Merge branch 'fix/grid_map_core/reduce_even_more_clang_warnings' into…

… 'master'

[grid_map_core] removed more clang warnings.

GitOrigin-RevId: 967411d912d34b4714656801373419c765a3afd8

grid_map_core/include/grid_map_core/CubicInterpolation.hpp

@@ -35,7 +35,7 @@ class GridMap;
  * necessary for interpolation. These are either 16
  * function values in the case of bicubic convolution interpolation
  * or function values and their derivatives for the case
- * of standard bicubic inteprolation.
+ * of standard bicubic interpolation.
  */
 using FunctionValueMatrix = Eigen::Matrix4d;
 
@@ -74,7 +74,7 @@ static const Eigen::Matrix4d cubicInterpolationConvolutionMatrix {
                          -1.0,  3.0, -3.0,  1.0).finished() };
 
 /*
- * Index of the middle knot for bicubic inteprolation. This is
+ * Index of the middle knot for bicubic interpolation. This is
  * the function value with subscripts (0,0), i.e. f00 in
  * https://en.wikipedia.org/wiki/Bicubic_interpolation
  * In the grid map it corresponds to the grid map point closest to the
@@ -100,7 +100,7 @@ bool getNormalizedCoordinates(const GridMap &gridMap, const Position &queriedPos
                               Position *position);
 
 /*
- * Queries the grid map for function values at the coordiantes which are neccesary for
+ * Queries the grid map for function values at the coordinates which are necessary for
  * performing the interpolation. The right function values are then assembled
  * in a matrix.
  * @param[in]  gridMap - grid map with the data
@@ -119,7 +119,7 @@ bool assembleFunctionValueMatrix(const GridMap &gridMap, const std::string &laye
  * Performs convolution in 1D. the function requires 4 function values
  * to compute the convolution. The result is interpolated data in 1D.
  * @param[in]  t - normalized coordinate (x or y)
- * @param[in]  functionValues - vector of 4 function values neccessary to perform
+ * @param[in]  functionValues - vector of 4 function values necessary to perform
  *                            interpolation in 1 dimension.
  * @return - interpolated value at normalized coordinate t
  */
@@ -177,7 +177,7 @@ struct DataMatrix
 
 /*
  * Interpolation is performed on a unit square.
- * Hence we need to compute 4 corners of that unit square,
+ * Hence, we need to compute 4 corners of that unit square,
  * and find their indices in the grid map. IndicesMatrix
  * is a container that stores those indices. Each index
  * contains two numbers (row number, column number) in the
@@ -313,7 +313,7 @@ double mixedSecondOrderDerivativeAt(const Matrix &layerData, const Index &index,
 double evaluatePolynomial(const FunctionValueMatrix &functionValues, double tx, double ty);
 
 /*
- * Assemble function value matrix from small submatrices containing function values
+ * Assemble function value matrix from small sub-matrices containing function values
  * or derivative values at the corners of the unit square.
  * See https://en.wikipedia.org/wiki/Bicubic_interpolation for details.
  *

grid_map_core/include/grid_map_core/GridMap.hpp

@@ -578,7 +578,7 @@ class GridMap {
   //! Size of the buffer (rows and cols of the data structure).
   Size size_;
 
-  //! Circular buffer start indeces.
+  //! Circular buffer start indices.
   Index startIndex_;
 
  public:

grid_map_core/include/grid_map_core/GridMapMath.hpp

@@ -19,8 +19,8 @@ namespace grid_map {
 
 union Color
 {
-    unsigned long longColor;
-    float floatColor;
+    unsigned long longColor_;
+    float floatColor_;
 };
 
 /*!
@@ -83,7 +83,7 @@ void getPositionOfDataStructureOrigin(const Position& position,
                                       Position& positionOfOrigin);
 
 /*!
- * Computes how many cells/indeces the map is moved based on a position shift in
+ * Computes how many cells/indices the map is moved based on a position shift in
  * the grid map frame. Use this function if you are moving the grid map
  * and want to ensure that the cells match before and after.
  * @param[out] indexShift the corresponding shift of the indices.
@@ -100,7 +100,7 @@ bool getIndexShiftFromPositionShift(Index& indexShift,
  * if you are moving the grid map and want to ensure that the cells match
  * before and after.
  * @param[out] positionShift the corresponding shift in position in the grid map frame.
- * @param[in] indexShift the desired shift of the indeces.
+ * @param[in] indexShift the desired shift of the indices.
  * @param[in] resolution the resolution of the map.
  * @return true if successful.
  */
@@ -120,7 +120,7 @@ bool checkIfIndexInRange(const Index& index, const Size& bufferSize);
  * Bounds an index that runs out of the range of the buffer.
  * This means that an index that overflows is stopped at the last valid index.
  * This is the 2d version of boundIndexToRange(int&, const int&).
- * @param[in/out] index the indeces that will be bounded to the valid region of the buffer.
+ * @param[in/out] index the indices that will be bounded to the valid region of the buffer.
  * @param[in] bufferSize the size of the buffer.
  */
 void boundIndexToRange(Index& index, const Size& bufferSize);
@@ -137,7 +137,7 @@ void boundIndexToRange(int& index, const int& bufferSize);
  * Wraps an index that runs out of the range of the buffer back into allowed the region.
  * This means that an index that overflows is reset to zero.
  * This is the 2d version of wrapIndexToRange(int&, const int&).
- * @param[in/out] index the indeces that will be wrapped into the valid region of the buffer.
+ * @param[in/out] index the indices that will be wrapped into the valid region of the buffer.
  * @param[in] bufferSize the size of the buffer.
  */
 void wrapIndexToRange(Index& index, const Size& bufferSize);
@@ -164,7 +164,7 @@ void boundPositionToRange(Position& position, const Length& mapLength, const Pos
  * and the map frame (x/y-coordinate).
  * @return the alignment transformation.
  */
-const Eigen::Matrix2i getBufferOrderToMapFrameAlignment();
+Eigen::Matrix2i getBufferOrderToMapFrameAlignment();
 
 /*!
  * Given a map and a desired submap (defined by position and size), this function computes
@@ -204,7 +204,7 @@ bool getSubmapInformation(Index& submapTopLeftIndex,
  * @param bottomRightIndex the bottom right index in the map.
  * @return buffer size for the submap.
  */
-Size getSubmapSizeFromCornerIndeces(const Index& topLeftIndex, const Index& bottomRightIndex,
+Size getSubmapSizeFromCornerIndices(const Index& topLeftIndex, const Index& bottomRightIndex,
                                     const Size& bufferSize, const Index& bufferStartIndex);
 
 /*!
@@ -230,7 +230,7 @@ bool getBufferRegionsForSubmap(std::vector<BufferRegion>& submapBufferRegions,
  * @param[in/out] index the index in the map that is incremented (corrected for the circular buffer).
  * @param[in] bufferSize the map buffer size.
  * @param[in] bufferStartIndex the map buffer start index.
- * @return true if successfully incremented indeces, false if end of iteration limits are reached.
+ * @return true if successfully incremented indices, false if end of iteration limits are reached.
  */
 bool incrementIndex(Index& index, const Size& bufferSize,
                     const Index& bufferStartIndex = Index::Zero());
@@ -249,7 +249,7 @@ bool incrementIndex(Index& index, const Size& bufferSize,
  * @param[in] submapBufferSize the submap buffer size.
  * @param[in] bufferSize the map buffer size.
  * @param[in] bufferStartIndex the map buffer start index.
- * @return true if successfully incremented indeces, false if end of iteration limits are reached.
+ * @return true if successfully incremented indices, false if end of iteration limits are reached.
  */
 bool incrementIndexForSubmap(Index& submapIndex, Index& index, const Index& submapTopLeftIndex,
                              const Size& submapBufferSize, const Size& bufferSize,
@@ -284,7 +284,7 @@ Index getBufferIndexFromIndex(const Index& index, const Size& bufferSize, const
  * @param[in] (optional) rowMajor if the linear index is generated for row-major format.
  * @return the linear 1d index.
  */
-size_t getLinearIndexFromIndex(const Index& index, const Size& bufferSize, const bool rowMajor = false);
+size_t getLinearIndexFromIndex(const Index& index, const Size& bufferSize, bool rowMajor = false);
 
 /*!
  * Returns the regular index (2-dim.) corresponding to the linear index (1-dim.) for a given buffer size.
@@ -293,7 +293,7 @@ size_t getLinearIndexFromIndex(const Index& index, const Size& bufferSize, const
  * @param[in] (optional) rowMajor if the linear index is generated for row-major format.
  * @return the regular 2d index.
  */
-Index getIndexFromLinearIndex(const size_t linearIndex, const Size& bufferSize, const bool rowMajor = false);
+Index getIndexFromLinearIndex(size_t linearIndex, const Size& bufferSize, bool rowMajor = false);
 
 /*!
  * Transforms an int color value (concatenated RGB values) to an int color vector (RGB from 0-255).
@@ -341,4 +341,4 @@ void colorVectorToValue(const Eigen::Vector3i& colorVector, float& colorValue);
  */
 void colorVectorToValue(const Eigen::Vector3f& colorVector, float& colorValue);
 
-} // namespace
+}  // namespace grid_map

grid_map_core/include/grid_map_core/Polygon.hpp

@@ -37,11 +37,6 @@ class Polygon
    */
   Polygon(std::vector<Position> vertices);
 
-  /*!
-   * Destructor.
-   */
-  virtual ~Polygon();
-
   /*!
    * Check if point is inside polygon.
    * @param point the point to be checked.
@@ -60,7 +55,7 @@ class Polygon
    * @param index the index of the requested vertex.
    * @return the requested vertex.
    */
-  const Position& getVertex(const size_t index) const;
+  const Position& getVertex(size_t index) const;
 
   /*!
    * Removes all vertices from the polygon.
@@ -72,7 +67,7 @@ class Polygon
    * @param index the index of the requested vertex.
    * @return the requested vertex.
    */
-  const Position& operator [](const size_t index) const;
+  const Position& operator [](size_t index) const;
 
   /*!
    * Returns the vertices of the polygon.
@@ -90,7 +85,7 @@ class Polygon
    * Set the timestamp of the polygon.
    * @param timestamp the timestamp to set (in  nanoseconds).
    */
-  void setTimestamp(const uint64_t timestamp);
+  void setTimestamp(uint64_t timestamp);
 
   /*!
    * Get the timestamp of the polygon.
@@ -156,15 +151,15 @@ class Polygon
    * @param margin the margin to offset the polygon by (in [m]).
    * @return true if successful, false otherwise.
    */
-  bool offsetInward(const double margin);
+  bool offsetInward(double margin);
 
   /*!
-   * If only two verices are given, this methods generates a
+   * If only two vertices are given, this methods generates a
    * `thickened` line polygon with four vertices.
    * @param thickness the desired thickness of the line.
    * @return true if successful, false otherwise.
    */
-  bool thickenLine(const double thickness);
+  bool thickenLine(double thickness);
 
   /*!
    * Return a triangulated version of the polygon.
@@ -179,8 +174,8 @@ class Polygon
    * @param[in] nVertices number of vertices of the approximation polygon. Default = 20.
    * @return circle as polygon.
    */
-  static Polygon fromCircle(const Position center, const double radius,
-                            const int nVertices = 20);
+  static Polygon fromCircle(Position center, double radius,
+                            int nVertices = 20);
 
   /*!
    * Approximates two circles with a convex hull and returns it as polygon.
@@ -190,10 +185,10 @@ class Polygon
    * @param[in] nVertices number of vertices of the approximation polygon. Default = 20.
    * @return convex hull of the two circles as polygon.
    */
-  static Polygon convexHullOfTwoCircles(const Position center1,
-                                        const Position center2,
-                                        const double radius,
-                                        const int nVertices = 20);
+  static Polygon convexHullOfTwoCircles(Position center1,
+                                        Position center2,
+                                        double radius,
+                                        int nVertices = 20);
 
   /*!
    * Computes the convex hull of two polygons and returns it as polygon.
@@ -237,7 +232,7 @@ class Polygon
   static double vectorsMakeClockwiseTurn(const Eigen::Vector2d& pointO,
                                          const Eigen::Vector2d& pointA,
                                          const Eigen::Vector2d& pointB);
-
+  // NOLINTBEGIN(misc-non-private-member-variables-in-classes)
   //! Frame id of the polygon.
   std::string frameId_;
 
@@ -246,7 +241,7 @@ class Polygon
 
   //! Vertices of the polygon.
   std::vector<Position> vertices_;
-
+  // NOLINTEND(misc-non-private-member-variables-in-classes)
  public:
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };

grid_map_core/include/grid_map_core/SubmapGeometry.hpp

@@ -35,7 +35,7 @@ class SubmapGeometry
   SubmapGeometry(const GridMap& gridMap, const Position& position, const Length& length,
                  bool& isSuccess);
 
-  virtual ~SubmapGeometry();
+  virtual ~SubmapGeometry() = default;
 
   const GridMap& getGridMap() const;
   const Length& getLength() const;

grid_map_core/include/grid_map_core/eigen_plugins/Functors.hpp

@@ -18,7 +18,7 @@ struct Clamp
         max_(max)
   {
   }
-  const Scalar operator()(const Scalar& x) const
+  Scalar operator()(const Scalar& x) const
   {
     return x < min_ ? min_ : (x > max_ ? max_ : x);
   }

grid_map_core/include/grid_map_core/gtest_eigen.hpp

@@ -96,8 +96,9 @@ namespace grid_map {
     }
 
     template<typename M1>
-    void assertFinite(const M1 & A, std::string const & message = "")
+    void assertFinite(const M1 & A, std::string const &  /*message*/ = "")
     {
+      std::cout << ("test") << std::endl;
       for(int r = 0; r < A.rows(); r++)
 		{
 		  for(int c = 0; c < A.cols(); c++)
@@ -107,58 +108,58 @@ namespace grid_map {
 		}
     }
 
-    inline bool compareRelative(double a, double b, double percentTolerance, double * percentError = NULL)
-    {
-	  // \todo: does anyone have a better idea?
+    inline bool compareRelative(double a, double b, double percentTolerance, double* percentError = nullptr) {
+      // \todo: does anyone have a better idea?
       double fa = fabs(a);
       double fb = fabs(b);
-      if( (fa < 1e-15 && fb < 1e-15) ||  // Both zero.
-		  (fa == 0.0  && fb < 1e-6)  ||  // One exactly zero and the other small
-		  (fb == 0.0  && fa < 1e-6) )    // ditto
-		return true;
+      if ((fa < 1e-15 && fb < 1e-15) ||  // Both zero.
+          (fa == 0.0 && fb < 1e-6) ||    // One exactly zero and the other small
+          (fb == 0.0 && fa < 1e-6)) {    // ditto
+        return true;
+      }
 
-      double diff = fabs(a - b)/std::max(fa,fb);
-      if(diff > percentTolerance * 1e-2)
-		{
-		  if(percentError)
-			*percentError = diff * 100.0;
-		  return false;
-		}
+      double diff = fabs(a - b) / std::max(fa, fb);
+      if (diff > percentTolerance * 1e-2) {
+        if (percentError != nullptr) {
+          *percentError = diff * 100.0;
+        }
+        return false;
+      }
       return true;
     }
 
 #define ASSERT_DOUBLE_MX_EQ(A, B, PERCENT_TOLERANCE, MSG)				\
-    ASSERT_EQ((size_t)(A).rows(), (size_t)(B).rows())  << MSG << "\nMatrix " << #A << ":\n" << A << "\nand matrix " << #B << "\n" << B << "\nare not the same size"; \
-    ASSERT_EQ((size_t)(A).cols(), (size_t)(B).cols())  << MSG << "\nMatrix " << #A << ":\n" << A << "\nand matrix " << #B << "\n" << B << "\nare not the same size"; \
+    ASSERT_EQ((size_t)(A).rows(), (size_t)(B).rows())  << (MSG) << "\nMatrix " << #A << ":\n" << (A) << "\nand matrix " << #B << "\n" << (B) << "\nare not the same size"; \
+    ASSERT_EQ((size_t)(A).cols(), (size_t)(B).cols())  << (MSG) << "\nMatrix " << #A << ":\n" << (A) << "\nand matrix " << #B << "\n" << (B) << "\nare not the same size"; \
     for(int r = 0; r < (A).rows(); r++)									\
       {																	\
 		for(int c = 0; c < (A).cols(); c++)								\
 		  {																\
 			double percentError = 0.0;									\
 			ASSERT_TRUE(grid_map::compareRelative( (A)(r,c), (B)(r,c), PERCENT_TOLERANCE, &percentError)) \
-			  << MSG << "\nComparing:\n"								\
+			  << (MSG) << "\nComparing:\n"								\
 			  << #A << "(" << r << "," << c << ") = " << (A)(r,c) << std::endl \
 			  << #B << "(" << r << "," << c << ") = " << (B)(r,c) << std::endl \
-			  << "Error was " << percentError << "% > " << PERCENT_TOLERANCE << "%\n" \
-			  << "\nMatrix " << #A << ":\n" << A << "\nand matrix " << #B << "\n" << B; \
+			  << "Error was " << percentError << "% > " << (PERCENT_TOLERANCE) << "%\n" \
+			  << "\nMatrix " << #A << ":\n" << (A) << "\nand matrix " << #B << "\n" << (B); \
 		  }																\
       }
 
 #define ASSERT_DOUBLE_SPARSE_MX_EQ(A, B, PERCENT_TOLERANCE, MSG)       \
-    ASSERT_EQ((size_t)(A).rows(), (size_t)(B).rows())  << MSG << "\nMatrix " << #A << ":\n" << A << "\nand matrix " << #B << "\n" << B << "\nare not the same size"; \
-    ASSERT_EQ((size_t)(A).cols(), (size_t)(B).cols())  << MSG << "\nMatrix " << #A << ":\n" << A << "\nand matrix " << #B << "\n" << B << "\nare not the same size"; \
+    ASSERT_EQ((size_t)(A).rows(), (size_t)(B).rows())  << (MSG) << "\nMatrix " << #A << ":\n" << (A) << "\nand matrix " << #B << "\n" << (B) << "\nare not the same size"; \
+    ASSERT_EQ((size_t)(A).cols(), (size_t)(B).cols())  << (MSG) << "\nMatrix " << #A << ":\n" << (A) << "\nand matrix " << #B << "\n" << (B) << "\nare not the same size"; \
     for(int r = 0; r < (A).rows(); r++)                 \
       {                                 \
     for(int c = 0; c < (A).cols(); c++)               \
       {                               \
       double percentError = 0.0;                  \
       ASSERT_TRUE(grid_map::compareRelative( (A).coeff(r,c), (B).coeff(r,c), PERCENT_TOLERANCE, &percentError)) \
-        << MSG << "\nComparing:\n"                \
+        << (MSG) << "\nComparing:\n"                \
         << #A << "(" << r << "," << c << ") = " << (A).coeff(r,c) << std::endl \
         << #B << "(" << r << "," << c << ") = " << (B).coeff(r,c) << std::endl \
-        << "Error was " << percentError << "% > " << PERCENT_TOLERANCE << "%\n" \
-        << "\nMatrix " << #A << ":\n" << A << "\nand matrix " << #B << "\n" << B; \
+        << "Error was " << percentError << "% > " << (PERCENT_TOLERANCE) << "%\n" \
+        << "\nMatrix " << #A << ":\n" << (A) << "\nand matrix " << #B << "\n" << (B); \
       }                               \
       }
 
-} // namespace
+}  // namespace grid_map

grid_map_core/include/grid_map_core/iterators/CircleIterator.hpp

@@ -32,13 +32,6 @@ class CircleIterator
    */
   CircleIterator(const GridMap& gridMap, const Position& center, double radius);
 
-  /*!
-   * Assignment operator.
-   * @param iterator the iterator to copy data from.
-   * @return a reference to *this.
-   */
-  CircleIterator& operator =(const CircleIterator& other) = default;
-
   /*!
    * Compare to another iterator.
    * @return whether the current iterator points to a different address than the other one.