Cleanup const-ref arguments to double+int (moveit#3560)

* Add missing word in error message * Replace const [double|int] reference arguments with plain const args There is no value in passing a const reference over passing the value directly. The latter saves an extra indirection.
ubi-agni · Feb 6, 2024 · 50eb4e7 · 50eb4e7
1 parent 5dbdae1
commit 50eb4e7
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diff --git a/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h b/moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h
@@ -283,7 +283,7 @@ class RobotTrajectory
    *  @param after    The waypoint index after (or equal to) the supplied duration.
    *  @param blend    The progress (0 to 1) between the two waypoints, based on time (not based on joint distances).
    */
-  void findWayPointIndicesForDurationAfterStart(const double& duration, int& before, int& after, double& blend) const;
+  void findWayPointIndicesForDurationAfterStart(const double duration, int& before, int& after, double& blend) const;
 
   // TODO support visitor function for interpolation, or at least different types.
   /** @brief Gets a robot state corresponding to a supplied duration from start for the trajectory, using linear time

diff --git a/moveit_core/robot_trajectory/src/robot_trajectory.cpp b/moveit_core/robot_trajectory/src/robot_trajectory.cpp
@@ -439,7 +439,7 @@ RobotTrajectory& RobotTrajectory::setRobotTrajectoryMsg(const moveit::core::Robo
   return setRobotTrajectoryMsg(st, trajectory);
 }
 
-void RobotTrajectory::findWayPointIndicesForDurationAfterStart(const double& duration, int& before, int& after,
+void RobotTrajectory::findWayPointIndicesForDurationAfterStart(const double duration, int& before, int& after,
                                                                double& blend) const
 {
   if (duration < 0.0)

diff --git a/...industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_container.h b/...industrial_motion_planner/include/pilz_industrial_motion_planner/joint_limits_container.h
@@ -130,15 +130,15 @@ class JointLimitsContainer
    * @param joint_position
    * @return
    */
-  bool verifyVelocityLimit(const std::string& joint_name, const double& joint_velocity) const;
+  bool verifyVelocityLimit(const std::string& joint_name, const double joint_velocity) const;
 
   /**
    * @brief verify position limit of single joint
    * @param joint_name
    * @param joint_position
    * @return
    */
-  bool verifyPositionLimit(const std::string& joint_name, const double& joint_position) const;
+  bool verifyPositionLimit(const std::string& joint_name, const double joint_position) const;
 
 private:
   /**

diff --git a/...z_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_functions.h b/...z_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_functions.h
@@ -132,7 +132,7 @@ bool generateJointTrajectory(const planning_scene::PlanningSceneConstPtr& scene,
                              const JointLimitsContainer& joint_limits, const KDL::Trajectory& trajectory,
                              const std::string& group_name, const std::string& link_name,
                              const Eigen::Translation3d& offset,
-                             const std::map<std::string, double>& initial_joint_position, const double& sampling_time,
+                             const std::map<std::string, double>& initial_joint_position, double sampling_time,
                              trajectory_msgs::JointTrajectory& joint_trajectory,
                              moveit_msgs::MoveItErrorCodes& error_code, bool check_self_collision = false);
 
@@ -202,12 +202,12 @@ bool isRobotStateStationary(const robot_state::RobotState& state, const std::str
  * smallest index of trajectroy.
  * @param index The intersection index which has to be determined.
  */
-bool linearSearchIntersectionPoint(const std::string& link_name, const Eigen::Vector3d& center_position,
-                                   const double& r, const robot_trajectory::RobotTrajectoryPtr& traj, bool inverseOrder,
+bool linearSearchIntersectionPoint(const std::string& link_name, const Eigen::Vector3d& center_position, const double r,
+                                   const robot_trajectory::RobotTrajectoryPtr& traj, bool inverseOrder,
                                    std::size_t& index);
 
 bool intersectionFound(const Eigen::Vector3d& p_center, const Eigen::Vector3d& p_current, const Eigen::Vector3d& p_next,
-                       const double& r);
+                       const double r);
 
 /**
  * @brief Checks if current robot state is in self collision.

diff --git a/...z_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator.h b/...z_industrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator.h
@@ -137,8 +137,8 @@ class TrajectoryGenerator
    * The trap profile returns uses the longer distance of translational and
    * rotational motion.
    */
-  std::unique_ptr<KDL::VelocityProfile> cartesianTrapVelocityProfile(const double& max_velocity_scaling_factor,
-                                                                     const double& max_acceleration_scaling_factor,
+  std::unique_ptr<KDL::VelocityProfile> cartesianTrapVelocityProfile(const double max_velocity_scaling_factor,
+                                                                     const double max_acceleration_scaling_factor,
                                                                      const std::unique_ptr<KDL::Path>& path) const;
 
 private:
@@ -158,7 +158,7 @@ class TrajectoryGenerator
 
   virtual void plan(const planning_scene::PlanningSceneConstPtr& scene,
                     const planning_interface::MotionPlanRequest& req, const MotionPlanInfo& plan_info,
-                    const double& sampling_time, trajectory_msgs::JointTrajectory& joint_trajectory) = 0;
+                    double sampling_time, trajectory_msgs::JointTrajectory& joint_trajectory) = 0;
 
 private:
   /**
@@ -246,9 +246,9 @@ class TrajectoryGenerator
   /**
    * @return True if scaling factor is valid, otherwise false.
    */
-  static bool isScalingFactorValid(const double& scaling_factor);
-  static void checkVelocityScaling(const double& scaling_factor);
-  static void checkAccelerationScaling(const double& scaling_factor);
+  static bool isScalingFactorValid(const double scaling_factor);
+  static void checkVelocityScaling(const double scaling_factor);
+  static void checkAccelerationScaling(const double scaling_factor);
 
   /**
    * @return True if ONE position + ONE orientation constraint given,
@@ -275,7 +275,7 @@ class TrajectoryGenerator
   static constexpr double VELOCITY_TOLERANCE{ 1e-8 };
 };
 
-inline bool TrajectoryGenerator::isScalingFactorValid(const double& scaling_factor)
+inline bool TrajectoryGenerator::isScalingFactorValid(const double scaling_factor)
 {
   return (scaling_factor > MIN_SCALING_FACTOR && scaling_factor <= MAX_SCALING_FACTOR);
 }

diff --git a/...ustrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_circ.h b/...ustrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_circ.h
@@ -88,7 +88,7 @@ class TrajectoryGeneratorCIRC : public TrajectoryGenerator
                              const planning_interface::MotionPlanRequest& req, MotionPlanInfo& info) const final;
 
   void plan(const planning_scene::PlanningSceneConstPtr& scene, const planning_interface::MotionPlanRequest& req,
-            const MotionPlanInfo& plan_info, const double& sampling_time,
+            const MotionPlanInfo& plan_info, double sampling_time,
             trajectory_msgs::JointTrajectory& joint_trajectory) override;
 
   /**

diff --git a/...dustrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_lin.h b/...dustrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_lin.h
@@ -75,7 +75,7 @@ class TrajectoryGeneratorLIN : public TrajectoryGenerator
                              const planning_interface::MotionPlanRequest& req, MotionPlanInfo& info) const final;
 
   void plan(const planning_scene::PlanningSceneConstPtr& scene, const planning_interface::MotionPlanRequest& req,
-            const MotionPlanInfo& plan_info, const double& sampling_time,
+            const MotionPlanInfo& plan_info, double sampling_time,
             trajectory_msgs::JointTrajectory& joint_trajectory) override;
 
   /**

diff --git a/...dustrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_ptp.h b/...dustrial_motion_planner/include/pilz_industrial_motion_planner/trajectory_generator_ptp.h
@@ -81,11 +81,11 @@ class TrajectoryGeneratorPTP : public TrajectoryGenerator
    * @param sampling_time
    */
   void planPTP(const std::map<std::string, double>& start_pos, const std::map<std::string, double>& goal_pos,
-               trajectory_msgs::JointTrajectory& joint_trajectory, const double& velocity_scaling_factor,
-               const double& acceleration_scaling_factor, const double& sampling_time);
+               trajectory_msgs::JointTrajectory& joint_trajectory, const double velocity_scaling_factor,
+               const double acceleration_scaling_factor, double sampling_time);
 
   void plan(const planning_scene::PlanningSceneConstPtr& scene, const planning_interface::MotionPlanRequest& req,
-            const MotionPlanInfo& plan_info, const double& sampling_time,
+            const MotionPlanInfo& plan_info, double sampling_time,
             trajectory_msgs::JointTrajectory& joint_trajectory) override;
 
 private:

diff --git a/moveit_planners/pilz_industrial_motion_planner/src/joint_limits_container.cpp b/moveit_planners/pilz_industrial_motion_planner/src/joint_limits_container.cpp
@@ -105,13 +105,13 @@ std::map<std::string, JointLimit>::const_iterator JointLimitsContainer::end() co
   return container_.end();
 }
 
-bool JointLimitsContainer::verifyVelocityLimit(const std::string& joint_name, const double& joint_velocity) const
+bool JointLimitsContainer::verifyVelocityLimit(const std::string& joint_name, const double joint_velocity) const
 {
   return (!(hasLimit(joint_name) && getLimit(joint_name).has_velocity_limits &&
             fabs(joint_velocity) > getLimit(joint_name).max_velocity));
 }
 
-bool JointLimitsContainer::verifyPositionLimit(const std::string& joint_name, const double& joint_position) const
+bool JointLimitsContainer::verifyPositionLimit(const std::string& joint_name, const double joint_position) const
 {
   return (!(hasLimit(joint_name) && getLimit(joint_name).has_position_limits &&
             (joint_position < getLimit(joint_name).min_position || joint_position > getLimit(joint_name).max_position)));

diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_blender_transition_window.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_blender_transition_window.cpp
@@ -167,7 +167,8 @@ bool pilz_industrial_motion_planner::TrajectoryBlenderTransitionWindow::validate
   if (!pilz_industrial_motion_planner::isRobotStateEqual(
           req.first_trajectory->getLastWayPoint(), req.second_trajectory->getFirstWayPoint(), req.group_name, EPSILON))
   {
-    ROS_ERROR_STREAM("During blending the last point of the preceding and the first point of the succeding trajectory");
+    ROS_ERROR_STREAM(
+        "During blending the last point of the preceding and the first point of the succeding trajectory differ");
     error_code.val = moveit_msgs::MoveItErrorCodes::INVALID_MOTION_PLAN;
     return false;
   }

diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_functions.cpp
@@ -188,7 +188,7 @@ bool pilz_industrial_motion_planner::generateJointTrajectory(
     const planning_scene::PlanningSceneConstPtr& scene,
     const pilz_industrial_motion_planner::JointLimitsContainer& joint_limits, const KDL::Trajectory& trajectory,
     const std::string& group_name, const std::string& link_name, const Eigen::Translation3d& offset,
-    const std::map<std::string, double>& initial_joint_position, const double& sampling_time,
+    const std::map<std::string, double>& initial_joint_position, double sampling_time,
     trajectory_msgs::JointTrajectory& joint_trajectory, moveit_msgs::MoveItErrorCodes& error_code,
     bool check_self_collision)
 {
@@ -509,7 +509,7 @@ bool pilz_industrial_motion_planner::isRobotStateStationary(const moveit::core::
 
 bool pilz_industrial_motion_planner::linearSearchIntersectionPoint(const std::string& link_name,
                                                                    const Eigen::Vector3d& center_position,
-                                                                   const double& r,
+                                                                   const double r,
                                                                    const robot_trajectory::RobotTrajectoryPtr& traj,
                                                                    bool inverseOrder, std::size_t& index)
 {
@@ -547,7 +547,7 @@ bool pilz_industrial_motion_planner::linearSearchIntersectionPoint(const std::st
 
 bool pilz_industrial_motion_planner::intersectionFound(const Eigen::Vector3d& p_center,
                                                        const Eigen::Vector3d& p_current, const Eigen::Vector3d& p_next,
-                                                       const double& r)
+                                                       const double r)
 {
   return ((p_current - p_center).norm() <= r) && ((p_next - p_center).norm() >= r);
 }

diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator.cpp
@@ -75,7 +75,7 @@ void TrajectoryGenerator::cmdSpecificRequestValidation(const planning_interface:
   // to provide a command specific request validation.
 }
 
-void TrajectoryGenerator::checkVelocityScaling(const double& scaling_factor)
+void TrajectoryGenerator::checkVelocityScaling(const double scaling_factor)
 {
   if (!isScalingFactorValid(scaling_factor))
   {
@@ -86,7 +86,7 @@ void TrajectoryGenerator::checkVelocityScaling(const double& scaling_factor)
   }
 }
 
-void TrajectoryGenerator::checkAccelerationScaling(const double& scaling_factor)
+void TrajectoryGenerator::checkAccelerationScaling(const double scaling_factor)
 {
   if (!isScalingFactorValid(scaling_factor))
   {
@@ -266,8 +266,8 @@ void TrajectoryGenerator::setFailureResponse(const ros::Time& planning_start,
 }
 
 std::unique_ptr<KDL::VelocityProfile>
-TrajectoryGenerator::cartesianTrapVelocityProfile(const double& max_velocity_scaling_factor,
-                                                  const double& max_acceleration_scaling_factor,
+TrajectoryGenerator::cartesianTrapVelocityProfile(const double max_velocity_scaling_factor,
+                                                  const double max_acceleration_scaling_factor,
                                                   const std::unique_ptr<KDL::Path>& path) const
 {
   std::unique_ptr<KDL::VelocityProfile> vp_trans(new KDL::VelocityProfile_Trap(

diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_circ.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_circ.cpp
@@ -184,7 +184,7 @@ void TrajectoryGeneratorCIRC::extractMotionPlanInfo(const planning_scene::Planni
 
 void TrajectoryGeneratorCIRC::plan(const planning_scene::PlanningSceneConstPtr& scene,
                                    const planning_interface::MotionPlanRequest& req, const MotionPlanInfo& plan_info,
-                                   const double& sampling_time, trajectory_msgs::JointTrajectory& joint_trajectory)
+                                   double sampling_time, trajectory_msgs::JointTrajectory& joint_trajectory)
 {
   std::unique_ptr<KDL::Path> cart_path(setPathCIRC(plan_info));
   std::unique_ptr<KDL::VelocityProfile> vel_profile(

diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_lin.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_lin.cpp
@@ -141,7 +141,7 @@ void TrajectoryGeneratorLIN::extractMotionPlanInfo(const planning_scene::Plannin
 
 void TrajectoryGeneratorLIN::plan(const planning_scene::PlanningSceneConstPtr& scene,
                                   const planning_interface::MotionPlanRequest& req, const MotionPlanInfo& plan_info,
-                                  const double& sampling_time, trajectory_msgs::JointTrajectory& joint_trajectory)
+                                  double sampling_time, trajectory_msgs::JointTrajectory& joint_trajectory)
 {
   // create Cartesian path for lin
   std::unique_ptr<KDL::Path> path(setPathLIN(plan_info.start_pose, plan_info.goal_pose));

diff --git a/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_ptp.cpp b/moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_ptp.cpp
@@ -81,8 +81,8 @@ TrajectoryGeneratorPTP::TrajectoryGeneratorPTP(const robot_model::RobotModelCons
 void TrajectoryGeneratorPTP::planPTP(const std::map<std::string, double>& start_pos,
                                      const std::map<std::string, double>& goal_pos,
                                      trajectory_msgs::JointTrajectory& joint_trajectory,
-                                     const double& velocity_scaling_factor, const double& acceleration_scaling_factor,
-                                     const double& sampling_time)
+                                     const double velocity_scaling_factor, const double acceleration_scaling_factor,
+                                     double sampling_time)
 {
   // initialize joint names
   for (const auto& item : goal_pos)
@@ -252,7 +252,7 @@ void TrajectoryGeneratorPTP::extractMotionPlanInfo(const planning_scene::Plannin
 
 void TrajectoryGeneratorPTP::plan(const planning_scene::PlanningSceneConstPtr& /*scene*/,
                                   const planning_interface::MotionPlanRequest& req, const MotionPlanInfo& plan_info,
-                                  const double& sampling_time, trajectory_msgs::JointTrajectory& joint_trajectory)
+                                  double sampling_time, trajectory_msgs::JointTrajectory& joint_trajectory)
 {
   // plan the ptp trajectory
   planPTP(plan_info.start_joint_position, plan_info.goal_joint_position, joint_trajectory,

diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_utils.cpp b/moveit_planners/pilz_industrial_motion_planner/test/test_utils.cpp
@@ -924,7 +924,7 @@ bool testutils::checkBlendingCartSpaceContinuity(const pilz_industrial_motion_pl
   return true;
 }
 
-bool testutils::checkThatPointsInRadius(const std::string& link_name, const double& r, Eigen::Isometry3d& circ_pose,
+bool testutils::checkThatPointsInRadius(const std::string& link_name, const double r, Eigen::Isometry3d& circ_pose,
                                         const pilz_industrial_motion_planner::TrajectoryBlendResponse& res)
 {
   bool result = true;
@@ -1038,9 +1038,9 @@ bool testutils::getBlendTestData(const ros::NodeHandle& nh, const size_t& datase
 bool testutils::generateTrajFromBlendTestData(
     const planning_scene::PlanningSceneConstPtr& scene,
     const std::shared_ptr<pilz_industrial_motion_planner::TrajectoryGenerator>& tg, const std::string& group_name,
-    const std::string& link_name, const testutils::BlendTestData& data, const double& sampling_time_1,
-    const double& sampling_time_2, planning_interface::MotionPlanResponse& res_1,
-    planning_interface::MotionPlanResponse& res_2, double& dis_1, double& dis_2)
+    const std::string& link_name, const testutils::BlendTestData& data, double sampling_time_1, double sampling_time_2,
+    planning_interface::MotionPlanResponse& res_1, planning_interface::MotionPlanResponse& res_2, double& dis_1,
+    double& dis_2)
 {
   const robot_model::RobotModelConstPtr robot_model = scene->getRobotModel();
 

diff --git a/moveit_planners/pilz_industrial_motion_planner/test/test_utils.h b/moveit_planners/pilz_industrial_motion_planner/test/test_utils.h
@@ -343,7 +343,7 @@ bool checkBlendingCartSpaceContinuity(const pilz_industrial_motion_planner::Traj
  * @brief Checks if all points of the blending trajectory lie within the
  * blending radius.
  */
-bool checkThatPointsInRadius(const std::string& link_name, const double& r, Eigen::Isometry3d& circ_pose,
+bool checkThatPointsInRadius(const std::string& link_name, const double r, Eigen::Isometry3d& circ_pose,
                              const pilz_industrial_motion_planner::TrajectoryBlendResponse& res);
 
 /**
@@ -433,8 +433,8 @@ bool checkBlendResult(const pilz_industrial_motion_planner::TrajectoryBlendReque
 bool generateTrajFromBlendTestData(const planning_scene::PlanningSceneConstPtr& scene,
                                    const std::shared_ptr<pilz_industrial_motion_planner::TrajectoryGenerator>& tg,
                                    const std::string& group_name, const std::string& link_name,
-                                   const BlendTestData& data, const double& sampling_time_1,
-                                   const double& sampling_time_2, planning_interface::MotionPlanResponse& res_lin_1,
+                                   const BlendTestData& data, double sampling_time_1, double sampling_time_2,
+                                   planning_interface::MotionPlanResponse& res_lin_1,
                                    planning_interface::MotionPlanResponse& res_lin_2, double& dis_lin_1,
                                    double& dis_lin_2);
 
@@ -472,7 +472,7 @@ checkCartesianRotationalPath(const robot_trajectory::RobotTrajectoryConstPtr& tr
                              const double rot_axis_tol = DEFAULT_ROTATION_AXIS_EQUALITY_TOLERANCE,
                              const double acc_tol = DEFAULT_ACCELERATION_EQUALITY_TOLERANCE);
 
-inline bool isMonotonouslyDecreasing(const std::vector<double>& vec, const double& tol)
+inline bool isMonotonouslyDecreasing(const std::vector<double>& vec, const double tol)
 {
   return std::is_sorted(vec.begin(), vec.end(), [tol](double a, double b) {
     return !(std::abs(a - b) < tol || a < b);  // true -> a is ordered before b -> list is not sorted

diff --git a/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_functions.cpp b/moveit_planners/pilz_industrial_motion_planner/test/unittest_trajectory_functions.cpp
@@ -99,7 +99,7 @@ class TrajectoryFunctionsTestBase : public testing::TestWithParam<std::string>
    * @param epsilon
    * @return
    */
-  bool tfNear(const Eigen::Isometry3d& pose1, const Eigen::Isometry3d& pose2, const double& epsilon);
+  bool tfNear(const Eigen::Isometry3d& pose1, const Eigen::Isometry3d& pose2, const double epsilon);
 
 protected:
   // ros stuff
@@ -140,7 +140,7 @@ void TrajectoryFunctionsTestBase::SetUp()
 }
 
 bool TrajectoryFunctionsTestBase::tfNear(const Eigen::Isometry3d& pose1, const Eigen::Isometry3d& pose2,
-                                         const double& epsilon)
+                                         const double epsilon)
 {
   for (std::size_t i = 0; i < 3; ++i)
     for (std::size_t j = 0; j < 4; ++j)