Switch to clang-format-14 (moveit#1877) (moveit#1880)

* Switch to clang-format-14 * Fix clang-format-14 (cherry picked from commit 7fa5eaf) Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
rhaschke · Jan 20, 2023 · b1248d1 · b1248d1
1 parent f942252
commit b1248d1
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Showing 8 changed files with 69 additions and 73 deletions.
diff --git a/.docker/ci/Dockerfile b/.docker/ci/Dockerfile
@@ -25,7 +25,7 @@ RUN \
         # Some basic requirements
         wget git sudo curl \
         # Preferred build tools
-        clang clang-format-12 clang-tidy clang-tools \
+        clang clang-format-14 clang-tidy clang-tools \
         ccache && \
     #
     # Globally disable git security

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -42,7 +42,7 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-12
+        entry: clang-format-14
         language: system
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ['-fallback-style=none', '-i']

diff --git a/...ection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h b/...ection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h
@@ -366,9 +366,7 @@ inline void getAverageSupport(const btConvexShape* shape, const btVector3& local
         pt_sum = pt;
         max_support = sup;
       }
-      else if (sup < max_support - BULLET_EPSILON)
-      {
-      }
+      else if (sup < max_support - BULLET_EPSILON) {}
       else
       {
         pt_count += 1;

diff --git a/moveit_core/collision_detection_fcl/src/collision_common.cpp b/moveit_core/collision_detection_fcl/src/collision_common.cpp
@@ -753,40 +753,40 @@ FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape,
     }
   }
   else
-      // world objects could have previously been attached objects; we try to move them
-      // from their old cache to the new one, if possible. the code is not pretty, but should help
-      // when we attach/detach objects that are in the world
-      if (std::is_same<T, World::Object>::value)
-  {
-    // get the cache that corresponds to objects; maybe this attached object used to be a world object
-    FCLShapeCache& othercache = GetShapeCache<BV, moveit::core::AttachedBody>();
-
-    // attached bodies could be just moved from the environment.
-    auto cache_it = othercache.map_.find(wptr);
-    if (cache_it != othercache.map_.end())
+    // world objects could have previously been attached objects; we try to move them
+    // from their old cache to the new one, if possible. the code is not pretty, but should help
+    // when we attach/detach objects that are in the world
+    if (std::is_same<T, World::Object>::value)
     {
-      if (cache_it->second.unique())
-      {
-        // remove from old cache
-        FCLGeometryConstPtr obj_cache = cache_it->second;
-        othercache.map_.erase(cache_it);
+      // get the cache that corresponds to objects; maybe this attached object used to be a world object
+      FCLShapeCache& othercache = GetShapeCache<BV, moveit::core::AttachedBody>();
 
-        // update the CollisionGeometryData; nobody has a pointer to this, so we can safely modify it
-        const_cast<FCLGeometry*>(obj_cache.get())->updateCollisionGeometryData(data, shape_index, true);
-
-        //          RCLCPP_DEBUG(LOGGER, "Collision data structures for world object %s retrieved
-        //          from the cache for
-        //          attached
-        //          bodies.",
-        //                   obj_cache->collision_geometry_data_->getID().c_str());
-
-        // add to the new cache
-        cache.map_[wptr] = obj_cache;
-        cache.bumpUseCount();
-        return obj_cache;
+      // attached bodies could be just moved from the environment.
+      auto cache_it = othercache.map_.find(wptr);
+      if (cache_it != othercache.map_.end())
+      {
+        if (cache_it->second.unique())
+        {
+          // remove from old cache
+          FCLGeometryConstPtr obj_cache = cache_it->second;
+          othercache.map_.erase(cache_it);
+
+          // update the CollisionGeometryData; nobody has a pointer to this, so we can safely modify it
+          const_cast<FCLGeometry*>(obj_cache.get())->updateCollisionGeometryData(data, shape_index, true);
+
+          //          RCLCPP_DEBUG(LOGGER, "Collision data structures for world object %s retrieved
+          //          from the cache for
+          //          attached
+          //          bodies.",
+          //                   obj_cache->collision_geometry_data_->getID().c_str());
+
+          // add to the new cache
+          cache.map_[wptr] = obj_cache;
+          cache.bumpUseCount();
+          return obj_cache;
+        }
       }
     }
-  }
 
   fcl::CollisionGeometryd* cg_g = nullptr;
   // handle cases individually

diff --git a/moveit_core/constraint_samplers/src/constraint_sampler_manager.cpp b/moveit_core/constraint_samplers/src/constraint_sampler_manager.cpp
@@ -117,20 +117,20 @@ ConstraintSamplerPtr ConstraintSamplerManager::selectDefaultSampler(const planni
       }
     }
     else
-        // if a smaller set of joints has been specified, keep the constraint sampler around, but use it only if no IK
-        // sampler has been specified.
-        if (!jc.empty())
-    {
-      JointConstraintSamplerPtr sampler = std::make_shared<JointConstraintSampler>(scene, jmg->getName());
-      if (sampler->configure(jc))
+      // if a smaller set of joints has been specified, keep the constraint sampler around, but use it only if no IK
+      // sampler has been specified.
+      if (!jc.empty())
       {
-        RCLCPP_DEBUG(LOGGER,
-                     "Temporary sampler satisfying joint constraints for group '%s' allocated. "
-                     "Looking for different types of constraints before returning though.",
-                     jmg->getName().c_str());
-        joint_sampler = sampler;
+        JointConstraintSamplerPtr sampler = std::make_shared<JointConstraintSampler>(scene, jmg->getName());
+        if (sampler->configure(jc))
+        {
+          RCLCPP_DEBUG(LOGGER,
+                       "Temporary sampler satisfying joint constraints for group '%s' allocated. "
+                       "Looking for different types of constraints before returning though.",
+                       jmg->getName().c_str());
+          joint_sampler = sampler;
+        }
       }
-    }
   }
 
   std::vector<ConstraintSamplerPtr> samplers;

diff --git a/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_parameters.h b/moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_parameters.h
@@ -69,9 +69,9 @@ class ChompParameters
   int max_iterations_after_collision_free_; /*!< maximum iterations to be performed after a collision free path is found. */
   double smoothness_cost_weight_; /*!< smoothness_cost_weight parameters controls its weight in the final cost that
                                      CHOMP is actually optimizing over */
+  double obstacle_cost_weight_; /*!< controls the weight to be given to obstacles towards the final cost CHOMP optimizes over */
   double
-      obstacle_cost_weight_; /*!< controls the weight to be given to obstacles towards the final cost CHOMP optimizes over */
-  double learning_rate_; /*!< learning rate used by the optimizer to find the local / global minima while reducing the total cost */
+      learning_rate_; /*!< learning rate used by the optimizer to find the local / global minima while reducing the total cost */
   double smoothness_cost_velocity_;     /*!< variables associated with the cost in velocity */
   double smoothness_cost_acceleration_; /*!< variables associated with the cost in acceleration */
   double smoothness_cost_jerk_;         /*!< variables associated with the cost in jerk */

diff --git a/..._monitor/include/moveit/occupancy_map_monitor/occupancy_map_monitor_middleware_handle.hpp b/..._monitor/include/moveit/occupancy_map_monitor/occupancy_map_monitor_middleware_handle.hpp
@@ -103,11 +103,9 @@ class OccupancyMapMonitorMiddlewareHandle : public OccupancyMapMonitor::Middlewa
   void createLoadMapService(OccupancyMapMonitor::MiddlewareHandle::LoadMapServiceCallback callback) override;
 
 private:
-  rclcpp::Node::SharedPtr node_; /*!< ROS node */
-  rclcpp::Service<moveit_msgs::srv::SaveMap>::SharedPtr
-      save_map_srv_; /*!< ROS service created by createSaveMapService */
-  rclcpp::Service<moveit_msgs::srv::LoadMap>::SharedPtr
-      load_map_srv_; /*!< ROS service created by createLoadMapService */
+  rclcpp::Node::SharedPtr node_;                                       /*!< ROS node */
+  rclcpp::Service<moveit_msgs::srv::SaveMap>::SharedPtr save_map_srv_; /*!< ROS service created by createSaveMapService */
+  rclcpp::Service<moveit_msgs::srv::LoadMap>::SharedPtr load_map_srv_; /*!< ROS service created by createLoadMapService */
   std::unique_ptr<pluginlib::ClassLoader<OccupancyMapUpdater>>
       updater_plugin_loader_; /*!< Pluginlib loader for OccupancyMapUpdater */
 

diff --git a/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_bounds.cpp b/moveit_ros/planning/planning_request_adapter_plugins/src/fix_start_state_bounds.cpp
@@ -102,29 +102,29 @@ class FixStartStateBounds : public planning_request_adapter::PlanningRequestAdap
         }
       }
       else
-          // Normalize yaw; no offset needs to be remembered
-          if (jm->getType() == moveit::core::JointModel::PLANAR)
-      {
-        const double* p = start_state.getJointPositions(jm);
-        double copy[3] = { p[0], p[1], p[2] };
-        if (static_cast<const moveit::core::PlanarJointModel*>(jm)->normalizeRotation(copy))
+        // Normalize yaw; no offset needs to be remembered
+        if (jm->getType() == moveit::core::JointModel::PLANAR)
         {
-          start_state.setJointPositions(jm, copy);
-          change_req = true;
+          const double* p = start_state.getJointPositions(jm);
+          double copy[3] = { p[0], p[1], p[2] };
+          if (static_cast<const moveit::core::PlanarJointModel*>(jm)->normalizeRotation(copy))
+          {
+            start_state.setJointPositions(jm, copy);
+            change_req = true;
+          }
         }
-      }
-      else
+        else
           // Normalize quaternions
           if (jm->getType() == moveit::core::JointModel::FLOATING)
-      {
-        const double* p = start_state.getJointPositions(jm);
-        double copy[7] = { p[0], p[1], p[2], p[3], p[4], p[5], p[6] };
-        if (static_cast<const moveit::core::FloatingJointModel*>(jm)->normalizeRotation(copy))
-        {
-          start_state.setJointPositions(jm, copy);
-          change_req = true;
-        }
-      }
+          {
+            const double* p = start_state.getJointPositions(jm);
+            double copy[7] = { p[0], p[1], p[2], p[3], p[4], p[5], p[6] };
+            if (static_cast<const moveit::core::FloatingJointModel*>(jm)->normalizeRotation(copy))
+            {
+              start_state.setJointPositions(jm, copy);
+              change_req = true;
+            }
+          }
     }
 
     // pointer to a prefix state we could possibly add, if we detect we have to make changes