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Various include cleanups and clang-tidy fixes, and an error message fix. #408

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Jun 10, 2024
Merged

Various include cleanups and clang-tidy fixes, and an error message fix. #408

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10 changes: 5 additions & 5 deletions trajopt/src/collision_terms.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -435,7 +435,7 @@ void CollisionEvaluator::CollisionsToDistanceExpressionsW(sco::AffExprVector& ex
exprs_data.push_back(data);
if (!found[0] && !found[1])
{
exprs.push_back(sco::AffExpr(0));
exprs.emplace_back(0);
}
else
{
Expand Down Expand Up @@ -529,7 +529,7 @@ void CollisionEvaluator::CollisionsToDistanceExpressionsContinuousW(
exprs_data.push_back(data);
if (!found[0] && !found[1])
{
exprs.push_back(sco::AffExpr(0));
exprs.emplace_back(0);
}
else
{
Expand Down Expand Up @@ -949,7 +949,7 @@ void SingleTimestepCollisionEvaluator::CalcCollisions(const Eigen::Ref<const Eig
const auto& zero_coeff_pairs = getSafetyMarginData()->getPairsWithZeroCoeff();
auto filter = [this, &zero_coeff_pairs](tesseract_collision::ContactResultMap::PairType& pair) {
// Remove pairs with zero coeffs
if (std::find(zero_coeff_pairs.begin(), zero_coeff_pairs.end(), pair.first) != zero_coeff_pairs.end())
if (zero_coeff_pairs.find(pair.first) != zero_coeff_pairs.end())
{
pair.second.clear();
return;
Expand Down Expand Up @@ -1150,7 +1150,7 @@ void DiscreteCollisionEvaluator::CalcCollisions(const Eigen::Ref<const Eigen::Ve
const auto& zero_coeff_pairs = getSafetyMarginData()->getPairsWithZeroCoeff();
auto filter = [this, &zero_coeff_pairs](tesseract_collision::ContactResultMap::PairType& pair) {
// Remove pairs with zero coeffs
if (std::find(zero_coeff_pairs.begin(), zero_coeff_pairs.end(), pair.first) != zero_coeff_pairs.end())
if (zero_coeff_pairs.find(pair.first) != zero_coeff_pairs.end())
{
pair.second.clear();
return;
Expand Down Expand Up @@ -1386,7 +1386,7 @@ void CastCollisionEvaluator::CalcCollisions(const Eigen::Ref<const Eigen::Vector
const auto& zero_coeff_pairs = getSafetyMarginData()->getPairsWithZeroCoeff();
auto filter = [this, &zero_coeff_pairs](tesseract_collision::ContactResultMap::PairType& pair) {
// Remove pairs with zero coeffs
if (std::find(zero_coeff_pairs.begin(), zero_coeff_pairs.end(), pair.first) != zero_coeff_pairs.end())
if (zero_coeff_pairs.find(pair.first) != zero_coeff_pairs.end())
{
pair.second.clear();
return;
Expand Down
2 changes: 1 addition & 1 deletion trajopt/src/problem_description.cpp
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Expand Up @@ -1089,7 +1089,7 @@ void JointPosTermInfo::hatch(TrajOptProb& prob)

// Check if parameters are the correct size.
checkParameterSize(coeffs, n_dof, "JointPosTermInfo coeffs", true);
checkParameterSize(targets, n_dof, "JointPosTermInfo upper_tols", true);
checkParameterSize(targets, n_dof, "JointPosTermInfo targets", true);
checkParameterSize(upper_tols, n_dof, "JointPosTermInfo upper_tols", true);
checkParameterSize(lower_tols, n_dof, "JointPosTermInfo lower_tols", true);

Expand Down
1 change: 0 additions & 1 deletion trajopt_common/include/trajopt_common/cache.h
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Expand Up @@ -4,7 +4,6 @@
#include <trajopt_common/macros.h>
TRAJOPT_IGNORE_WARNINGS_PUSH
#include <Eigen/Eigen>
#include <memory>
#include <algorithm>
TRAJOPT_IGNORE_WARNINGS_POP

Expand Down
1 change: 0 additions & 1 deletion trajopt_common/include/trajopt_common/config.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,6 @@
#include <trajopt_common/macros.h>
TRAJOPT_IGNORE_WARNINGS_PUSH
#include <boost/program_options.hpp>
#include <iostream>
#include <memory>
#include <string>
#include <vector>
Expand Down
1 change: 0 additions & 1 deletion trajopt_common/include/trajopt_common/stl_to_string.hpp
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@@ -1,7 +1,6 @@
#pragma once
#include <trajopt_common/macros.h>
TRAJOPT_IGNORE_WARNINGS_PUSH
#include <iostream>
#include <map>
#include <set>
#include <sstream>
Expand Down
1 change: 0 additions & 1 deletion trajopt_common/src/logging.cpp
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@@ -1,7 +1,6 @@
#include <trajopt_common/macros.h>
TRAJOPT_IGNORE_WARNINGS_PUSH
#include <cstdlib>
#include <iostream>
#include <string>
TRAJOPT_IGNORE_WARNINGS_POP

Expand Down
7 changes: 3 additions & 4 deletions trajopt_sco/src/bpmpd_interface.cpp
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
#include <trajopt_common/macros.h>
TRAJOPT_IGNORE_WARNINGS_PUSH
#include <cmath>
#include <fstream>
#include <csignal>
#include <array>
#include <mutex>
Expand Down Expand Up @@ -238,23 +237,23 @@ BPMPDModel::BPMPDModel()
Var BPMPDModel::addVar(const std::string& name)
{
std::scoped_lock lock(m_mutex);
m_vars.push_back(std::make_shared<VarRep>(m_vars.size(), name, this));
m_vars.emplace_back(std::make_shared<VarRep>(m_vars.size(), name, this));
m_lbs.push_back(-BPMPD_BIG);
m_ubs.push_back(BPMPD_BIG);
return m_vars.back();
}
Cnt BPMPDModel::addEqCnt(const AffExpr& expr, const std::string& /*name*/)
{
std::scoped_lock lock(m_mutex);
m_cnts.push_back(std::make_shared<CntRep>(m_cnts.size(), this));
m_cnts.emplace_back(std::make_shared<CntRep>(m_cnts.size(), this));
m_cntExprs.push_back(expr);
m_cntTypes.push_back(EQ);
return m_cnts.back();
}
Cnt BPMPDModel::addIneqCnt(const AffExpr& expr, const std::string& /*name*/)
{
std::scoped_lock lock(m_mutex);
m_cnts.push_back(std::make_shared<CntRep>(m_cnts.size(), this));
m_cnts.emplace_back(std::make_shared<CntRep>(m_cnts.size(), this));
m_cntExprs.push_back(expr);
m_cntTypes.push_back(INEQ);
return m_cnts.back();
Expand Down
1 change: 0 additions & 1 deletion trajopt_sco/src/modeling.cpp
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Expand Up @@ -2,7 +2,6 @@
TRAJOPT_IGNORE_WARNINGS_PUSH
#include <boost/format.hpp>
#include <cstdio>
#include <iostream>
#include <sstream>
TRAJOPT_IGNORE_WARNINGS_POP

Expand Down
1 change: 0 additions & 1 deletion trajopt_sco/src/modeling_utils.cpp
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
#include <trajopt_common/macros.h>
TRAJOPT_IGNORE_WARNINGS_PUSH
#include <Eigen/Eigenvalues>
#include <iostream>
TRAJOPT_IGNORE_WARNINGS_POP

#include <trajopt_sco/expr_ops.hpp>
Expand Down
7 changes: 3 additions & 4 deletions trajopt_sco/src/osqp_interface.cpp
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Expand Up @@ -5,7 +5,6 @@ TRAJOPT_IGNORE_WARNINGS_PUSH
#include <Eigen/SparseCore>
#include <fstream>
#include <csignal>
#include <iomanip>
TRAJOPT_IGNORE_WARNINGS_POP

#include <trajopt_sco/osqp_interface.hpp>
Expand Down Expand Up @@ -63,7 +62,7 @@ OSQPModel::~OSQPModel()
Var OSQPModel::addVar(const std::string& name)
{
std::scoped_lock lock(mutex_);
vars_.push_back(std::make_shared<VarRep>(vars_.size(), name, this));
vars_.emplace_back(std::make_shared<VarRep>(vars_.size(), name, this));
lbs_.push_back(-OSQP_INFINITY);
ubs_.push_back(OSQP_INFINITY);
return vars_.back();
Expand All @@ -72,7 +71,7 @@ Var OSQPModel::addVar(const std::string& name)
Cnt OSQPModel::addEqCnt(const AffExpr& expr, const std::string& /*name*/)
{
std::scoped_lock lock(mutex_);
cnts_.push_back(std::make_shared<CntRep>(cnts_.size(), this));
cnts_.emplace_back(std::make_shared<CntRep>(cnts_.size(), this));
cnt_exprs_.push_back(expr);
cnt_types_.push_back(EQ);
return cnts_.back();
Expand All @@ -81,7 +80,7 @@ Cnt OSQPModel::addEqCnt(const AffExpr& expr, const std::string& /*name*/)
Cnt OSQPModel::addIneqCnt(const AffExpr& expr, const std::string& /*name*/)
{
std::scoped_lock lock(mutex_);
cnts_.push_back(std::make_shared<CntRep>(cnts_.size(), this));
cnts_.emplace_back(std::make_shared<CntRep>(cnts_.size(), this));
cnt_exprs_.push_back(expr);
cnt_types_.push_back(INEQ);
return cnts_.back();
Expand Down
7 changes: 3 additions & 4 deletions trajopt_sco/src/qpoases_interface.cpp
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Expand Up @@ -2,7 +2,6 @@
TRAJOPT_IGNORE_WARNINGS_PUSH
#include <cmath>
#include <Eigen/Eigen>
#include <fstream>
#include <csignal>
TRAJOPT_IGNORE_WARNINGS_POP

Expand Down Expand Up @@ -39,7 +38,7 @@ qpOASESModel::~qpOASESModel() = default;
Var qpOASESModel::addVar(const std::string& name)
{
std::scoped_lock lock(mutex_);
vars_.push_back(std::make_shared<VarRep>(vars_.size(), name, this));
vars_.emplace_back(std::make_shared<VarRep>(vars_.size(), name, this));
lb_.push_back(-QPOASES_INFTY);
ub_.push_back(QPOASES_INFTY);
return vars_.back();
Expand All @@ -48,7 +47,7 @@ Var qpOASESModel::addVar(const std::string& name)
Cnt qpOASESModel::addEqCnt(const AffExpr& expr, const std::string& /*name*/)
{
std::scoped_lock lock(mutex_);
cnts_.push_back(std::make_shared<CntRep>(cnts_.size(), this));
cnts_.emplace_back(std::make_shared<CntRep>(cnts_.size(), this));
cnt_exprs_.push_back(expr);
cnt_types_.push_back(EQ);
return cnts_.back();
Expand All @@ -57,7 +56,7 @@ Cnt qpOASESModel::addEqCnt(const AffExpr& expr, const std::string& /*name*/)
Cnt qpOASESModel::addIneqCnt(const AffExpr& expr, const std::string& /*name*/)
{
std::scoped_lock lock(mutex_);
cnts_.push_back(std::make_shared<CntRep>(cnts_.size(), this));
cnts_.emplace_back(std::make_shared<CntRep>(cnts_.size(), this));
cnt_exprs_.push_back(expr);
cnt_types_.push_back(INEQ);
return cnts_.back();
Expand Down
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