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Get rid of "std::endl" #918

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Dec 14, 2021
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Get rid of "std::endl" #918

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d25cf89
get rid of std::endl
ParthasarathyBana Dec 14, 2021
e96a05b
fix pre-commit issue
ParthasarathyBana Dec 14, 2021
baa64ba
Merge branch 'main' into pr-get_rid_of_endl
tylerjw Dec 14, 2021
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6 changes: 3 additions & 3 deletions moveit_core/backtrace/include/moveit/backtrace/backtrace.h
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Original file line number Diff line number Diff line change
Expand Up @@ -48,17 +48,17 @@ void get_backtrace(std::ostream& out)
void* array[500];
size_t size = backtrace(array, 500);
char** strings = backtrace_symbols((void* const*)array, size);
out << "Backtrace:" << std::endl;
out << "Backtrace: \n";
for (size_t i = 0; i < size; ++i)
{
out << " " << strings[i] << std::endl;
out << " " << strings[i] << '\n';
}
free(strings);
}
#else
void get_backtrace(std::ostream& out)
{
out << "Unable to get backtrace with the used compiler." << std::endl;
out << "Unable to get backtrace with the used compiler.\n";
}
#endif
} // namespace moveit
4 changes: 2 additions & 2 deletions moveit_core/collision_detection/src/collision_matrix.cpp
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Expand Up @@ -400,7 +400,7 @@ void AllowedCollisionMatrix::print(std::ostream& out) const
ss << std::setw(number_digits) << i;
out << std::setw(3) << ss.str().c_str()[j];
}
out << std::endl;
out << '\n';
}

for (std::size_t i = 0; i < names.size(); ++i)
Expand All @@ -417,7 +417,7 @@ void AllowedCollisionMatrix::print(std::ostream& out) const
else
out << std::setw(3) << '-';
}
out << std::endl;
out << '\n';
}
}

Expand Down
2 changes: 1 addition & 1 deletion ...n_distance_field/include/moveit/collision_distance_field/collision_distance_field_types.h
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Expand Up @@ -242,7 +242,7 @@ class BodyDecomposition
const Eigen::Isometry3d& new_relative_cylinder_pose)
{
// std::cerr << "Replacing " << collision_spheres_.size() << " with " <<
// new_collision_spheres.size() << std::endl;
// new_collision_spheres.size() << '\n';
collision_spheres_ = new_collision_spheres;
relative_cylinder_pose_ = new_relative_cylinder_pose;
}
Expand Down
14 changes: 7 additions & 7 deletions moveit_core/collision_distance_field/src/collision_env_distance_field.cpp
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Expand Up @@ -504,7 +504,7 @@ bool CollisionEnvDistanceField::getIntraGroupCollisions(const collision_detectio
}
// std::cerr << "Bounding spheres for " << gsr->dfce_->link_names_[i] <<
// " and " << gsr->dfce_->link_names_[j]
// << " intersect" << std::endl;
// << " intersect" << '\n';
}
int num_pair = -1;
std::string name_1;
Expand Down Expand Up @@ -572,7 +572,7 @@ bool CollisionEnvDistanceField::getIntraGroupCollisions(const collision_detectio
double dist = gradient.norm();
// std::cerr << "Dist is " << dist << " rad " <<
// (*collision_spheres_1)[k].radius_+(*collision_spheres_2)[l].radius_
// << std::endl;
// << '\n';

if (dist < (*collision_spheres_1)[k].radius_ + (*collision_spheres_2)[l].radius_)
{
Expand Down Expand Up @@ -805,14 +805,14 @@ DistanceFieldCacheEntryPtr CollisionEnvDistanceField::generateDistanceFieldCache
// std::cerr << "Checking touch links for " << link_name << " and " <<
// attached_bodies[j]->getName()
// << " num " << attached_bodies[j]->getTouchLinks().size()
// << std::endl;
// << '\n';
// touch links take priority
if (link_attached_bodies[j]->getTouchLinks().find(link_name) != link_attached_bodies[j]->getTouchLinks().end())
{
dfce->intra_group_collision_enabled_[i][att_count + dfce->link_names_.size()] = false;
// std::cerr << "Setting intra group for " << link_name << " and
// attached body " << link_attached_bodies[j]->getName() << " to
// false" << std::endl;
// false" << '\n';
}
}
}
Expand Down Expand Up @@ -852,7 +852,7 @@ DistanceFieldCacheEntryPtr CollisionEnvDistanceField::generateDistanceFieldCache
// TODO - allow for touch links to be attached bodies?
// else {
// std::cerr << "Setting not allowed for " << link_name << " and " <<
// dfce->link_names_[j] << std::endl;
// dfce->link_names_[j] << '\n';
//}
}
}
Expand Down Expand Up @@ -1226,7 +1226,7 @@ void CollisionEnvDistanceField::getGroupStateRepresentation(const DistanceFieldC
// const moveit::core::LinkModel* ls =
// state.getLinkStateVector()[dfce->attached_body_link_state_indices_[i]];
/// std::cerr << "Attached " << dfce->attached_body_names_[i] << " index "
/// << dfce->attached_body_link_state_indices_[i] << std::endl;
/// << dfce->attached_body_link_state_indices_[i] << '\n';
gsr->attached_body_decompositions_.push_back(
getAttachedBodySphereDecomposition(state.getAttachedBody(dfce->attached_body_names_[i]), resolution_));
gsr->gradients_[i + dfce->link_names_.size()].types.resize(
Expand Down Expand Up @@ -1351,7 +1351,7 @@ bool CollisionEnvDistanceField::compareCacheEntryToAllowedCollisionMatrix(
// " << dfce->link_names_[j]
// << " went from " <<
// dfce->intra_group_collision_enabled_[i][j] << " to " <<
// intra_collision_enabled << std::endl;
// intra_collision_enabled << '\n';
return false;
}
}
Expand Down
68 changes: 34 additions & 34 deletions moveit_core/constraint_samplers/test/pr2_arm_ik.cpp
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Expand Up @@ -262,7 +262,7 @@ void PR2ArmIK::computeIKShoulderPan(const Eigen::Isometry3f& g_in, const double&
theta4[1] = -acos_angle;

#ifdef DEBUG
std::cout << "ComputeIK::theta3:" << numerator << "," << denominator << "," << std::endl << theta4[0] << std::endl;
std::cout << "ComputeIK::theta3:" << numerator << "," << denominator << ",\n" << theta4[0] << '\n';
#endif

for (double theta : theta4)
Expand All @@ -272,7 +272,7 @@ void PR2ArmIK::computeIKShoulderPan(const Eigen::Isometry3f& g_in, const double&
sint4 = sin(t4);

#ifdef DEBUG
std::cout << "t4 " << t4 << std::endl;
std::cout << "t4 " << t4 << '\n';
#endif
if (std::isnan(t4))
continue;
Expand All @@ -295,7 +295,7 @@ void PR2ArmIK::computeIKShoulderPan(const Eigen::Isometry3f& g_in, const double&
continue;

#ifdef DEBUG
std::cout << "t2 " << t2 << std::endl;
std::cout << "t2 " << t2 << '\n';
#endif
sint2 = sin(t2);
cost2 = cos(t2);
Expand All @@ -318,7 +318,7 @@ void PR2ArmIK::computeIKShoulderPan(const Eigen::Isometry3f& g_in, const double&
sint3 = sin(t3);
cost3 = cos(t3);
#ifdef DEBUG
std::cout << "t3 " << t3 << std::endl;
std::cout << "t3 " << t3 << '\n';
#endif
if (fabs((shoulder_upperarm_offset_ - shoulder_elbow_offset_ +
(shoulder_elbow_offset_ - shoulder_wrist_offset_) * cost4) *
Expand Down Expand Up @@ -395,14 +395,14 @@ void PR2ArmIK::computeIKShoulderPan(const Eigen::Isometry3f& g_in, const double&
continue;

#ifdef DEBUG
std::cout << "t6 " << t6 << std::endl;
std::cout << "t6 " << t6 << '\n';
#endif
if (fabs(cos(t6) - grhs_local(0, 0)) > IK_EPS)
continue;

if (fabs(sin(t6)) < IK_EPS)
{
// std::cout << "Singularity" << std::endl;
// std::cout << "Singularity" << '\n';
theta5[0] = acos(grhs_local(1, 1)) / 2.0;
theta7[0] = theta7[0];
theta7[1] = M_PI + theta7[0];
Expand All @@ -416,13 +416,13 @@ void PR2ArmIK::computeIKShoulderPan(const Eigen::Isometry3f& g_in, const double&
theta5[1] = M_PI + theta5[0];
}
#ifdef DEBUG
std::cout << "theta1: " << t1 << std::endl;
std::cout << "theta2: " << t2 << std::endl;
std::cout << "theta3: " << t3 << std::endl;
std::cout << "theta4: " << t4 << std::endl;
std::cout << "theta5: " << t5 << std::endl;
std::cout << "theta6: " << t6 << std::endl;
std::cout << "theta7: " << t7 << std::endl << std::endl << std::endl;
std::cout << "theta1: " << t1 << '\n';
std::cout << "theta2: " << t2 << '\n';
std::cout << "theta3: " << t3 << '\n';
std::cout << "theta4: " << t4 << '\n';
std::cout << "theta5: " << t5 << '\n';
std::cout << "theta6: " << t6 << '\n';
std::cout << "theta7: " << t7 << '\n' << '\n' << '\n';
#endif
for (int lll = 0; lll < 2; ++lll)
{
Expand All @@ -434,8 +434,8 @@ void PR2ArmIK::computeIKShoulderPan(const Eigen::Isometry3f& g_in, const double&
continue;

#ifdef DEBUG
std::cout << "t5" << t5 << std::endl;
std::cout << "t7" << t7 << std::endl;
std::cout << "t5" << t5 << '\n';
std::cout << "t7" << t7 << '\n';
#endif
if (fabs(sin(t6) * sin(t7) - grhs_local(0, 1)) > IK_EPS ||
fabs(cos(t7) * sin(t6) - grhs_local(0, 2)) > IK_EPS)
Expand All @@ -453,8 +453,8 @@ void PR2ArmIK::computeIKShoulderPan(const Eigen::Isometry3f& g_in, const double&
#ifdef DEBUG
std::cout << "SOLN " << solution_ik[0] << " " << solution_ik[1] << " " << solution_ik[2] << " "
<< solution_ik[3] << " " << solution_ik[4] << " " << solution_ik[5] << " " << solution_ik[6]
<< std::endl
<< std::endl;
<< '\n'
<< '\n';
#endif
}
}
Expand Down Expand Up @@ -542,7 +542,7 @@ void PR2ArmIK::computeIKShoulderRoll(const Eigen::Isometry3f& g_in, const double
cost4 = cos(t4);
sint4 = sin(t4);
#ifdef DEBUG
std::cout << "t4 " << t4 << std::endl;
std::cout << "t4 " << t4 << '\n';
#endif
if (std::isnan(t4))
continue;
Expand All @@ -558,7 +558,7 @@ void PR2ArmIK::computeIKShoulderRoll(const Eigen::Isometry3f& g_in, const double
{
t2 = theta;
#ifdef DEBUG
std::cout << "t2 " << t2 << std::endl;
std::cout << "t2 " << t2 << '\n';
#endif
if (!checkJointLimits(t2, 1))
{
Expand All @@ -574,7 +574,7 @@ void PR2ArmIK::computeIKShoulderRoll(const Eigen::Isometry3f& g_in, const double
if (!solveCosineEqn(at, bt, ct, theta1[0], theta1[1]))
{
#ifdef DEBUG
std::cout << "could not solve cosine equation for t1" << std::endl;
std::cout << "could not solve cosine equation for t1" << '\n';
#endif
continue;
}
Expand All @@ -583,7 +583,7 @@ void PR2ArmIK::computeIKShoulderRoll(const Eigen::Isometry3f& g_in, const double
{
t1 = theta;
#ifdef DEBUG
std::cout << "t1 " << t1 << std::endl;
std::cout << "t1 " << t1 << '\n';
#endif
if (!checkJointLimits(t1, 0))
{
Expand Down Expand Up @@ -690,7 +690,7 @@ void PR2ArmIK::computeIKShoulderRoll(const Eigen::Isometry3f& g_in, const double
{
t6 = theta6[mm];
#ifdef DEBUG
std::cout << "t6 " << t6 << std::endl;
std::cout << "t6 " << t6 << '\n';
#endif
if (!checkJointLimits(t6, 5))
{
Expand All @@ -702,7 +702,7 @@ void PR2ArmIK::computeIKShoulderRoll(const Eigen::Isometry3f& g_in, const double

if (fabs(sin(t6)) < IK_EPS)
{
// std::cout << "Singularity" << std::endl;
// std::cout << "Singularity" << '\n';
theta5[0] = acos(grhs_local(1, 1)) / 2.0;
theta7[0] = theta5[0];
// theta7[1] = M_PI+theta7[0];
Expand Down Expand Up @@ -730,20 +730,20 @@ void PR2ArmIK::computeIKShoulderRoll(const Eigen::Isometry3f& g_in, const double
}

#ifdef DEBUG
std::cout << "t5 " << t5 << std::endl;
std::cout << "t7 " << t7 << std::endl;
std::cout << "t5 " << t5 << '\n';
std::cout << "t7 " << t7 << '\n';
#endif
// if(fabs(sin(t6)*sin(t7)-grhs_local(0,1)) > IK_EPS || fabs(cos(t7)*sin(t6)-grhs_local(0,2)) > IK_EPS)
// continue;

#ifdef DEBUG
std::cout << "theta1: " << t1 << std::endl;
std::cout << "theta2: " << t2 << std::endl;
std::cout << "theta3: " << t3 << std::endl;
std::cout << "theta4: " << t4 << std::endl;
std::cout << "theta5: " << t5 << std::endl;
std::cout << "theta6: " << t6 << std::endl;
std::cout << "theta7: " << t7 << std::endl << std::endl << std::endl;
std::cout << "theta1: " << t1 << '\n';
std::cout << "theta2: " << t2 << '\n';
std::cout << "theta3: " << t3 << '\n';
std::cout << "theta4: " << t4 << '\n';
std::cout << "theta5: " << t5 << '\n';
std::cout << "theta6: " << t6 << '\n';
std::cout << "theta7: " << t7 << '\n' << '\n' << '\n';
#endif

solution_ik[0] = normalize_angle(t1 * angle_multipliers_[0]);
Expand All @@ -757,8 +757,8 @@ void PR2ArmIK::computeIKShoulderRoll(const Eigen::Isometry3f& g_in, const double
#ifdef DEBUG
std::cout << "SOLN " << solution_ik[0] << " " << solution_ik[1] << " " << solution_ik[2] << " "
<< solution_ik[3] << " " << solution_ik[4] << " " << solution_ik[5] << " " << solution_ik[6]
<< std::endl
<< std::endl;
<< '\n'
<< '\n';
#endif
}
}
Expand Down
4 changes: 2 additions & 2 deletions moveit_core/constraint_samplers/test/pr2_arm_ik.h
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Expand Up @@ -96,15 +96,15 @@ inline bool solveCosineEqn(const double& a, const double& b, const double& c, do
if (fabs(denom) < IK_EPS) // should never happen, wouldn't make sense but make sure it is checked nonetheless
{
#ifdef DEBUG
std::cout << "denom: " << denom << std::endl;
std::cout << "denom: " << denom << '\n';
#endif
return false;
}
double rhs_ratio = c / denom;
if (rhs_ratio < -1 || rhs_ratio > 1)
{
#ifdef DEBUG
std::cout << "rhs_ratio: " << rhs_ratio << std::endl;
std::cout << "rhs_ratio: " << rhs_ratio << '\n';
#endif
return false;
}
Expand Down
24 changes: 12 additions & 12 deletions moveit_core/distance_field/src/propagation_distance_field.cpp
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Expand Up @@ -477,11 +477,11 @@ void PropagationDistanceField::propagateNegative()
if (new_distance_sq > max_distance_sq_)
continue;
// std::cout << "Looking at " << nloc.x() << " " << nloc.y() << " " << nloc.z() << " " << new_distance_sq << " "
// << neighbor->negative_distance_square_ << std::endl;
// << neighbor->negative_distance_square_ << '\n';
if (new_distance_sq < neighbor->negative_distance_square_)
{
// std::cout << "Updating " << nloc.x() << " " << nloc.y() << " " << nloc.z() << " " << new_distance_sq <<
// std::endl;
// '\n';
// update the neighboring voxel
neighbor->negative_distance_square_ = new_distance_sq;
neighbor->closest_negative_point_ = vptr->closest_negative_point_;
Expand Down Expand Up @@ -627,13 +627,13 @@ bool PropagationDistanceField::worldToGrid(double world_x, double world_y, doubl

bool PropagationDistanceField::writeToStream(std::ostream& os) const
{
os << "resolution: " << resolution_ << std::endl;
os << "size_x: " << size_x_ << std::endl;
os << "size_y: " << size_y_ << std::endl;
os << "size_z: " << size_z_ << std::endl;
os << "origin_x: " << origin_x_ << std::endl;
os << "origin_y: " << origin_y_ << std::endl;
os << "origin_z: " << origin_z_ << std::endl;
os << "resolution: " << resolution_ << '\n';
os << "size_x: " << size_x_ << '\n';
os << "size_y: " << size_y_ << '\n';
os << "size_z: " << size_z_ << '\n';
os << "origin_x: " << origin_x_ << '\n';
os << "origin_y: " << origin_y_ << '\n';
os << "origin_z: " << origin_z_ << '\n';
// now the binary stuff

// first writing to zlib compressed buffer
Expand All @@ -653,7 +653,7 @@ bool PropagationDistanceField::writeToStream(std::ostream& os) const
{
if (getCell(x, y, z + zi).distance_square_ == 0)
{
// std::cout << "Marking obs cell " << x << " " << y << " " << z+zi << std::endl;
// std::cout << "Marking obs cell " << x << " " << y << " " << z+zi << '\n';
bs[zi] = 1;
}
}
Expand Down Expand Up @@ -720,7 +720,7 @@ bool PropagationDistanceField::readFromStream(std::istream& is)
in.push(boost::iostreams::zlib_decompressor());
in.push(is);

// std::cout << "Nums " << getXNumCells() << " " << getYNumCells() << " " << getZNumCells() << std::endl;
// std::cout << "Nums " << getXNumCells() << " " << getYNumCells() << " " << getZNumCells() << '\n';

EigenSTL::vector_Vector3i obs_points;
for (unsigned int x = 0; x < static_cast<unsigned int>(getXNumCells()); ++x)
Expand All @@ -741,7 +741,7 @@ bool PropagationDistanceField::readFromStream(std::istream& is)
{
if (inbit[zi] == 1)
{
// std::cout << "Adding obs cell " << x << " " << y << " " << z+zi << std::endl;
// std::cout << "Adding obs cell " << x << " " << y << " " << z+zi << '\n';
obs_points.push_back(Eigen::Vector3i(x, y, z + zi));
}
}
Expand Down
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