clang-tidy fixes

[tylerjw]

No description provided.

[codecov]

Codecov Report

Merging #264 into master will decrease coverage by 0.00%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master     #264      +/-   ##
==========================================
- Coverage   47.87%   47.87%   -0.01%     
==========================================
  Files         155      154       -1     
  Lines       15750    15749       -1     
==========================================
- Hits         7541     7540       -1     
  Misses       8209     8209              

Impacted Files	Coverage Δ
...e/collision_detection_fcl/src/collision_common.cpp	76.99% <ø> (ø)
...processing/src/iterative_time_parameterization.cpp	92.35% <ø> (ø)

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[tylerjw]

Here is part of the diff from clang-tidy I didn't include. I'm unsure what is happening here.

diff --git a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
index 7e6b9df4b..ac97c9b49 100644
--- a/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
+++ b/moveit_core/collision_detection/include/moveit/collision_detection/collision_common.h
@@ -300,9 +300,9 @@ struct DistanceRequest
 };
 
 /** \brief Generic representation of the distance information for a pair of objects */
-struct DistanceResultsData
+struct I0
 {
-  DistanceResultsData()
+  distanceResultsData()
   {
     clear();
   }
@@ -340,20 +340,20 @@ struct DistanceResultsData
   }
 
   /// Compare if the distance is less than another
-  bool operator<(const DistanceResultsData& other)
+  bool operator<(const DistanceRequest& other)
   {
     return (distance < other.distance);
   }
 
   /// Compare if the distance is greater than another
-  bool operator>(const DistanceResultsData& other)
+  bool operator>(const DistanceRequest& other)
   {
     return (distance > other.distance);
   }
 };
 
 /** \brief Mapping between the names of the collision objects and the DistanceResultData. */
-typedef std::map<const std::pair<std::string, std::string>, std::vector<DistanceResultsData> > DistanceMap;
+typedef std::map<const std::pair<std::string, std::string>, std::vector<DistanceRequest> > DistanceMap;
 
 /** \brief Result of a distance request. */
 struct DistanceResult
@@ -366,7 +366,7 @@ struct DistanceResult
   bool collision;
 
   /// ResultsData for the two objects with the minimum distance
-  DistanceResultsData minimum_distance;
+  DistanceResult minimum_distance;
 
   /// A map of distance data for each link in the req.active_components_only
   DistanceMap distances;
diff --git a/moveit_core/collision_detection_fcl/src/collision_common.cpp b/moveit_core/collision_detection_fcl/src/collision_common.cpp
index 33deadd0d..82259b02e 100644
--- a/moveit_core/collision_detection_fcl/src/collision_common.cpp
+++ b/moveit_core/collision_detection_fcl/src/collision_common.cpp
@@ -481,7 +481,7 @@ bool distanceCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, void
     RCLCPP_DEBUG(LOGGER, "Actually checking collisions between %s and %s", cd1->getID().c_str(), cd2->getID().c_str());
 
   fcl::DistanceResultd fcl_result;
-  DistanceResultsData dist_result;
+  i0::DistanceResultsData dist_result;
   double dist_threshold = cdata->req->distance_threshold;
 
   const std::pair<std::string, std::string>& pc = cd1->getID() < cd2->getID() ?
@@ -653,7 +653,7 @@ struct IfSameType
 {
   enum
   {
-    value = 0
+    VALUE = 0
   };
 };
 
@@ -662,7 +662,7 @@ struct IfSameType<T, T>
 {
   enum
   {
-    value = 1
+    VALUE = 1
   };
 };

[henningkayser]

Thanks for preparing this. I'm also really confused about the other fixes above. Is this just some strange naming convention rule that goes wrong?

[henningkayser]

Why is this only applied to the result and not to the request...?

[tylerjw]

idk, I'm rather confused by clang-tidy. I created this diff following the instructions on moveit.ros.org for running it in a loop.

[henningkayser]

I think there is some weird mismatch going on with the fcl namespace (which has all the same types as collision_detection/collision_common.h. The fcl package has a compat header that attempts to remap all the types, to me it looks like clang-tidy runs into issues resolving all those. I suppressed the weird "DistanceResultsData" renaming for now and added an issue for it (#267).