Update executable names in Readme - #56
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* Clang tidy fixes (#53) * Clean up inline functions (#54) - Remove unnecessary inline tags - Move remaining inline function implementations into header * Update executable names in Readme (#56) * Run `clang-format` Command copied from `moveit_ci`: find . -name '*.h' -or -name '*.hpp' -or -name '*.cpp' | \ xargs /usr/bin/clang-format -i -style=file * Adjust clang-format rules and re-run Fix hideous string breaks pointed out by @AndyZe * single_joint_generator: Silence compiler warning [...]/src/single_joint_generator.cpp: In member function ‘void trackjoint::SingleJointGenerator::extendTrajectoryDuration()’: [...]/src/single_joint_generator.cpp:123:30: warning: comparison between signed and unsigned integer expressions [-Wsign-compare] for (size_t idx = 0; idx < waypoints_.elapsed_times.size(); ++idx) ~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [...]/src/single_joint_generator.cpp:138:19: warning: unused variable ‘error_code’ [-Wunused-variable] ErrorCodeEnum error_code = forwardLimitCompensation(&index_last_successful_); ^~~~~~~~~~ * single_joint_generator: Silence compiler warning [...]/src/single_joint_generator.cpp: In member function ‘void trackjoint::SingleJointGenerator::extendTrajectoryDuration()’: [...]/src/single_joint_generator.cpp:123:30: error: comparison between signed and unsigned integer expressions [-Werror=sign-compare] for (size_t idx = 0; idx < waypoints_.elapsed_times.size(); ++idx) ~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ * test/trajectory_generation_test: Silence compiler warning [...]/test/trajectory_generation_test.cpp: In member function ‘virtual void trackjoint::TrajectoryGenerationTest_VelAccelJerkLimit_Test::TestBody()’: [...]/test/trajectory_generation_test.cpp:433:16: error: unused variable ‘duration_tolerance’ [-Werror=unused-variable] const double duration_tolerance = 5e-3; ^~~~~~~~~~~~~~~~~~ * Remove junk files * .gitignore generated `.catkin-tools` directory These files were removed in previous "Remove junk files" commit; @AndyZe suggested we keep them out permanently by `.gitignore`ing them. * Change `int` to `size_t` for vector indices in tests Remove unneeded `static_cast<int>`; prepare for upcoming changes. * trajectory_generator.cpp: Fix `clang-tidy` errors [...]/src/trajectory_generator.cpp:32:58: warning: redundant boolean literal in ternary expression result [readability-simplify-boolean-expr] bool timestep_was_upsampled = (upsample_rounds_ > 0) ? true : false; ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ upsample_rounds_ > 0 [...]/src/trajectory_generator.cpp:61:58: warning: redundant boolean literal in ternary expression result [readability-simplify-boolean-expr] bool timestep_was_upsampled = (upsample_rounds_ > 0) ? true : false; ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ upsample_rounds_ > 0 * single_joint_generator.cpp: Fix clang-tidy errors [...]/src/single_joint_generator.cpp:116:14: warning: local copy 'spline' of the variable 'fit' is never modified; consider avoiding the copy [performance-unnecessary-copy-initialization] Spline1D spline(fit); ~~~~~~~~ ^ const & * Slence clang-tidy warnings [...]/src/single_joint_generator.cpp:279:5: warning: Value stored to 'delta_v' is never read [clang-analyzer-deadcode.DeadStores] delta_v = 0; ^ [...]/src/single_joint_generator.cpp:279:5: note: Value stored to 'delta_v' is never read 1 warning generated. * Silence clang-tidy warnings /usr/include/clang/6.0.0/include/emmintrin.h:1593:10: warning: Dereference of null pointer [clang-analyzer-core.NullDereference] return *(__m128d*)__dp; ^ [...]/test/trajectory_generation_test.cpp:1093:33: note: Calling 'TrajectoryGenerationTest::calculatePositionAccuracy' const double position_error = calculatePositionAccuracy(goal_joint_states_, output_trajectories_); ^ [...]/test/trajectory_generation_test.cpp:146:28: note: Assuming the condition is false for (size_t joint = 0; joint < trajectory.size(); ++joint) ^ [...]/test/trajectory_generation_test.cpp:146:5: note: Loop condition is false. Execution continues on line 152 for (size_t joint = 0; joint < trajectory.size(); ++joint) ^ [...]/test/trajectory_generation_test.cpp:152:20: note: Calling 'MatrixBase::norm' double error = (final_positions - goal_positions).norm(); ^ /usr/include/eigen3/Eigen/src/Core/Dot.h:107:23: note: Calling 'MatrixBase::squaredNorm' return numext::sqrt(squaredNorm()); ^ /usr/include/eigen3/Eigen/src/Core/Dot.h:95:23: note: Calling 'DenseBase::sum' return numext::real((*this).cwiseAbs2().sum()); ^ /usr/include/eigen3/Eigen/src/Core/Redux.h:451:6: note: Left side of '||' is false if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0)) ^ /usr/include/eigen3/Eigen/src/Core/Redux.h:451:31: note: Left side of '&&' is true if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0)) ^ /usr/include/eigen3/Eigen/src/Core/Redux.h:451:3: note: Taking false branch if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0)) ^ /usr/include/eigen3/Eigen/src/Core/Redux.h:453:10: note: Calling 'DenseBase::redux' return derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>()); ^ /usr/include/eigen3/Eigen/src/Core/Redux.h:418:10: note: Calling 'redux_impl::run' return internal::redux_impl<Func, ThisEvaluator>::run(thisEval, func); ^ /usr/include/eigen3/Eigen/src/Core/Redux.h:231:8: note: Assuming 'alignedSize' is not equal to 0 if(alignedSize) ^ /usr/include/eigen3/Eigen/src/Core/Redux.h:231:5: note: Taking true branch if(alignedSize) ^ /usr/include/eigen3/Eigen/src/Core/Redux.h:233:34: note: Calling 'redux_evaluator::packet' PacketScalar packet_res0 = mat.template packet<alignment,PacketScalar>(alignedStart); ^ /usr/include/eigen3/Eigen/src/Core/Redux.h:377:12: note: Calling 'unary_evaluator::packet' { return m_evaluator.template packet<LoadMode,PacketType>(index); } ^ /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:563:31: note: Calling 'binary_evaluator::packet' return m_functor.packetOp(m_argImpl.template packet<LoadMode, PacketType>(index)); ^ /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:734:31: note: Calling 'evaluator::packet' return m_functor.packetOp(m_lhsImpl.template packet<LoadMode,PacketType>(index), ^ /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:204:41: note: Passing null pointer value via 1st parameter 'from' return ploadt<PacketType, LoadMode>(m_data + index); ^ /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:204:12: note: Calling 'ploadt' return ploadt<PacketType, LoadMode>(m_data + index); ^ /usr/include/eigen3/Eigen/src/Core/GenericPacketMath.h:462:3: note: Taking true branch if(Alignment >= unpacket_traits<Packet>::alignment) ^ /usr/include/eigen3/Eigen/src/Core/GenericPacketMath.h:463:26: note: Passing null pointer value via 1st parameter 'from' return pload<Packet>(from); ^ /usr/include/eigen3/Eigen/src/Core/GenericPacketMath.h:463:12: note: Calling 'pload' return pload<Packet>(from); ^ /usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:307:124: note: Passing null pointer value via 1st parameter '__dp' template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_pd(from); } ^ /usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:307:112: note: Calling '_mm_load_pd' template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_pd(from); } ^ /usr/include/clang/6.0.0/include/emmintrin.h:1593:10: note: Dereference of null pointer return *(__m128d*)__dp; ^ Co-authored-by: Nathan Brooks <nathanbrooks@picknik.ai> Co-authored-by: AndyZe <zelenak@picknik.ai>
AndyZe
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Oct 22, 2020
* Clang tidy fixes (#53) * Clean up inline functions (#54) - Remove unnecessary inline tags - Move remaining inline function implementations into header * Update executable names in Readme (#56) * Run `clang-format` Command copied from `moveit_ci`: find . -name '*.h' -or -name '*.hpp' -or -name '*.cpp' | \ xargs /usr/bin/clang-format -i -style=file * Adjust clang-format rules and re-run Fix hideous string breaks pointed out by @AndyZe * single_joint_generator: Silence compiler warning [...]/src/single_joint_generator.cpp: In member function ‘void trackjoint::SingleJointGenerator::extendTrajectoryDuration()’: [...]/src/single_joint_generator.cpp:123:30: warning: comparison between signed and unsigned integer expressions [-Wsign-compare] for (size_t idx = 0; idx < waypoints_.elapsed_times.size(); ++idx) ~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ [...]/src/single_joint_generator.cpp:138:19: warning: unused variable ‘error_code’ [-Wunused-variable] ErrorCodeEnum error_code = forwardLimitCompensation(&index_last_successful_); ^~~~~~~~~~ * single_joint_generator: Silence compiler warning [...]/src/single_joint_generator.cpp: In member function ‘void trackjoint::SingleJointGenerator::extendTrajectoryDuration()’: [...]/src/single_joint_generator.cpp:123:30: error: comparison between signed and unsigned integer expressions [-Werror=sign-compare] for (size_t idx = 0; idx < waypoints_.elapsed_times.size(); ++idx) ~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ * test/trajectory_generation_test: Silence compiler warning [...]/test/trajectory_generation_test.cpp: In member function ‘virtual void trackjoint::TrajectoryGenerationTest_VelAccelJerkLimit_Test::TestBody()’: [...]/test/trajectory_generation_test.cpp:433:16: error: unused variable ‘duration_tolerance’ [-Werror=unused-variable] const double duration_tolerance = 5e-3; ^~~~~~~~~~~~~~~~~~ * Remove junk files * .gitignore generated `.catkin-tools` directory These files were removed in previous "Remove junk files" commit; @AndyZe suggested we keep them out permanently by `.gitignore`ing them. * Change `int` to `size_t` for vector indices in tests Remove unneeded `static_cast<int>`; prepare for upcoming changes. * trajectory_generator.cpp: Fix `clang-tidy` errors [...]/src/trajectory_generator.cpp:32:58: warning: redundant boolean literal in ternary expression result [readability-simplify-boolean-expr] bool timestep_was_upsampled = (upsample_rounds_ > 0) ? true : false; ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ upsample_rounds_ > 0 [...]/src/trajectory_generator.cpp:61:58: warning: redundant boolean literal in ternary expression result [readability-simplify-boolean-expr] bool timestep_was_upsampled = (upsample_rounds_ > 0) ? true : false; ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~ upsample_rounds_ > 0 * single_joint_generator.cpp: Fix clang-tidy errors [...]/src/single_joint_generator.cpp:116:14: warning: local copy 'spline' of the variable 'fit' is never modified; consider avoiding the copy [performance-unnecessary-copy-initialization] Spline1D spline(fit); ~~~~~~~~ ^ const & * Slence clang-tidy warnings [...]/src/single_joint_generator.cpp:279:5: warning: Value stored to 'delta_v' is never read [clang-analyzer-deadcode.DeadStores] delta_v = 0; ^ [...]/src/single_joint_generator.cpp:279:5: note: Value stored to 'delta_v' is never read 1 warning generated. * Silence clang-tidy warnings /usr/include/clang/6.0.0/include/emmintrin.h:1593:10: warning: Dereference of null pointer [clang-analyzer-core.NullDereference] return *(__m128d*)__dp; ^ [...]/test/trajectory_generation_test.cpp:1093:33: note: Calling 'TrajectoryGenerationTest::calculatePositionAccuracy' const double position_error = calculatePositionAccuracy(goal_joint_states_, output_trajectories_); ^ [...]/test/trajectory_generation_test.cpp:146:28: note: Assuming the condition is false for (size_t joint = 0; joint < trajectory.size(); ++joint) ^ [...]/test/trajectory_generation_test.cpp:146:5: note: Loop condition is false. Execution continues on line 152 for (size_t joint = 0; joint < trajectory.size(); ++joint) ^ [...]/test/trajectory_generation_test.cpp:152:20: note: Calling 'MatrixBase::norm' double error = (final_positions - goal_positions).norm(); ^ /usr/include/eigen3/Eigen/src/Core/Dot.h:107:23: note: Calling 'MatrixBase::squaredNorm' return numext::sqrt(squaredNorm()); ^ /usr/include/eigen3/Eigen/src/Core/Dot.h:95:23: note: Calling 'DenseBase::sum' return numext::real((*this).cwiseAbs2().sum()); ^ /usr/include/eigen3/Eigen/src/Core/Redux.h:451:6: note: Left side of '||' is false if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0)) ^ /usr/include/eigen3/Eigen/src/Core/Redux.h:451:31: note: Left side of '&&' is true if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0)) ^ /usr/include/eigen3/Eigen/src/Core/Redux.h:451:3: note: Taking false branch if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0)) ^ /usr/include/eigen3/Eigen/src/Core/Redux.h:453:10: note: Calling 'DenseBase::redux' return derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>()); ^ /usr/include/eigen3/Eigen/src/Core/Redux.h:418:10: note: Calling 'redux_impl::run' return internal::redux_impl<Func, ThisEvaluator>::run(thisEval, func); ^ /usr/include/eigen3/Eigen/src/Core/Redux.h:231:8: note: Assuming 'alignedSize' is not equal to 0 if(alignedSize) ^ /usr/include/eigen3/Eigen/src/Core/Redux.h:231:5: note: Taking true branch if(alignedSize) ^ /usr/include/eigen3/Eigen/src/Core/Redux.h:233:34: note: Calling 'redux_evaluator::packet' PacketScalar packet_res0 = mat.template packet<alignment,PacketScalar>(alignedStart); ^ /usr/include/eigen3/Eigen/src/Core/Redux.h:377:12: note: Calling 'unary_evaluator::packet' { return m_evaluator.template packet<LoadMode,PacketType>(index); } ^ /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:563:31: note: Calling 'binary_evaluator::packet' return m_functor.packetOp(m_argImpl.template packet<LoadMode, PacketType>(index)); ^ /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:734:31: note: Calling 'evaluator::packet' return m_functor.packetOp(m_lhsImpl.template packet<LoadMode,PacketType>(index), ^ /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:204:41: note: Passing null pointer value via 1st parameter 'from' return ploadt<PacketType, LoadMode>(m_data + index); ^ /usr/include/eigen3/Eigen/src/Core/CoreEvaluators.h:204:12: note: Calling 'ploadt' return ploadt<PacketType, LoadMode>(m_data + index); ^ /usr/include/eigen3/Eigen/src/Core/GenericPacketMath.h:462:3: note: Taking true branch if(Alignment >= unpacket_traits<Packet>::alignment) ^ /usr/include/eigen3/Eigen/src/Core/GenericPacketMath.h:463:26: note: Passing null pointer value via 1st parameter 'from' return pload<Packet>(from); ^ /usr/include/eigen3/Eigen/src/Core/GenericPacketMath.h:463:12: note: Calling 'pload' return pload<Packet>(from); ^ /usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:307:124: note: Passing null pointer value via 1st parameter '__dp' template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_pd(from); } ^ /usr/include/eigen3/Eigen/src/Core/arch/SSE/PacketMath.h:307:112: note: Calling '_mm_load_pd' template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_pd(from); } ^ /usr/include/clang/6.0.0/include/emmintrin.h:1593:10: note: Dereference of null pointer return *(__m128d*)__dp; ^ Co-authored-by: Nathan Brooks <nathanbrooks@picknik.ai> Co-authored-by: AndyZe <zelenak@picknik.ai>
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Just update one line in the readme