Replaced C-Style Cast with C++ Style Cast. #935

kausmeows · 2021-12-22T15:45:45Z

Description

Please explain the changes you made, including a reference to the related issue if applicable

Checklist

Required by CI: Code is auto formatted using clang-format
Extend the tutorials / documentation reference
Document API changes relevant to the user in the MIGRATION.md notes
Create tests, which fail without this PR reference
Include a screenshot if changing a GUI
While waiting for someone to review your request, please help review another open pull request to support the maintainers

kausmeows · 2021-12-22T15:47:04Z

Hey !! I just changed the C style casts to C++ style. Please review and see if it works fine :)

tylerjw

I found a few minor things. Thank you for this change! 🚀

moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h

moveit_ros/perception/semantic_world/src/semantic_world.cpp

moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp

Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

…monitor.cpp Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

tylerjw

I'm sorry to be so nit-picky. Thank you for helping with this. I'm just trying to avoid accidentally changing the existing behavior by moving what is cast to include more than just what would have been cast in with the c-style cast.

moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast.h

moveit_planners/ompl/ompl_interface/src/parameterization/model_based_state_space.cpp

moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interface/environment_chain3d_types.h

moveit_ros/perception/semantic_world/src/semantic_world.cpp

moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_render.cpp

moveit_setup_assistant/src/tools/collision_linear_model.cpp

Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

…e/environment_chain3d_types.h Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

…3d.cpp Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

…age_octomap_updater.cpp Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

…render.cpp Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

tylerjw · 2021-12-22T18:40:01Z

moveit_experimental/kinematics_cache/v2/kinematics_cache/src/kinematics_cache.cpp

-  if (x_index >= (int)cache_size_x_ || x_index < 0)
+  if (x_index >= static_cast<int>(cache_size_x_ || x_index < 0))
  {
    ROS_DEBUG_NAMED("kinematics_cache", "X position %f,%d lies outside grid: %d %d", pose.position.x, x_index, 0,
                    cache_size_x_);
    return false;
  }
-  if (y_index >= (int)cache_size_y_ || y_index < 0)
+  if (y_index >= static_cast<int>(cache_size_y_ || y_index < 0))
  {
    ROS_DEBUG_NAMED("kinematics_cache", "Y position %f,%d lies outside grid: %d %d", pose.position.y, y_index, 0,
                    cache_size_y_);
    return false;
  }
-  if (z_index >= (int)cache_size_z_ || z_index < 0)
+  if (z_index >= static_cast<int>(cache_size_z_ || z_index < 0))


Here are a few more where the parentheses change what is being cast.

On to it. In a sec.

tylerjw · 2021-12-22T18:40:16Z

moveit_experimental/kinematics_cache/v2/kinematics_cache/src/kinematics_cache.cpp

-  ROS_DEBUG_NAMED("kinematics_cache", "Read %d total points from file: %s", (int)num_solutions_vector_.size(),
+  ROS_DEBUG_NAMED("kinematics_cache", "Read %d total points from file: %s", static_cast<int>num_solutions_vector_.size(),
                  filename.c_str());
  return true;
 }

 bool KinematicsCache::writeToFile(const std::string& filename)
 {
-  ROS_DEBUG_NAMED("kinematics_cache", "Writing %d total points to file: %s", (int)num_solutions_vector_.size(),
+  ROS_DEBUG_NAMED("kinematics_cache", "Writing %d total points to file: %s", static_cast<int>num_solutions_vector_.size(),


These are missing the parentheses.

kausmeows · 2021-12-22T18:41:15Z

Did the changes where it wasn't really a cast 😵‍💫.

tylerjw · 2021-12-22T18:45:23Z

Did the changes where it wasn't really a cast face_with_spiral_eyes.

Only a couple more that I found and then this needs clang-tidy-10 ran on it to fix the formatting. We typically use a tool called pre-commit to do that. To install clang-tidy-10 and pre-commit use these commands:

sudo apt install clang-format-10
pip3 install -U pre-commit

Then to run pre-commit to fix the formatting (do this in your checkout of the repo):

pre-commit run --all

Then add the changes and push it. That will probably adjust a couple of small things.

tylerjw

This is ready to go after you run pre-commit and fix the formatting so the formatting test will pass. Thank you for this improvement. 😄

codecov · 2021-12-22T19:27:26Z

Codecov Report

Merging #935 (a714586) into main (bb87521) will increase coverage by 0.01%.
The diff coverage is 47.06%.

@@            Coverage Diff             @@
##             main     #935      +/-   ##
==========================================
+ Coverage   57.91%   57.91%   +0.01%     
==========================================
  Files         310      310              
  Lines       26067    26069       +2     
==========================================
+ Hits        15093    15095       +2     
  Misses      10974    10974

Impacted Files	Coverage Δ
...e/collision_detection_fcl/src/collision_common.cpp	`74.89% <0.00%> (ø)`
moveit_core/robot_model/src/robot_model.cpp	`74.82% <0.00%> (ø)`
...ccupancy_map_monitor/src/occupancy_map_updater.cpp	`0.00% <ø> (ø)`
...ution_manager/src/trajectory_execution_manager.cpp	`6.77% <0.00%> (ø)`
...nning_scene_monitor/src/planning_scene_monitor.cpp	`53.31% <50.00%> (ø)`
...istance_field/src/collision_env_distance_field.cpp	`54.16% <100.00%> (+0.11%)`	⬆️

Continue to review full report at Codecov.

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kausmeows · 2021-12-22T19:38:18Z

I'm on a Mac and am facing issue installing clang-format 10. I ran pre-commit run --all and that's working fine. The only thing it says is command format 10 not found and I tried installing it using homebrew but no luck. What should I do ?

tylerjw · 2021-12-22T20:19:23Z

I'm on a Mac and am facing issue installing clang-format 10. I ran pre-commit run --all and that's working fine. The only thing it says is command format 10 not found and I tried installing it using homebrew but no luck. What should I do ?

For this PR, I can run it for you and update this PR. I don't know how to install clang-format-10 on a mac. The best idea I have is that you could maybe do that inside docker. You'd have to create a docker image and mount your directory and then you could use the apt command it installs it and then run it.

kausmeows · 2021-12-22T20:30:49Z

I'm on a Mac and am facing issue installing clang-format 10. I ran pre-commit run --all and that's working fine. The only thing it says is command format 10 not found and I tried installing it using homebrew but no luck. What should I do ?

For this PR, I can run it for you and update this PR. I don't know how to install clang-format-10 on a mac. The best idea I have is that you could maybe do that inside docker. You'd have to create a docker image and mount your directory and then you could use the apt command it installs it and then run it.

Thank you @tylerjw 😃.

Replaced C-Style Cast with C++ Style Cast.

ffcedab

tylerjw reviewed Dec 22, 2021

View reviewed changes

kausmeows and others added 3 commits December 22, 2021 22:19

Update moveit_ros/perception/semantic_world/src/semantic_world.cpp

910667e

Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

Update moveit_ros/planning/planning_scene_monitor/src/planning_scene_…

2646129

…monitor.cpp Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

issues with paranthesis in the wrong place resolved.

61860aa

tylerjw reviewed Dec 22, 2021

View reviewed changes

kausmeows and others added 13 commits December 22, 2021 23:50

Update moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast.h

8908a77

Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

Update moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interfac…

c79c4ca

…e/environment_chain3d_types.h Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

Update moveit_planners/sbpl/core/sbpl_interface/include/sbpl_interfac…

8318ee7

…e/environment_chain3d_types.h Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

Update moveit_planners/sbpl/core/sbpl_interface/src/environment_chain…

d32bd54

…3d.cpp Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

Update moveit_ros/perception/depth_image_octomap_updater/src/depth_im…

f061c16

…age_octomap_updater.cpp Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

Update moveit_ros/perception/semantic_world/src/semantic_world.cpp

4774e73

Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

Update moveit_ros/perception/semantic_world/src/semantic_world.cpp

2cfcda4

Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

Update moveit_ros/perception/semantic_world/src/semantic_world.cpp

ea7c8dd

Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

Update moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_…

e45085d

…render.cpp Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

Update moveit_ros/visualization/rviz_plugin_render_tools/src/octomap_…

78018ea

…render.cpp Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

Update moveit_setup_assistant/src/tools/collision_linear_model.cpp

fd08fd6

Co-authored-by: Tyler Weaver <tylerjw@gmail.com>

Merge branch 'main' into main

48f7e0b

did the suggested changes regarding places where it was not a cast.

264a102

tylerjw reviewed Dec 22, 2021

View reviewed changes

Kaustubh Shukla and others added 2 commits December 23, 2021 00:17

paranthesis fixed.

08268b7

Merge branch 'main' into main

a5e75e4

tylerjw approved these changes Dec 22, 2021

View reviewed changes

clang-format

0be92e3

Merge branch 'main' into main

a714586

tylerjw merged commit b41a741 into moveit:main Dec 22, 2021

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Replaced C-Style Cast with C++ Style Cast. #935

Replaced C-Style Cast with C++ Style Cast. #935

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Replaced C-Style Cast with C++ Style Cast. #935

Replaced C-Style Cast with C++ Style Cast. #935

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