Update depends

dependencies.repos

@@ -1,11 +1,11 @@
 - git:
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.4.5
+    version: 0.4.7
 - git:
     local-name: tesseract
     uri: https://github.com/ros-industrial-consortium/tesseract.git
-    version: master
+    version: 0.18.0
 - git:
     local-name: opw_kinematics
     uri: https://github.com/Jmeyer1292/opw_kinematics.git

trajopt_ifopt/test/inverse_kinematics_constraint_unit.cpp

@@ -35,6 +35,7 @@ TRAJOPT_IGNORE_WARNINGS_PUSH
 #include <tesseract_environment/environment.h>
 #include <tesseract_environment/utils.h>
 #include <tesseract_common/types.h>
+#include <tesseract_common/utils.h>
 TRAJOPT_IGNORE_WARNINGS_POP
 
 #include <trajopt_ifopt/constraints/inverse_kinematics_constraint.h>
@@ -106,7 +107,7 @@ TEST_F(InverseKinematicsConstraintUnit, GetValue)  // NOLINT
 
   // Get the value (distance from IK position)
   Eigen::VectorXd values = constraint->GetValues();
-  EXPECT_TRUE(values.isApprox(Eigen::VectorXd::Zero(n_dof)));
+  EXPECT_TRUE(almostEqualRelativeAndAbs(values, Eigen::VectorXd::Zero(n_dof)));
 
   // Check that jac wrt constraint_var is identity
   {

trajopt_sco/include/trajopt_sco/solver_interface.hpp

@@ -115,12 +115,12 @@ struct VarRep
   using Ptr = std::shared_ptr<VarRep>;
 
   VarRep(std::size_t _index, std::string _name, void* _creator)
-    : index(_index), name(std::move(_name)), removed(false), creator(_creator)
+    : index(_index), name(std::move(_name)), creator(_creator)
   {
   }
   std::size_t index;
   std::string name;
-  bool removed;
+  bool removed{ false };
   void* creator;
 };
 
@@ -193,10 +193,10 @@ struct AffExpr
   AffExpr(AffExpr&&) = default;
   AffExpr& operator=(AffExpr&&) = default;
 
-  explicit AffExpr(double a) : constant(a) {}
-  explicit AffExpr(const Var& v) : coeffs(1, 1), vars(1, v) {}
+  explicit AffExpr(double a);
+  explicit AffExpr(const Var& v);
 
-  size_t size() const { return coeffs.size(); }
+  size_t size() const;
   double value(const double* x) const;
   double value(const DblVec& x) const;
 };
@@ -210,10 +210,10 @@ struct QuadExpr
   VarVector vars1;
   VarVector vars2;
   QuadExpr() = default;
-  explicit QuadExpr(double a) : affexpr(a) {}
-  explicit QuadExpr(const Var& v) : affexpr(v) {}
-  explicit QuadExpr(AffExpr aff) : affexpr(std::move(aff)) {}
-  size_t size() const { return coeffs.size(); }
+  explicit QuadExpr(double a);
+  explicit QuadExpr(const Var& v);
+  explicit QuadExpr(AffExpr aff);
+  size_t size() const;
   double value(const double* x) const;
   double value(const DblVec& x) const;
 };
@@ -249,7 +249,7 @@ class ModelType
   friend std::ostream& operator<<(std::ostream& os, const ModelType& cs);
 
 private:
-  Value value_;
+  Value value_{ Value::AUTO_SOLVER };
 };
 
 std::vector<ModelType> availableSolvers();

trajopt_sco/src/modeling.cpp

@@ -10,7 +10,6 @@ TRAJOPT_IGNORE_WARNINGS_POP
 #include <trajopt_sco/modeling.hpp>
 #include <trajopt_sco/sco_common.hpp>
 #include <trajopt_utils/logging.hpp>
-#include <trajopt_utils/macros.h>
 
 namespace sco
 {

trajopt_sco/src/solver_interface.cpp

@@ -8,7 +8,6 @@ TRAJOPT_IGNORE_WARNINGS_PUSH
 TRAJOPT_IGNORE_WARNINGS_POP
 
 #include <trajopt_sco/solver_interface.hpp>
-#include <trajopt_utils/macros.h>
 
 namespace sco
 {
@@ -62,6 +61,10 @@ void simplify2(IntVec& inds, DblVec& vals)
   }
 }
 
+AffExpr::AffExpr(double a) : constant(a) {}
+AffExpr::AffExpr(const Var& v) : coeffs(1, 1), vars(1, v) {}
+size_t AffExpr::size() const { return coeffs.size(); }
+
 double AffExpr::value(const double* x) const
 {
   double out = constant;
@@ -80,6 +83,12 @@ double AffExpr::value(const DblVec& x) const
   }
   return out;
 }
+
+QuadExpr::QuadExpr(double a) : affexpr(a) {}
+QuadExpr::QuadExpr(const Var& v) : affexpr(v) {}
+QuadExpr::QuadExpr(AffExpr aff) : affexpr(std::move(aff)) {}
+size_t QuadExpr::size() const { return coeffs.size(); }
+
 double QuadExpr::value(const DblVec& x) const
 {
   double out = affexpr.value(x);
@@ -215,9 +224,9 @@ std::ostream& operator<<(std::ostream& os, const ModelType& cs)
   return os;
 }
 
-ModelType::ModelType() { value_ = ModelType::AUTO_SOLVER; }
-ModelType::ModelType(const ModelType::Value& v) { value_ = v; }
-ModelType::ModelType(const int& v) { value_ = static_cast<Value>(v); }
+ModelType::ModelType() = default;
+ModelType::ModelType(const ModelType::Value& v) : value_(v) {}
+ModelType::ModelType(const int& v) : value_(static_cast<Value>(v)) {}
 ModelType::ModelType(const std::string& s)
 {
   for (unsigned int i = 0; i < ModelType::MODEL_NAMES_.size(); ++i)
@@ -351,6 +360,6 @@ Model::Ptr createModel(ModelType model_type, const ModelConfig::ConstPtr& model_
   std::stringstream solver_instatiation_error;
   solver_instatiation_error << "Failed to create solver: unknown solver " << solver << std::endl;
   PRINT_AND_THROW(solver_instatiation_error.str());
-  return Model::Ptr();
+  return {};
 }
 }  // namespace sco

trajopt_sco/test/CMakeLists.txt

@@ -53,7 +53,7 @@ target_compile_options(${PROJECT_NAME}-test PRIVATE ${TRAJOPT_COMPILE_OPTIONS_PR
 target_compile_definitions(${PROJECT_NAME}-test PRIVATE ${TRAJOPT_COMPILE_DEFINITIONS}
                                                         TRAJOPT_IFOPT_DIR="${CMAKE_SOURCE_DIR}")
 target_cxx_version(${PROJECT_NAME}-test PRIVATE VERSION ${TRAJOPT_CXX_VERSION})
-# target_clang_tidy(${PROJECT_NAME}-test ENABLE ${TRAJOPT_ENABLE_CLANG_TIDY})
+target_clang_tidy(${PROJECT_NAME}-test ENABLE ${TRAJOPT_ENABLE_CLANG_TIDY})
 add_gtest_discover_tests(${PROJECT_NAME}-test)
 if(HAVE_BPMPD)
   add_dependencies(${PROJECT_NAME}-test bpmpd_caller)