different visual geometries to a link. */
-  void addLinkVisual(const std::string& link_name, urdf::VisualSharedPtr vis, geometry_msgs::Pose origin);
+  void addLinkVisual(const std::string& link_name, const urdf::VisualSharedPtr& vis, geometry_msgs::Pose origin);
 
   /// The URDF model, holds all of the URDF components of the robot added so far.
   urdf::ModelInterfaceSharedPtr urdf_model_;

diff --git a/moveit_core/utils/src/lexical_casts.cpp b/moveit_core/utils/src/lexical_casts.cpp
@@ -87,5 +87,5 @@ float toFloat(const std::string& s)
 {
   return toRealImpl<float>(s);
 }
-}
-}
+}  // namespace core
+}  // namespace moveit
diff --git a/moveit_core/utils/src/robot_model_test_utils.cpp b/moveit_core/utils/src/robot_model_test_utils.cpp
@@ -237,7 +237,7 @@ void RobotModelBuilder::addCollisionMesh(const std::string& link_name, const std
   addLinkCollision(link_name, coll, origin);
 }
 
-void RobotModelBuilder::addLinkCollision(const std::string& link_name, urdf::CollisionSharedPtr collision,
+void RobotModelBuilder::addLinkCollision(const std::string& link_name, const urdf::CollisionSharedPtr& collision,
                                          geometry_msgs::Pose origin)
 {
   if (not urdf_model_->getLink(link_name))
@@ -255,7 +255,7 @@ void RobotModelBuilder::addLinkCollision(const std::string& link_name, urdf::Col
   link->collision_array.push_back(collision);
 }
 
-void RobotModelBuilder::addLinkVisual(const std::string& link_name, urdf::VisualSharedPtr vis,
+void RobotModelBuilder::addLinkVisual(const std::string& link_name, const urdf::VisualSharedPtr& vis,
                                       geometry_msgs::Pose origin)
 {
   if (not urdf_model_->getLink(link_name))

diff --git a/moveit_core/utils/src/xmlrpc_casts.cpp b/moveit_core/utils/src/xmlrpc_casts.cpp
@@ -87,5 +87,5 @@ bool isStruct(XmlRpc::XmlRpcValue& v, const std::vector<std::string>& keys, cons
 
   return missing.empty();
 }
-}
-}
+}  // namespace core
+}  // namespace moveit