Merge branch 'master' into werror

.clang-format

@@ -0,0 +1,86 @@
+---
+BasedOnStyle:  Google
+AccessModifierOffset: -2
+AlignAfterOpenBracket: Align
+AlignEscapedNewlinesLeft: true
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakAfterDefinitionReturnType: false
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: false
+BinPackParameters: false
+BraceWrapping:
+  AfterClass:      true
+  AfterControlStatement: true
+  AfterEnum:       true
+  AfterFunction:   true
+  AfterNamespace:  false
+  AfterObjCDeclaration: true
+  AfterStruct:     true
+  AfterUnion:      true
+  BeforeCatch:     true
+  BeforeElse:      true
+  IndentBraces:    false
+BreakBeforeBinaryOperators: NonAssignment
+BreakBeforeBraces: Custom
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+ColumnLimit:     80
+CommentPragmas:  ''
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 2
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: false
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+ForEachMacros:   [ foreach, Q_FOREACH, BOOST_FOREACH ]
+# sort headers by main include file (implicit priority 0),
+# then project and private includes, then system headers
+IncludeCategories:
+  - Regex:     '.*'
+    Priority:  1
+  - Regex:     '^(<|"(gtest|isl|json)/)'
+    Priority:  2
+  - Regex:     '^<([a-z]+)>'
+    Priority:  3
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+IndentWidth:     2
+IndentWrappedFunctionNames: false
+KeepEmptyLinesAtTheStartOfBlocks: true
+MacroBlockBegin: ''
+MacroBlockEnd: ''
+Language:        Cpp
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+SpaceAfterCStyleCast: false
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles: false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+Standard:        Auto
+TabWidth:        2
+UseTab:          Never
+...

CHANGELOG.md

@@ -0,0 +1,10 @@
+## Aikido 0 (prerelease)
+
+### 0.0.2 (2017-XX-XX)
+
+  * Fixed build issues on macOS: [#138](https://github.com/personalrobotics/aikido/pull/138)
+
+### 0.0.1 (2017-03-10)
+
+  * Initial release
+

CMakeLists.txt

@@ -14,15 +14,14 @@ project(aikido)
 # If you change the version, please update the <version> tag in package.xml.
 set(AIKIDO_MAJOR_VERSION "0")
 set(AIKIDO_MINOR_VERSION "0")
-set(AIKIDO_PATCH_VERSION "1")
+set(AIKIDO_PATCH_VERSION "2")
 set(AIKIDO_VERSION "${AIKIDO_MAJOR_VERSION}.${AIKIDO_MINOR_VERSION}.${AIKIDO_PATCH_VERSION}")
 
 list(INSERT CMAKE_MODULE_PATH 0 "${PROJECT_SOURCE_DIR}/cmake") 
 
 #==============================================================================
 # Configuration Options
 #
-
 set(INCLUDE_INSTALL_DIR "include")
 set(LIBRARY_INSTALL_DIR "lib")
 set(CONFIG_INSTALL_DIR "${LIBRARY_INSTALL_DIR}/${PROJECT_NAME}/cmake")
@@ -60,6 +59,29 @@ if(COVERALLS)
   coveralls_turn_on_coverage()
 endif()
 
+#==============================================================================
+# Automatic code formatting setup
+#
+define_property(GLOBAL PROPERTY CODE_FORMATTING_SOURCES
+  BRIEF_DOCS "Source files that are automatically formatted by clang-format."
+  FULL_DOCS "Source files that are automatically formatted by clang-format."
+)
+
+function(format_add_sources)
+  foreach(source ${ARGN})
+    get_filename_component(source_abs
+      "${CMAKE_CURRENT_LIST_DIR}/${source}" ABSOLUTE)
+    if(EXISTS "${source_abs}")
+      set_property(GLOBAL APPEND PROPERTY CODE_FORMATTING_SOURCES "${source_abs}")
+    else()
+      message(FATAL_ERROR
+        "Source file '${source}' does not exist at absolute path"
+        " '${source_abs}'. This should never happen. Did you recently delete"
+        " this file or modify 'CMAKE_CURRENT_LIST_DIR'")
+    endif()
+  endforeach()
+endfunction()
+
 #==============================================================================
 # Helper functions.
 #
@@ -249,6 +271,48 @@ if(COVERALLS)
     "${PROJECT_SOURCE_DIR}/cmake")
 endif()
 
+#===============================================================================
+# Automatic code formatting using clang-format.
+#
+find_program(
+  CLANG_FORMAT_EXECUTABLE
+  NAMES clang-format clang-format-3.9 clang-format-3.8
+)
+
+if (CLANG_FORMAT_EXECUTABLE)
+  get_property(formatting_files GLOBAL PROPERTY CODE_FORMATTING_SOURCES)
+  list(LENGTH formatting_files formatting_files_length)
+
+  if (formatting_files)
+    add_custom_target(format
+        COMMAND ${CMAKE_COMMAND} -E echo "Formatting code style of"
+            "${formatting_files_length} files... "
+        COMMAND ${CLANG_FORMAT_EXECUTABLE} -style=file -i ${formatting_files}
+        COMMAND ${CMAKE_COMMAND} -E echo "Done."
+        DEPENDS ${CLANG_FORMAT_EXECUTABLE}
+        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+    )
+    add_custom_target(check-format
+        COMMAND ${CMAKE_COMMAND} -E echo "Checking code style of
+            ${formatting_files_length} files... "
+        COMMAND ${CMAKE_SOURCE_DIR}/tools/check_code_format.sh
+            ${CLANG_FORMAT_EXECUTABLE} ${formatting_files}
+        COMMAND ${CMAKE_COMMAND} -E echo "Done."
+        DEPENDS ${CLANG_FORMAT_EXECUTABLE}
+        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+    )
+  else()
+    add_custom_target(format
+        COMMAND ${CMAKE_COMMAND} -E echo "No file to format code style."
+    )
+    add_custom_target(check-format
+        COMMAND ${CMAKE_COMMAND} -E echo "No file to check code style."
+    )
+  endif()
+else()
+  message(STATUS "Looking for clang-format - NOT found, please install clang-format to enable automatic code formatting")
+endif()
+
 #==============================================================================
 # Installation.
 #

include/aikido/constraint/NonColliding.hpp

@@ -73,6 +73,8 @@ class NonColliding : public Testable
   std::vector<std::shared_ptr<CollisionGroup>> groupsToSelfCheck;
 };
 
+using NonCollidingPtr = std::shared_ptr<NonColliding>;
+
 }  // constraint
 }  // aikido
 #endif  // AIKIDO_CONSTRAINT_NONCOLLIDING_HPP_

include/aikido/constraint/TestableIntersection.hpp

@@ -40,6 +40,9 @@ class TestableIntersection : public Testable
 
   void testConstraintStateSpaceOrThrow(const TestablePtr& constraint);
 };
+
+using TestableIntersectionPtr = std::shared_ptr<TestableIntersection>;
+
 }  // constraint
 }  // aikido
 

include/aikido/planner/ompl/BackwardCompatibility.hpp

@@ -0,0 +1,115 @@
+// This header is for supporting OMPL across the multiple versions that include
+// API breaking changes. Currently, the most part is to support changes from the
+// usage of Boost to C++11 STL equivalents.
+
+#ifndef AIKIDO_PLANNER_OMPL_BACKWARDCOMPATIBILITY_HPP_
+#define AIKIDO_PLANNER_OMPL_BACKWARDCOMPATIBILITY_HPP_
+
+#include <ompl/config.h>
+
+#define OMPL_VERSION_AT_LEAST(x,y,z) \
+  (OMPL_MAJOR_VERSION > x || (OMPL_MAJOR_VERSION >= x && \
+  (OMPL_MINOR_VERSION > y || (OMPL_MINOR_VERSION >= y && \
+  OMPL_PATCH_VERSION >= z))))
+
+#define OMPL_MAJOR_MINOR_VERSION_AT_LEAST(x,y) \
+  (OMPL_MAJOR_VERSION > x || (OMPL_MAJOR_VERSION >= x && \
+  (OMPL_MINOR_VERSION > y || (OMPL_MINOR_VERSION >= y))))
+
+#define OMPL_VERSION_AT_MOST(x,y,z) \
+  (OMPL_MAJOR_VERSION < x || (OMPL_MAJOR_VERSION <= x && \
+  (OMPL_MINOR_VERSION < y || (OMPL_MINOR_VERSION <= y && \
+  OMPL_PATCH_VERSION <= z))))
+
+#define OMPL_MAJOR_MINOR_VERSION_AT_MOST(x,y) \
+  (OMPL_MAJOR_VERSION < x || (OMPL_MAJOR_VERSION <= x && \
+  (OMPL_MINOR_VERSION < y || (OMPL_MINOR_VERSION <= y))))
+
+#if OMPL_VERSION_AT_LEAST(1,2,0)
+#include <memory>
+#else
+#include <boost/smart_ptr.hpp>
+#include <boost/bind.hpp>
+#endif
+
+namespace aikido {
+namespace planner {
+namespace ompl {
+
+#if OMPL_VERSION_AT_LEAST(1,2,0)
+
+#define OMPL_PLACEHOLDER(ph) std::placeholders::ph
+
+template <class T>
+using ompl_shared_ptr = std::shared_ptr<T>;
+
+template <class T>
+using ompl_weak_ptr = std::weak_ptr<T>;
+
+template <class T, class... Args>
+ompl_shared_ptr<T> ompl_make_shared(Args&&... args)
+{
+  return std::make_shared<T>(std::forward<Args>(args)...);
+}
+
+template <class T, class U>
+ompl_shared_ptr<T> ompl_dynamic_pointer_cast(const ompl_shared_ptr<U>& r)
+{
+  return std::dynamic_pointer_cast<T>(r);
+}
+
+template <class T, class U>
+ompl_shared_ptr<T> ompl_static_pointer_cast(const ompl_shared_ptr<U>& r)
+{
+  return std::static_pointer_cast<T>(r);
+}
+
+template <class F, class... Args>
+auto ompl_bind(F&& f, Args&&... args)
+-> decltype(std::bind(std::forward<F>(f), std::forward<Args>(args)...))
+{
+  return std::bind(std::forward<F>(f), std::forward<Args>(args)...);
+}
+
+#else // OMPL_VERSION_AT_LEAST(1,2,0)
+
+#define OMPL_PLACEHOLDER(ph) ph
+
+template <class T>
+using ompl_shared_ptr = boost::shared_ptr<T>;
+
+template <class T>
+using ompl_weak_ptr = boost::weak_ptr<T>;
+
+template <class T, class... Args>
+ompl_shared_ptr<T> ompl_make_shared(Args&&... args)
+{
+  return boost::make_shared<T>(std::forward<Args>(args)...);
+}
+
+template <class T, class U>
+ompl_shared_ptr<T> ompl_dynamic_pointer_cast(const ompl_shared_ptr<U>& r)
+{
+  return boost::dynamic_pointer_cast<T>(r);
+}
+
+template <class T, class U>
+ompl_shared_ptr<T> ompl_static_pointer_cast(const ompl_shared_ptr<U>& r)
+{
+  return boost::static_pointer_cast<T>(r);
+}
+
+template <class F, class... Args>
+auto ompl_bind(F&& f, Args&&... args)
+-> decltype(boost::bind(std::forward<F>(f), std::forward<Args>(args)...))
+{
+  return boost::bind(std::forward<F>(f), std::forward<Args>(args)...);
+}
+
+#endif // OMPL_VERSION_AT_LEAST(1,2,0)
+
+} // namespace ompl
+} // namespace planner
+} // namespace aikido
+
+#endif // AIKIDO_PLANNER_OMPL_BACKWARDCOMPATIBILITY_HPP_

include/aikido/planner/ompl/CRRT.hpp

@@ -5,6 +5,7 @@
 #include <ompl/geometric/planners/PlannerIncludes.h>
 #include <ompl/datastructures/NearestNeighbors.h>
 
+#include "../../planner/ompl/BackwardCompatibility.hpp"
 #include "../../constraint/Projectable.hpp"
 
 namespace aikido {
@@ -147,7 +148,7 @@ class CRRT : public ::ompl::base::Planner
 
 
   /// A nearest-neighbor datastructure representing a tree of motions */
-  using TreeData = boost::shared_ptr<::ompl::NearestNeighbors<Motion *>>;
+  using TreeData = ompl_shared_ptr<::ompl::NearestNeighbors<Motion *>>;
 
   /// A nearest-neighbors datastructure containing the tree of motions
   TreeData mStartTree;

include/aikido/planner/ompl/Planner.hpp

@@ -8,12 +8,12 @@
 #include "../../constraint/Sampleable.hpp"
 #include "../../constraint/Projectable.hpp"
 #include "../../trajectory/Interpolated.hpp"
+#include "../../planner/ompl/BackwardCompatibility.hpp"
 
 #include <ompl/base/Planner.h>
 #include <ompl/base/ProblemDefinition.h>
 #include <ompl/base/SpaceInformation.h>
 #include <ompl/base/goals/GoalRegion.h>
-#include <boost/make_shared.hpp>
 
 namespace aikido {
 namespace planner {
@@ -221,7 +221,7 @@ ::ompl::base::SpaceInformationPtr getSpaceInformation(
 /// \param _si Information about the planning space
 /// \param _goalTestable A Testable constraint that can determine if a given state is a goal state
 /// \param _goalSampler A Sampleable capable of sampling states that satisfy _goalTestable
-boost::shared_ptr<::ompl::base::GoalRegion>
+ompl_shared_ptr<::ompl::base::GoalRegion>
 getGoalRegion(::ompl::base::SpaceInformationPtr _si,
               constraint::TestablePtr _goalTestable,
               constraint::SampleablePtr _goalSampler);