Update Travis (#16)

* make Travis use moveit_ci * clang-format * enable catkin_lint check
moveit · Mar 28, 2019 · 0108aed · 0108aed
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commit 0108aed
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diff --git a/.clang-format b/.clang-format
@@ -0,0 +1,66 @@
+---
+BasedOnStyle:  Google
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+BinPackParameters: true
+ColumnLimit:    120
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakString: 100
+PenaltyBreakFirstLessLess: 1000
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 70
+SpacesBeforeTrailingComments: 2
+Cpp11BracedListStyle: false
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
+IndentFunctionDeclarationAfterType: false
+SpacesInParentheses: false
+SpacesInAngles:  false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+ContinuationIndentWidth: 4
+SortIncludes: false
+SpaceAfterCStyleCast: false
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping: {
+    AfterClass: 'true'
+    AfterControlStatement: 'true'
+    AfterEnum : 'true'
+    AfterFunction : 'true'
+    AfterNamespace : 'true'
+    AfterStruct : 'true'
+    AfterUnion : 'true'
+    BeforeCatch : 'true'
+    BeforeElse : 'true'
+    IndentBraces : 'false'
+}
+...
diff --git a/.travis.yml b/.travis.yml
@@ -1,6 +1,10 @@
 # Generic MoveIt Travis Continuous Integration Configuration File
 # Works with all MoveIt! repositories/branches
 # Author: Dave Coleman, Jonathan Bohren
+sudo: required
+dist: trusty
+services:
+  - docker
 language:
   - cpp
   - python
@@ -14,38 +18,15 @@ notifications:
       - dave.hershberger@sri.com
     on_success: change #[always|never|change] # default: change
     on_failure: change #[always|never|change] # default: always
-before_install: # Use this to prepare the system to install prerequisites or dependencies
-  # Define some config vars
-  - export ROS_DISTRO=hydro
-  - export CI_SOURCE_PATH=$(pwd)
-  - export REPOSITORY_NAME=${PWD##*/}
-  - echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
-  - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu precise main" > /etc/apt/sources.list.d/ros-latest.list'
-  - wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
-  - sudo apt-get update -qq
-  - sudo apt-get install -qq -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin ros-$ROS_DISTRO-ros
-  # MongoDB hack - I don't fully understand this but its for moveit_warehouse
-  - sudo apt-get remove -y mongodb mongodb-10gen
-  - sudo apt-get install -y mongodb-clients mongodb-server -o Dpkg::Options::="--force-confdef" # default actions
-  # Setup rosdep
-  - sudo rosdep init
-  - rosdep update
-install: # Use this to install any prerequisites or dependencies necessary to run your build
-  # Create workspace
-  - mkdir -p ~/ros/ws_moveit/src
-  - cd ~/ros/ws_moveit/src
-  - wstool init .
-  # Download non-debian stuff
-  - wstool merge https://raw.github.com/ros-planning/moveit_docs/hydro-devel/moveit.rosinstall
-  - wstool update
-  - git clone https://github.com/ros-planning/geometric_shapes.git
-  # Delete the moveit.rosinstall version of this repo and use the one of the branch we are testing
-  - rm -rf $REPOSITORY_NAME
-  - ln -s $CI_SOURCE_PATH . # Link the repo we are testing to the new workspace
-  - cd ../
-  # Install dependencies for source repos
-  - rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
-before_script: # Use this to prepare your build for testing e.g. copy database configurations, environment variables, etc.
-  - source /opt/ros/$ROS_DISTRO/setup.bash  
-script: # All commands must exit with code 0 on success. Anything else is considered failure.
-  - catkin_make -j2
+
+env:
+  matrix:
+    - ROS_DISTRO=kinetic TEST="catkin_lint clang-format"
+    - ROS_DISTRO=kinetic ROS_REPO=ros
+    - ROS_DISTRO=melodic ROS_REPO=ros
+
+before_script:
+  - git clone -q https://github.com/ros-planning/moveit_ci.git .moveit_ci
+
+script:
+  - source .moveit_ci/travis.sh
diff --git a/include/random_numbers/random_numbers.h b/include/random_numbers/random_numbers.h
@@ -54,19 +54,18 @@ namespace random_numbers
 class RandomNumberGenerator
 {
 public:
-
   /** \brief Constructor. Always sets a "random" random seed */
   RandomNumberGenerator(void);
 
   /** \brief Constructor. Allow a seed to be specified for deterministic behaviour */
   RandomNumberGenerator(boost::uint32_t seed);
-  
+
   /** \brief Generate a random real between 0 and 1 */
   double uniform01(void)
   {
     return uni_();
   }
-  
+
   /**
    * @brief Generate a random real within given bounds: [\e lower_bound, \e upper_bound)
    * @param lower_bound The lower bound
@@ -82,39 +81,38 @@ class RandomNumberGenerator
   {
     return normal_();
   }
-  
+
   /** \brief Generate a random real using a normal distribution with given mean and variance */
   double gaussian(double mean, double stddev)
   {
     return normal_() * stddev + mean;
   }
-  
+
   /** \brief Uniform random unit quaternion sampling. The computed value has the order (x,y,z,w)
    * @param value[4] A four dimensional array in which the computed quaternion will be returned
    */
   void quaternion(double value[4]);
-  
+
   /** \brief Generate an integer uniformly at random within a specified range (inclusive) */
   int uniformInteger(int min, int max)
   {
-    boost::uniform_int<> dis(min, max);  
+    boost::uniform_int<> dis(min, max);
     return dis(generator_);
   }
 
   /**
-   * \brief Allow the randomly generated seed to be saved so that experiments / benchmarks can be recreated in the future
+   * \brief Allow the randomly generated seed to be saved so that experiments / benchmarks can be recreated in the
+   * future
    */
   boost::uint32_t getFirstSeed();
-  
+
 private:
-
-  boost::mt19937                                                           generator_;
-  boost::uniform_real<>                                                    uniDist_; 
-  boost::normal_distribution<>                                             normalDist_;
-  boost::variate_generator<boost::mt19937&, boost::uniform_real<> >        uni_;  
+  boost::mt19937 generator_;
+  boost::uniform_real<> uniDist_;
+  boost::normal_distribution<> normalDist_;
+  boost::variate_generator<boost::mt19937&, boost::uniform_real<> > uni_;
   boost::variate_generator<boost::mt19937&, boost::normal_distribution<> > normal_;
 };
-
 }
 
 #endif
diff --git a/src/random_numbers.cpp b/src/random_numbers.cpp
@@ -49,9 +49,10 @@ static boost::uint32_t first_seed_ = 0;
 static boost::uint32_t firstSeed(void)
 {
   boost::scoped_ptr<int> mem(new int());
-  first_seed_ = (boost::uint32_t)((boost::posix_time::microsec_clock::universal_time() -
-                            boost::posix_time::ptime(boost::date_time::min_date_time)).total_microseconds() +
-                           (unsigned long long)(mem.get()));
+  first_seed_ = (boost::uint32_t)(
+      (boost::posix_time::microsec_clock::universal_time() - boost::posix_time::ptime(boost::date_time::min_date_time))
+          .total_microseconds() +
+      (unsigned long long)(mem.get()));
   return first_seed_;
 }
 
@@ -63,27 +64,23 @@ static boost::uint32_t nextSeed(void)
   static boost::mutex rngMutex;
   boost::mutex::scoped_lock slock(rngMutex);
   static boost::lagged_fibonacci607 sGen(firstSeed());
-  static boost::uniform_int<>       sDist(1, 1000000000);
+  static boost::uniform_int<> sDist(1, 1000000000);
   static boost::variate_generator<boost::lagged_fibonacci607&, boost::uniform_int<> > s(sGen, sDist);
   boost::uint32_t v = s();
   return v;
 }
 
-
-random_numbers::RandomNumberGenerator::RandomNumberGenerator(void) : generator_(nextSeed()),
-                                                                     uniDist_(0, 1),  
-                                                                     normalDist_(0, 1),
-                                                                     uni_(generator_, uniDist_),
-                                                                     normal_(generator_, normalDist_)
+random_numbers::RandomNumberGenerator::RandomNumberGenerator(void)
+  : generator_(nextSeed())
+  , uniDist_(0, 1)
+  , normalDist_(0, 1)
+  , uni_(generator_, uniDist_)
+  , normal_(generator_, normalDist_)
 {
 }
 
 random_numbers::RandomNumberGenerator::RandomNumberGenerator(boost::uint32_t seed)
-                                                                   : generator_(seed),
-                                                                     uniDist_(0, 1),
-                                                                     normalDist_(0, 1),
-                                                                     uni_(generator_, uniDist_),
-                                                                     normal_(generator_, normalDist_)
+  : generator_(seed), uniDist_(0, 1), normalDist_(0, 1), uni_(generator_, uniDist_), normal_(generator_, normalDist_)
 {
   // Because we manually specified a seed, we need to save it ourselves
   first_seed_ = seed;
@@ -95,7 +92,8 @@ void random_numbers::RandomNumberGenerator::quaternion(double value[4])
 {
   double x0 = uni_();
   double r1 = sqrt(1.0 - x0), r2 = sqrt(x0);
-  double t1 = 2.0 * boost::math::constants::pi<double>() * uni_(), t2 = 2.0 * boost::math::constants::pi<double>() * uni_();
+  double t1 = 2.0 * boost::math::constants::pi<double>() * uni_(),
+         t2 = 2.0 * boost::math::constants::pi<double>() * uni_();
   double c1 = cos(t1), s1 = sin(t1);
   double c2 = cos(t2), s2 = sin(t2);
   value[0] = s1 * r1;