Fix clang-tidy-17 errors (#1122)

tesseract-robotics · Feb 12, 2025 · a5fed1a · a5fed1a
1 parent a553b90
commit a5fed1a
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diff --git a/.clang-tidy b/.clang-tidy
@@ -3,8 +3,10 @@ Checks: >
     -*,
     clang-diagnostic-*,
     -clang-diagnostic-unknown-warning-option,
+    -clang-diagnostic-enum-constexpr-conversion,
     clang-analyzer-*,
     -clang-analyzer-cplusplus*,
+    -clang-analyzer-optin.core.EnumCastOutOfRange,
     bugprone-*,
     -bugprone-easily-swappable-parameters,
     -bugprone-exception-escape,
@@ -21,9 +23,14 @@ Checks: >
     misc-*,
     -misc-non-private-member-variables-in-classes,
     -misc-no-recursion,
+    -misc-const-correctness,
+    -misc-include-cleaner,
+    -misc-use-internal-linkage,
+    -misc-use-anonymous-namespace,
     modernize-*,
     -modernize-use-trailing-return-type,
     -modernize-use-nodiscard,
+    -modernize-type-traits,
     performance-*,
     readability-*,
     -readability-braces-around-statements,
@@ -38,8 +45,10 @@ WarningsAsErrors: >
     -*,
     clang-diagnostic-*,
     -clang-diagnostic-unknown-warning-option,
+    -clang-diagnostic-enum-constexpr-conversion,
     clang-analyzer-*,
     -clang-analyzer-cplusplus*,
+    -clang-analyzer-optin.core.EnumCastOutOfRange,
     bugprone-*,
     -bugprone-easily-swappable-parameters,
     -bugprone-exception-escape,
@@ -56,9 +65,14 @@ WarningsAsErrors: >
     misc-*,
     -misc-non-private-member-variables-in-classes,
     -misc-no-recursion,
+    -misc-const-correctness,
+    -misc-include-cleaner,
+    -misc-use-internal-linkage,
+    -misc-use-anonymous-namespace,
     modernize-*,
     -modernize-use-trailing-return-type,
     -modernize-use-nodiscard,
+    -modernize-type-traits,
     performance-*,
     readability-*,
     -readability-braces-around-statements,
@@ -80,4 +94,6 @@ CheckOptions:
     value:           '1'
   - key:             cppcoreguidelines-pro-type-member-init.IgnoreArrays
     value:           '1'
+ExtraArgs:
+  - '-std=c++17'
 ...
diff --git a/.github/workflows/code_quality.yml b/.github/workflows/code_quality.yml
@@ -24,12 +24,12 @@ jobs:
         include:
           - job_type: clang-tidy
             env:
-              TARGET_CMAKE_ARGS: "-DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CLANG_TIDY=ON -DTESSERACT_ENABLE_TESTING=ON"
+              TARGET_CMAKE_ARGS: "-DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CLANG_TIDY=ON -DTESSERACT_ENABLE_TESTING=ON -DCLANG_TIDY_NAMES=clang-tidy-17"
           - job_type: codecov
             env:
               TARGET_CMAKE_ARGS: "-DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_CODE_COVERAGE=ON -DTESSERACT_WARNINGS_AS_ERRORS=OFF"
     container:
-      image: ubuntu:20.04
+      image: ubuntu:22.04
       env:
         CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.job_type }}/.ccache"
         DEBIAN_FRONTEND: noninteractive
@@ -45,14 +45,20 @@ jobs:
         run: |
           apt update
           apt upgrade -y
-          apt install -y clang-tidy liboctomap-dev
+          apt install -y wget liboctomap-dev
+          echo "deb http://apt.llvm.org/jammy/ llvm-toolchain-jammy-17 main" | tee /etc/apt/sources.list.d/llvm-toolchain.list
+          echo "deb-src http://apt.llvm.org/jammy/ llvm-toolchain-jammy-17 main" | tee -a /etc/apt/sources.list.d/llvm-toolchain.list
+          wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | tee /etc/apt/trusted.gpg.d/llvm.asc
+          apt update -y
+          apt install -y clang-tidy-17 libomp-17-dev
 
       - name: Build and Tests
-        uses: tesseract-robotics/colcon-action@v1
+        uses: tesseract-robotics/colcon-action@v11
         with:
           ccache-prefix: ${{ matrix.distro }}
-          vcs-file: dependencies_focal.repos
+          vcs-file: dependencies.repos
           run-tests: false
+          rosdep-install-args: -iry --skip-keys=libomp-dev
           upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release
           target-path: target_ws/src
           target-args: --cmake-args ${{ matrix.env.TARGET_CMAKE_ARGS }}

diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
@@ -38,7 +38,7 @@ jobs:
           apt install -y liboctomap-dev
 
       - name: Build and Tests
-        uses: tesseract-robotics/colcon-action@v1
+        uses: tesseract-robotics/colcon-action@v11
         with:
           ccache-prefix: ${{ matrix.distro }}
           vcs-file: dependencies.repos

diff --git a/.github/workflows/package_debian.yml b/.github/workflows/package_debian.yml
@@ -34,7 +34,7 @@ jobs:
           apt install -y liboctomap-dev
 
       - name: Build and test
-        uses: tesseract-robotics/colcon-action@v9
+        uses: tesseract-robotics/colcon-action@v11
         with:
           ccache-enabled: false
           vcs-file: ${{ matrix.distro == 'focal' && 'dependencies_focal.repos' || 'dependencies.repos' }}

diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
@@ -44,7 +44,7 @@ jobs:
           apt install -y liboctomap-dev
 
       - name: Build and Tests
-        uses: tesseract-robotics/colcon-action@v8
+        uses: tesseract-robotics/colcon-action@v11
         with:
           ccache-prefix: ${{ matrix.distro }}
           vcs-file: ${{ matrix.distro == 'focal' && 'dependencies_focal.repos' || 'dependencies.repos' }}

diff --git a/.github/workflows/windows.yml b/.github/workflows/windows.yml
@@ -53,7 +53,7 @@ jobs:
         echo "CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE\vcpkg\installed\x64-windows-release" >> "$GITHUB_ENV"
 
     - name: Build and Tests
-      uses: tesseract-robotics/colcon-action@v1
+      uses: tesseract-robotics/colcon-action@v11
       with:
         ccache-prefix: ${{ matrix.distro }}
         vcs-file: .github/workflows/windows_dependencies.repos

diff --git a/.github/workflows/windows_dependencies.repos b/.github/workflows/windows_dependencies.repos
@@ -1,7 +1,7 @@
 - git:
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.7.2
+    version: 0.7.3
 - git:
     local-name: opw_kinematics
     uri: https://github.com/Jmeyer1292/opw_kinematics.git

diff --git a/dependencies.repos b/dependencies.repos
@@ -1,7 +1,7 @@
 - git:
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.7.2
+    version: 0.7.3
 - git:
     local-name: opw_kinematics
     uri: https://github.com/Jmeyer1292/opw_kinematics.git

diff --git a/dependencies_focal.repos b/dependencies_focal.repos
@@ -1,7 +1,7 @@
 - git:
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.7.2
+    version: 0.7.3
 - git:
     local-name: opw_kinematics
     uri: https://github.com/Jmeyer1292/opw_kinematics.git

diff --git a/dependencies_with_ext.repos b/dependencies_with_ext.repos
@@ -1,7 +1,7 @@
 - git:
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.7.2
+    version: 0.7.3
 - git:
     local-name: tesseract_ext
     uri: https://github.com/ros-industrial-consortium/tesseract_ext.git

diff --git a/tesseract_collision/bullet/include/tesseract_collision/bullet/bullet_collision_shape_cache.h b/tesseract_collision/bullet/include/tesseract_collision/bullet/bullet_collision_shape_cache.h
@@ -74,9 +74,9 @@ class BulletCollisionShapeCache
 
 private:
   /** @brief The static cache */
-  static std::map<boost::uuids::uuid, std::weak_ptr<BulletCollisionShape>> cache_;
+  static std::map<boost::uuids::uuid, std::weak_ptr<BulletCollisionShape>> cache_;  // NOLINT
   /** @brief The shared mutex for thread safety */
-  static std::mutex mutex_;
+  static std::mutex mutex_;  // NOLINT
 };
 }  // namespace tesseract_collision::tesseract_collision_bullet
 

diff --git a/tesseract_collision/bullet/include/tesseract_collision/bullet/bullet_utils.h b/tesseract_collision/bullet/include/tesseract_collision/bullet/bullet_utils.h
@@ -140,11 +140,11 @@ class CollisionObjectWrapper : public btCollisionObject
   /** @brief A user defined type id */
   int m_type_id{ -1 };
   /* @brief The shapes that define the collision object */
-  CollisionShapesConst m_shapes{};
+  CollisionShapesConst m_shapes;
   /**< @brief The shapes poses information */
-  tesseract_common::VectorIsometry3d m_shape_poses{};
+  tesseract_common::VectorIsometry3d m_shape_poses;
   /** @brief This manages the collision shape pointer so they get destroyed */
-  std::vector<std::shared_ptr<BulletCollisionShape>> m_data{};
+  std::vector<std::shared_ptr<BulletCollisionShape>> m_data;
 };
 
 using COW = CollisionObjectWrapper;
@@ -250,7 +250,8 @@ btScalar addCastSingleResult(btManifoldPoint& cp,
 /** @brief This is copied directly out of BulletWorld */
 struct TesseractBridgedManifoldResult : public btManifoldResult
 {
-  btCollisionWorld::ContactResultCallback& m_resultCallback;
+  btCollisionWorld::ContactResultCallback&
+      m_resultCallback;  // NOLINT(cppcoreguidelines-avoid-const-or-ref-data-members)
 
   TesseractBridgedManifoldResult(const btCollisionObjectWrapper* obj0Wrap,
                                  const btCollisionObjectWrapper* obj1Wrap,
@@ -262,7 +263,7 @@ struct TesseractBridgedManifoldResult : public btManifoldResult
 /** @brief The BroadphaseContactResultCallback is used to report contact points */
 struct BroadphaseContactResultCallback
 {
-  ContactTestData& collisions_;
+  ContactTestData& collisions_;  // NOLINT(cppcoreguidelines-avoid-const-or-ref-data-members)
   double contact_distance_;
   bool verbose_;
 
@@ -313,7 +314,7 @@ struct CastBroadphaseContactResultCallback : public BroadphaseContactResultCallb
 
 struct TesseractBroadphaseBridgedManifoldResult : public btManifoldResult
 {
-  BroadphaseContactResultCallback& result_callback_;
+  BroadphaseContactResultCallback& result_callback_;  // NOLINT(cppcoreguidelines-avoid-const-or-ref-data-members)
 
   TesseractBroadphaseBridgedManifoldResult(const btCollisionObjectWrapper* obj0Wrap,
                                            const btCollisionObjectWrapper* obj1Wrap,
@@ -330,9 +331,9 @@ struct TesseractBroadphaseBridgedManifoldResult : public btManifoldResult
  */
 class TesseractCollisionPairCallback : public btOverlapCallback
 {
-  const btDispatcherInfo& dispatch_info_;
+  const btDispatcherInfo& dispatch_info_;  // NOLINT(cppcoreguidelines-avoid-const-or-ref-data-members)
   btCollisionDispatcher* dispatcher_;
-  BroadphaseContactResultCallback& results_callback_;
+  BroadphaseContactResultCallback& results_callback_;  // NOLINT(cppcoreguidelines-avoid-const-or-ref-data-members)
 
 public:
   TesseractCollisionPairCallback(const btDispatcherInfo& dispatchInfo,
@@ -382,8 +383,8 @@ COW::Ptr createCollisionObject(const std::string& name,
 
 struct DiscreteCollisionCollector : public btCollisionWorld::ContactResultCallback
 {
-  ContactTestData& collisions_;
-  const COW::Ptr cow_;
+  ContactTestData& collisions_;  // NOLINT(cppcoreguidelines-avoid-const-or-ref-data-members)
+  const COW::Ptr cow_;           // NOLINT(cppcoreguidelines-avoid-const-or-ref-data-members)
   double contact_distance_;
   bool verbose_;
 
@@ -405,8 +406,8 @@ struct DiscreteCollisionCollector : public btCollisionWorld::ContactResultCallba
 
 struct CastCollisionCollector : public btCollisionWorld::ContactResultCallback
 {
-  ContactTestData& collisions_;
-  const COW::Ptr cow_;
+  ContactTestData& collisions_;  // NOLINT(cppcoreguidelines-avoid-const-or-ref-data-members)
+  const COW::Ptr cow_;           // NOLINT(cppcoreguidelines-avoid-const-or-ref-data-members)
   double contact_distance_;
   bool verbose_;
 

diff --git a/...lision/bullet/include/tesseract_collision/bullet/tesseract_compound_collision_algorithm.h b/...lision/bullet/include/tesseract_collision/bullet/tesseract_compound_collision_algorithm.h
@@ -107,7 +107,7 @@ class TesseractCompoundCollisionAlgorithm : public btActivatingCollisionAlgorith
                                                    const btCollisionObjectWrapper* body1Wrap) override
     {
       void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(TesseractCompoundCollisionAlgorithm));
-      return new (mem) TesseractCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
+      return new (mem) TesseractCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);  // NOLINT
     }
   };
 
@@ -118,7 +118,7 @@ class TesseractCompoundCollisionAlgorithm : public btActivatingCollisionAlgorith
                                                    const btCollisionObjectWrapper* body1Wrap) override
     {
       void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(TesseractCompoundCollisionAlgorithm));
-      return new (mem) TesseractCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
+      return new (mem) TesseractCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);  // NOLINT
     }
   };
 };

diff --git a/...llet/include/tesseract_collision/bullet/tesseract_compound_compound_collision_algorithm.h b/...llet/include/tesseract_collision/bullet/tesseract_compound_compound_collision_algorithm.h
@@ -93,7 +93,7 @@ class TesseractCompoundCompoundCollisionAlgorithm : public TesseractCompoundColl
                                                    const btCollisionObjectWrapper* body1Wrap) override
     {
       void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(TesseractCompoundCompoundCollisionAlgorithm));
-      return new (mem) TesseractCompoundCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);
+      return new (mem) TesseractCompoundCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, false);  // NOLINT
     }
   };
 
@@ -104,7 +104,7 @@ class TesseractCompoundCompoundCollisionAlgorithm : public TesseractCompoundColl
                                                    const btCollisionObjectWrapper* body1Wrap) override
     {
       void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(TesseractCompoundCompoundCollisionAlgorithm));
-      return new (mem) TesseractCompoundCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);
+      return new (mem) TesseractCompoundCompoundCollisionAlgorithm(ci, body0Wrap, body1Wrap, true);  // NOLINT
     }
   };
 };

diff --git a/...t_collision/bullet/include/tesseract_collision/bullet/tesseract_convex_convex_algorithm.h b/...t_collision/bullet/include/tesseract_collision/bullet/tesseract_convex_convex_algorithm.h
@@ -132,6 +132,7 @@ class TesseractConvexConvexAlgorithm : public btActivatingCollisionAlgorithm
                                                    const btCollisionObjectWrapper* body1Wrap) override
     {
       void* mem = ci.m_dispatcher1->allocateCollisionAlgorithm(sizeof(TesseractConvexConvexAlgorithm));
+      // NOLINTNEXTLINE
       return new (mem) TesseractConvexConvexAlgorithm(ci.m_manifold,
                                                       ci,
                                                       body0Wrap,

diff --git a/tesseract_collision/bullet/src/bullet_collision_shape_cache.cpp b/tesseract_collision/bullet/src/bullet_collision_shape_cache.cpp
@@ -32,7 +32,9 @@
 namespace tesseract_collision::tesseract_collision_bullet
 {
 // Static member definitions
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 std::map<boost::uuids::uuid, std::weak_ptr<BulletCollisionShape>> BulletCollisionShapeCache::cache_;
+// NOLINTNEXTLINE(cppcoreguidelines-avoid-non-const-global-variables)
 std::mutex BulletCollisionShapeCache::mutex_;
 
 BulletCollisionShape::BulletCollisionShape(std::shared_ptr<btCollisionShape> top_level_)

diff --git a/tesseract_collision/bullet/src/bullet_factories.cpp b/tesseract_collision/bullet/src/bullet_factories.cpp
@@ -44,7 +44,7 @@ namespace tesseract_collision::tesseract_collision_bullet
 TesseractCollisionConfigurationInfo getConfigInfo(const YAML::Node& config)
 {
   if (config.IsNull())
-    return TesseractCollisionConfigurationInfo();
+    return {};
 
   bool share_pool_allocators{ false };
   if (YAML::Node n = config["share_pool_allocators"])

diff --git a/tesseract_collision/bullet/src/bullet_utils.cpp b/tesseract_collision/bullet/src/bullet_utils.cpp
@@ -127,23 +127,23 @@ std::shared_ptr<BulletCollisionShape> createShapePrimitive(const tesseract_geome
 
 std::shared_ptr<BulletCollisionShape> createShapePrimitive(const tesseract_geometry::Cylinder::ConstPtr& geom)
 {
-  auto r = static_cast<btScalar>(geom->getRadius());
-  auto l = static_cast<btScalar>(geom->getLength() / 2);
-  return std::make_shared<BulletCollisionShape>(std::make_shared<btCylinderShapeZ>(btVector3(r, r, l)));
+  auto radius = static_cast<btScalar>(geom->getRadius());
+  auto length = static_cast<btScalar>(geom->getLength() / 2);
+  return std::make_shared<BulletCollisionShape>(std::make_shared<btCylinderShapeZ>(btVector3(radius, radius, length)));
 }
 
 std::shared_ptr<BulletCollisionShape> createShapePrimitive(const tesseract_geometry::Cone::ConstPtr& geom)
 {
-  auto r = static_cast<btScalar>(geom->getRadius());
-  auto l = static_cast<btScalar>(geom->getLength());
-  return std::make_shared<BulletCollisionShape>(std::make_shared<btConeShapeZ>(r, l));
+  auto radius = static_cast<btScalar>(geom->getRadius());
+  auto length = static_cast<btScalar>(geom->getLength());
+  return std::make_shared<BulletCollisionShape>(std::make_shared<btConeShapeZ>(radius, length));
 }
 
 std::shared_ptr<BulletCollisionShape> createShapePrimitive(const tesseract_geometry::Capsule::ConstPtr& geom)
 {
-  auto r = static_cast<btScalar>(geom->getRadius());
-  auto l = static_cast<btScalar>(geom->getLength());
-  return std::make_shared<BulletCollisionShape>(std::make_shared<btCapsuleShapeZ>(r, l));
+  auto radius = static_cast<btScalar>(geom->getRadius());
+  auto length = static_cast<btScalar>(geom->getLength());
+  return std::make_shared<BulletCollisionShape>(std::make_shared<btCapsuleShapeZ>(radius, length));
 }
 
 std::shared_ptr<BulletCollisionShape> createShapePrimitive(const tesseract_geometry::Mesh::ConstPtr& geom)
@@ -156,8 +156,7 @@ std::shared_ptr<BulletCollisionShape> createShapePrimitive(const tesseract_geome
   auto collision_shape = std::make_shared<BulletCollisionShape>();
   if (vertice_count > 0 && triangle_count > 0)
   {
-    auto compound =
-        std::make_shared<btCompoundShape>(BULLET_COMPOUND_USE_DYNAMIC_AABB, static_cast<int>(triangle_count));
+    auto compound = std::make_shared<btCompoundShape>(BULLET_COMPOUND_USE_DYNAMIC_AABB, triangle_count);
     compound->setMargin(BULLET_MARGIN);  // margin: compound. seems to have no
                                          // effect when positive but has an
                                          // effect when negative
@@ -233,12 +232,12 @@ std::shared_ptr<BulletCollisionShape> createShapePrimitive(const tesseract_geome
           geomTrans.setIdentity();
           geomTrans.setOrigin(btVector3(
               static_cast<btScalar>(it.getX()), static_cast<btScalar>(it.getY()), static_cast<btScalar>(it.getZ())));
-          auto l = static_cast<btScalar>(size / 2.0);
+          auto length = static_cast<btScalar>(size / 2.0);
 
           std::shared_ptr<btCollisionShape> childshape = managed_shapes.at(it.getDepth());
           if (childshape == nullptr)
           {
-            childshape = std::make_shared<btBoxShape>(btVector3(l, l, l));
+            childshape = std::make_shared<btBoxShape>(btVector3(length, length, length));
             childshape->setMargin(BULLET_MARGIN);
             managed_shapes.at(it.getDepth()) = childshape;
           }
@@ -784,7 +783,7 @@ void calculateContinuousData(ContactResult* col,
   assert(shape != nullptr);
 
   // Get the start and final location of the shape
-  btTransform shape_tfWorld0 = cow->getWorldTransform();
+  const btTransform& shape_tfWorld0 = cow->getWorldTransform();
   btTransform shape_tfWorld1 = cow->getWorldTransform() * shape->m_t01;
 
   // Given the shapes final location calculate the links transform at the final location