clang-tidy fixes for trajopt

.clang-format

@@ -53,15 +53,16 @@ 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'
+    AfterCaseLabel: 'true',
+    AfterClass: 'true',
+    AfterControlStatement: 'true',
+    AfterEnum : 'true',
+    AfterFunction : 'true',
+    AfterNamespace : 'true',
+    AfterStruct : 'true',
+    AfterUnion : 'true',
+    BeforeCatch : 'true',
+    BeforeElse : 'true',
+    IndentBraces : 'false',
 }
 ...

trajopt/include/trajopt/json_marshal.hpp

@@ -3,7 +3,6 @@
 TRAJOPT_IGNORE_WARNINGS_PUSH
 #include <Eigen/Eigen>
 #include <boost/format.hpp>
-#include <sstream>
 #include <string>
 #include <vector>
 TRAJOPT_IGNORE_WARNINGS_POP

trajopt/include/trajopt/problem_description.hpp

@@ -1,7 +1,6 @@
 #pragma once
 #include <trajopt_common/macros.h>
 TRAJOPT_IGNORE_WARNINGS_PUSH
-#include <unordered_map>
 #include <type_traits>
 TRAJOPT_IGNORE_WARNINGS_POP
 
@@ -99,7 +98,7 @@ class TrajOptProb : public sco::OptProb
 
 private:
   /** @brief If true, the last column in the optimization matrix will be 1/dt */
-  bool has_time;
+  bool has_time{ false };
   VarArray m_traj_vars;
   std::shared_ptr<const tesseract_kinematics::JointGroup> m_kin;
   std::shared_ptr<const tesseract_environment::Environment> m_env;
@@ -314,7 +313,7 @@ struct DynamicCartPoseTermInfo : public TermInfo
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
   /** @brief Timestep at which to apply term */
-  int timestep;
+  int timestep{ 0 };
   /** @brief Coefficients for position and rotation */
   Eigen::Vector3d pos_coeffs, rot_coeffs;
   /** @brief Link which should reach desired pos */
@@ -354,7 +353,7 @@ struct CartPoseTermInfo : public TermInfo
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
   /** @brief Timestep at which to apply term */
-  int timestep;
+  int timestep{ 0 };
   Eigen::Vector3d pos_coeffs, rot_coeffs;
 
   /** @brief Link which should reach desired pos */

trajopt/include/trajopt/typedefs.hpp

@@ -2,7 +2,6 @@
 #include <trajopt_common/macros.h>
 TRAJOPT_IGNORE_WARNINGS_PUSH
 #include <Eigen/Core>
-#include <map>
 #include <vector>
 #include <tesseract_visualization/fwd.h>
 TRAJOPT_IGNORE_WARNINGS_POP

trajopt/include/trajopt/utils.hpp

@@ -1,7 +1,6 @@
 #pragma once
 #include <trajopt_common/macros.h>
 TRAJOPT_IGNORE_WARNINGS_PUSH
-#include <unordered_map>
 #include <Eigen/Geometry>
 TRAJOPT_IGNORE_WARNINGS_POP
 

trajopt/src/collision_terms.cpp

@@ -985,7 +985,7 @@ void SingleTimestepCollisionEvaluator::Plot(const std::shared_ptr<tesseract_visu
 
   tesseract_collision::ContactResultVector dist_results_copy(dist_results.size());
   Eigen::VectorXd safety_distance(dist_results.size());
-  for (auto i = 0u; i < dist_results.size(); ++i)
+  for (auto i = 0U; i < dist_results.size(); ++i)
   {
     const tesseract_collision::ContactResult& res = dist_results[i].get();
     dist_results_copy[i] = res;
@@ -1206,7 +1206,7 @@ void DiscreteCollisionEvaluator::Plot(const std::shared_ptr<tesseract_visualizat
 
   tesseract_collision::ContactResultVector dist_results_copy(dist_results.size());
   Eigen::VectorXd safety_distance(dist_results.size());
-  for (auto i = 0u; i < dist_results.size(); ++i)
+  for (auto i = 0U; i < dist_results.size(); ++i)
   {
     const tesseract_collision::ContactResult& res = dist_results[i].get();
     dist_results_copy[i] = res;
@@ -1401,11 +1401,11 @@ void CastCollisionEvaluator::CalcCollisions(const Eigen::Ref<const Eigen::Vector
   if (dist > longest_valid_segment_length_)
   {
     // Calculate the number state to interpolate
-    size_t cnt = static_cast<size_t>(std::ceil(dist / longest_valid_segment_length_)) + 1;
+    auto cnt = static_cast<long>(std::ceil(dist / longest_valid_segment_length_)) + 1;
 
     // Create interpolated trajectory between two states that satisfies the longest valid segment length.
     tesseract_common::TrajArray subtraj(cnt, dof_vals0.size());
-    for (size_t i = 0; i < dof_vals0.size(); ++i)
+    for (long i = 0; i < dof_vals0.size(); ++i)
       subtraj.col(i) = Eigen::VectorXd::LinSpaced(cnt, dof_vals0(i), dof_vals1(i));
 
     // Perform casted collision checking for sub trajectory and store results in contacts_vector
@@ -1461,7 +1461,7 @@ void CastCollisionEvaluator::Plot(const std::shared_ptr<tesseract_visualization:
 
   tesseract_collision::ContactResultVector dist_results_copy(dist_results.size());
   Eigen::VectorXd safety_distance(dist_results.size());
-  for (auto i = 0u; i < dist_results.size(); ++i)
+  for (auto i = 0U; i < dist_results.size(); ++i)
   {
     const tesseract_collision::ContactResult& res = dist_results[i].get();
     dist_results_copy[i] = res;

trajopt/src/file_write_callback.cpp

@@ -136,6 +136,8 @@ std::function<void(sco::OptProb*, sco::OptResults&)> WriteCallback(std::shared_p
   *file << std::endl;
 
   // return callback function
-  return bind(&WriteFile, file, prob->GetKin(), std::ref(prob->GetVars()), std::placeholders::_2);
+  return [file, capture0 = prob->GetKin(), &capture1 = prob->GetVars()](auto&&, auto&& PH2) {
+    WriteFile(file, capture0, capture1, std::forward<decltype(PH2)>(PH2));
+  };
 }
 }  // namespace trajopt

trajopt/src/kinematic_terms.cpp

@@ -322,10 +322,10 @@ CartPoseJacCalculator::CartPoseJacCalculator(
   , source_frame_offset_(source_frame_offset)
   , target_frame_(std::move(target_frame))
   , target_frame_offset_(target_frame_offset)
+  , is_target_active_(manip_->isActiveLinkName(target_frame_))
   , indices_(indices)
   , epsilon_(DEFAULT_EPSILON)
 {
-  is_target_active_ = manip_->isActiveLinkName(target_frame_);
   assert(indices_.size() <= 6);
 
   if (is_target_active_)
@@ -459,16 +459,16 @@ Eigen::VectorXd JointVelErrCalculator::operator()(const VectorXd& var_vals) cons
 MatrixXd JointVelJacCalculator::operator()(const VectorXd& var_vals) const
 {
   // var_vals = (theta_t1, theta_t2, theta_t3 ... 1/dt_1, 1/dt_2, 1/dt_3 ...)
-  auto num_vals = static_cast<int>(var_vals.rows());
-  int half = num_vals / 2;
-  int num_vels = half - 1;
+  auto num_vals = var_vals.rows();
+  auto half = num_vals / 2;
+  auto num_vels = half - 1;
   MatrixXd jac = MatrixXd::Zero(num_vels * 2, num_vals);
 
-  for (int i = 0; i < num_vels; i++)
+  for (auto i = 0; i < num_vels; i++)
   {
     // v = (j_i+1 - j_i)*(1/dt)
     // We calculate v with the dt from the second pt
-    int time_index = i + half + 1;
+    auto time_index = i + half + 1;
     // dv_i/dj_i = -(1/dt)
     jac(i, i) = -1.0 * var_vals(time_index);
     // dv_i/dj_i+1 = (1/dt)

trajopt/src/problem_description.cpp

@@ -111,7 +111,7 @@ TermInfo::Ptr TermInfo::fromName(const std::string& type)
     return (*name2maker[type])();
 
   // RAVELOG_ERROR("There is no cost of type %s\n", type.c_str());
-  return TermInfo::Ptr();
+  return {};
 }
 
 void ProblemConstructionInfo::readBasicInfo(const Json::Value& v)
@@ -165,7 +165,7 @@ void ProblemConstructionInfo::readCosts(const Json::Value& v)
   for (const auto& it : v)
   {
     std::string type;
-    bool use_time;
+    bool use_time{ false };
     json_marshal::childFromJson(it, type, "type");
     json_marshal::childFromJson(it, use_time, "use_time", false);
     LOG_DEBUG("reading term: %s", type.c_str());
@@ -195,7 +195,7 @@ void ProblemConstructionInfo::readConstraints(const Json::Value& v)
   for (const auto& it : v)
   {
     std::string type;
-    bool use_time;
+    bool use_time{ false };
     json_marshal::childFromJson(it, type, "type");
     json_marshal::childFromJson(it, use_time, "use_time", false);
     LOG_DEBUG("reading term: %s", type.c_str());
@@ -553,7 +553,7 @@ TrajOptProb::TrajOptProb(int n_steps, const ProblemConstructionInfo& pci)
   : OptProb(pci.basic_info.convex_solver, pci.basic_info.convex_solver_config), m_kin(pci.kin), m_env(pci.env)
 {
   const Eigen::MatrixX2d& limits = m_kin->getLimits().joint_limits;
-  auto n_dof = static_cast<int>(m_kin->numJoints());
+  auto n_dof = m_kin->numJoints();
   Eigen::VectorXd lower, upper;
   lower = limits.col(0);
   upper = limits.col(1);
@@ -587,7 +587,7 @@ TrajOptProb::TrajOptProb(int n_steps, const ProblemConstructionInfo& pci)
     }
   }
   sco::VarVector trajvarvec = createVariables(names, vlower, vupper);
-  m_traj_vars = VarArray(n_steps, n_dof + (pci.basic_info.use_time ? 1 : 0), trajvarvec.data());
+  m_traj_vars = VarArray(n_steps, static_cast<int>(n_dof) + (pci.basic_info.use_time ? 1 : 0), trajvarvec.data());
 }
 
 void UserDefinedTermInfo::fromJson(ProblemConstructionInfo& /*pci*/, const Json::Value& /*v*/)
@@ -1224,7 +1224,7 @@ void JointVelTermInfo::hatch(TrajOptProb& prob)
 
   if (term_type == (TermType::TT_COST | TermType::TT_USE_TIME))
   {
-    auto num_vels = static_cast<unsigned>(last_step - first_step);
+    auto num_vels = static_cast<size_t>(last_step - first_step);
 
     // Apply seperate cost to each joint b/c that is how the error function is currently written
     for (size_t j = 0; j < n_dof; j++)
@@ -1263,7 +1263,7 @@ void JointVelTermInfo::hatch(TrajOptProb& prob)
   }
   else if (term_type == (TermType::TT_CNT | TermType::TT_USE_TIME))
   {
-    auto num_vels = static_cast<unsigned>(last_step - first_step);
+    auto num_vels = static_cast<size_t>(last_step - first_step);
 
     // Apply seperate cnt to each joint b/c that is how the error function is currently written
     for (size_t j = 0; j < n_dof; j++)
@@ -1599,7 +1599,7 @@ void CollisionTermInfo::fromJson(ProblemConstructionInfo& pci, const Json::Value
   const Json::Value& params = v["params"];
 
   int n_steps = pci.basic_info.n_steps;
-  int collision_evaluator_type;
+  int collision_evaluator_type{ 0 };
   json_marshal::childFromJson(params, collision_evaluator_type, "evaluator_type", 0);
   json_marshal::childFromJson(params, use_weighted_sum, "use_weighted_sum", false);
   json_marshal::childFromJson(params, first_step, "first_step", 0);
@@ -1738,7 +1738,7 @@ void CollisionTermInfo::hatch(TrajOptProb& prob)
         bool current_fixed = std::find(fixed_steps.begin(), fixed_steps.end(), i) != fixed_steps.end();
         bool next_fixed = std::find(fixed_steps.begin(), fixed_steps.end(), i + 1) != fixed_steps.end();
 
-        CollisionExpressionEvaluatorType expression_evaluator_type;
+        CollisionExpressionEvaluatorType expression_evaluator_type{};
         if (!current_fixed && !next_fixed)
         {
           expression_evaluator_type = (use_weighted_sum) ?
@@ -1810,7 +1810,7 @@ void CollisionTermInfo::hatch(TrajOptProb& prob)
         bool current_fixed = std::find(fixed_steps.begin(), fixed_steps.end(), i) != fixed_steps.end();
         bool next_fixed = std::find(fixed_steps.begin(), fixed_steps.end(), i + 1) != fixed_steps.end();
 
-        CollisionExpressionEvaluatorType expression_evaluator_type;
+        CollisionExpressionEvaluatorType expression_evaluator_type{};
         if (!current_fixed && !next_fixed)
         {
           expression_evaluator_type = (use_weighted_sum) ?
@@ -1899,8 +1899,8 @@ void TotalTimeTermInfo::hatch(TrajOptProb& prob)
   }
 
   // Get correct penalty type
-  sco::PenaltyType penalty_type;
-  sco::ConstraintType constraint_type;
+  sco::PenaltyType penalty_type{};
+  sco::ConstraintType constraint_type{};
   if (trajopt_common::doubleEquals(limit, 0.0))
   {
     penalty_type = sco::SQUARED;