Merge branch 'fix/grid_map_core/reduce_clang_warnings' into 'master'

[grid map core] Reduce clang warnings

GitOrigin-RevId: 0b01ff34cd31833b65f4718fab82467f11332938

Author: mgaertneratanybotics

grid_map_core/include/grid_map_core/BufferRegion.hpp

@@ -35,8 +35,8 @@ class BufferRegion
   constexpr static unsigned int nQuadrants = 4;
 
   BufferRegion();
-  BufferRegion(const Index& startIndex, const Size& size, const BufferRegion::Quadrant& quadrant);
-  virtual ~BufferRegion();
+  BufferRegion(Index startIndex, Size size, BufferRegion::Quadrant quadrant);
+  virtual ~BufferRegion() = default;
 
   const Index& getStartIndex() const;
   void setStartIndex(const Index& startIndex);
@@ -48,7 +48,7 @@ class BufferRegion
  private:
 
   //! Start index (typically top-left) of the buffer region.
-  Index staretIndex_;
+  Index startIndex_;
 
   //! Size of the buffer region.
   Size size_;

grid_map_core/include/grid_map_core/CubicInterpolation.hpp

@@ -46,7 +46,7 @@ using FunctionValueMatrix = Eigen::Matrix4d;
  * @param[in] nElem - number of elements in the container
  * @return index that is within [0, nElem-1].
  */
-unsigned int bindIndexToRange(int idReq, unsigned int nElem);
+unsigned int bindIndexToRange(unsigned int idReq, unsigned int nElem);
 
 
 /*!

grid_map_core/include/grid_map_core/TypeDefs.hpp

@@ -7,22 +7,22 @@
  */
 
 // Eigen
-#include <Eigen/Core>
-
 #pragma once
 
+#include <Eigen/Core>
+
 namespace grid_map {
 
-  typedef Eigen::MatrixXf Matrix;
-  typedef Matrix::Scalar DataType;
-  typedef Eigen::Vector2d Position;
-  typedef Eigen::Vector2d Vector;
-  typedef Eigen::Vector3d Position3;
-  typedef Eigen::Vector3d Vector3;
-  typedef Eigen::Array2i Index;
-  typedef Eigen::Array2i Size;
-  typedef Eigen::Array2d Length;
-  typedef uint64_t Time;
+  using Matrix = Eigen::MatrixXf;
+  using DataType = Matrix::Scalar;
+  using Position = Eigen::Vector2d;
+  using Vector = Eigen::Vector2d;
+  using Position3 = Eigen::Vector3d;
+  using Vector3 = Eigen::Vector3d;
+  using Index = Eigen::Array2i;
+  using Size = Eigen::Array2i;
+  using Length = Eigen::Array2d;
+  using Time = uint64_t;
 
   /*
    * Interpolations are ordered in the order
@@ -43,4 +43,5 @@ namespace grid_map {
       INTER_CUBIC // standard bicubic interpolation
   };
 
-} /* namespace */
+}  // namespace grid_map
+

grid_map_core/include/grid_map_core/eigen_plugins/DenseBasePlugin.hpp

@@ -1,12 +1,18 @@
+#pragma once
+
 Scalar numberOfFinites() const
 {
-  if (SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0)) return Scalar(0);
+  if (SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0)) {
+    return Scalar(0);
+  }
   return Scalar((derived().array() == derived().array()).count());
 }
 
 Scalar sumOfFinites() const
 {
-  if (SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0)) return Scalar(0);
+  if (SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0)) {
+    return Scalar(0);
+  }
   return Scalar(this->redux(Eigen::internal::scalar_sum_of_finites_op<Scalar>()));
 }
 

grid_map_core/include/grid_map_core/eigen_plugins/Functors.hpp

@@ -25,4 +25,4 @@ struct Clamp
   Scalar min_, max_;
 };
 
-}
+}  // namespace grid_map

grid_map_core/include/grid_map_core/eigen_plugins/FunctorsPlugin.hpp

@@ -1,4 +1,4 @@
-#include <math.h>
+#include <cmath>
 
 template<typename Scalar> struct scalar_sum_of_finites_op {
   EIGEN_EMPTY_STRUCT_CTOR(scalar_sum_of_finites_op)

grid_map_core/include/grid_map_core/iterators/CircleIterator.hpp

@@ -30,14 +30,14 @@ class CircleIterator
    * @param center the position of the circle center.
    * @param radius the radius of the circle.
    */
-  CircleIterator(const GridMap& gridMap, const Position& center, const double radius);
+  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);
+  CircleIterator& operator =(const CircleIterator& other) = default;
 
   /*!
    * Compare to another iterator.
@@ -78,7 +78,7 @@ class CircleIterator
    * @param[out] startIndex the start index of the submap.
    * @param[out] bufferSize the buffer size of the submap.
    */
-  void findSubmapParameters(const Position& center, const double radius,
+  void findSubmapParameters(const Position& center, double radius,
                             Index& startIndex, Size& bufferSize) const;
 
   //! Position of the circle center;
@@ -104,4 +104,5 @@ class CircleIterator
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
-} /* namespace */
+}  // namespace grid_map
+

grid_map_core/include/grid_map_core/iterators/EllipseIterator.hpp

@@ -32,14 +32,14 @@ class EllipseIterator
    * @param length the length of the main axis.
    * @param angle the rotation angle of the ellipse (in [rad]).
    */
-  EllipseIterator(const GridMap& gridMap, const Position& center, const Length& length, const double rotation = 0.0);
+  EllipseIterator(const GridMap& gridMap, const Position& center, const Length& length, double rotation = 0.0);
 
   /*!
    * Assignment operator.
    * @param iterator the iterator to copy data from.
    * @return a reference to *this.
    */
-  EllipseIterator& operator =(const EllipseIterator& other);
+  EllipseIterator& operator =(const EllipseIterator& other) = default;
 
   /*!
    * Compare to another iterator.
@@ -87,7 +87,7 @@ class EllipseIterator
    * @param[out] startIndex the start index of the submap.
    * @param[out] bufferSize the buffer size of the submap.
    */
-  void findSubmapParameters(const Position& center, const Length& length, const double rotation,
+  void findSubmapParameters(const Position& center, const Length& length, double rotation,
                             Index& startIndex, Size& bufferSize) const;
 
   //! Position of the circle center;
@@ -113,4 +113,5 @@ class EllipseIterator
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
-} /* namespace */
+}  // namespace grid_map
+

grid_map_core/src/BufferRegion.cpp

@@ -9,32 +9,26 @@
 
 namespace grid_map {
 
-BufferRegion::BufferRegion() :
-    staretIndex_(Index::Zero()),
+BufferRegion::BufferRegion() : startIndex_(Index::Zero()),
     size_(Size::Zero()),
     quadrant_(BufferRegion::Quadrant::Undefined)
 {
 }
 
-BufferRegion::BufferRegion(const Index& index, const Size& size, const BufferRegion::Quadrant& quadrant) :
-    staretIndex_(index),
-    size_(size),
-    quadrant_(quadrant)
-{
-}
-
-BufferRegion::~BufferRegion()
+BufferRegion::BufferRegion(Index index, Size size, BufferRegion::Quadrant quadrant) : startIndex_(std::move(index)),
+    size_(std::move(size)),
+    quadrant_(std::move(quadrant))
 {
 }
 
 const Index& BufferRegion::getStartIndex() const
 {
-  return staretIndex_;
+  return startIndex_;
 }
 
-void BufferRegion::setStartIndex(const Index& staretIndex)
+void BufferRegion::setStartIndex(const Index& startIndex)
 {
-  staretIndex_ = staretIndex;
+  startIndex_ = startIndex;
 }
 
 const Size& BufferRegion::getSize() const

grid_map_core/src/CubicInterpolation.cpp

@@ -13,18 +13,15 @@
 
 namespace grid_map {
 
-unsigned int bindIndexToRange(int idReq, unsigned int nElem)
+unsigned int bindIndexToRange(unsigned int idReq, unsigned int nElem)
 {
-  if (idReq < 0) {
-    return 0;
+  if (idReq >= nElem) {
+    return (nElem - 1);
   }
-  if (static_cast<unsigned int>(idReq) >= nElem) {
-    return static_cast<unsigned int>(nElem - 1);
-  }
-  return static_cast<unsigned int>(idReq);
+  return idReq;
 }
 
-double getLayerValue(const Matrix &layerMat, int rowReq, int colReq)
+double getLayerValue(const Matrix &layerMat, unsigned int rowReq, unsigned int colReq)
 {
   const auto numCol = layerMat.cols();
   const auto numRow = layerMat.rows();
@@ -92,7 +89,7 @@ bool assembleFunctionValueMatrix(const GridMap &gridMap, const std::string &laye
   }
 
   const Matrix &layerMatrix = gridMap.get(layer);
-  auto f = [&layerMatrix](int rowReq, int colReq) {
+  auto f = [&layerMatrix](unsigned int rowReq, unsigned int colReq) {
     double retVal = getLayerValue(layerMatrix, rowReq, colReq);
     return retVal;
   };
@@ -135,11 +132,7 @@ bool getNormalizedCoordinates(const GridMap &gridMap, const Position &queriedPos
 
 bool getIndicesOfMiddleKnot(const GridMap &gridMap, const Position &queriedPosition, Index *index)
 {
-
-  if (!gridMap.getIndex(queriedPosition, *index)) {
-    return false;
-  }
-  return true;
+  return gridMap.getIndex(queriedPosition, *index);
 }
 
 } /* namespace bicubic_conv */
@@ -264,11 +257,7 @@ bool getUnitSquareCornerIndices(const GridMap &gridMap, const Position &queriedP
 
 bool getClosestPointIndices(const GridMap &gridMap, const Position &queriedPosition, Index *index)
 {
-
-  if (!gridMap.getIndex(queriedPosition, *index)) {
-    return false;
-  }
-  return true;
+  return gridMap.getIndex(queriedPosition, *index);
 }
 
 bool computeNormalizedCoordinates(const GridMap &gridMap, const Index &originIndex,
@@ -298,8 +287,8 @@ bool getFunctionValues(const Matrix &layerData, const IndicesMatrix &indices, Da
 
 void bindIndicesToRange(const GridMap &gridMap, IndicesMatrix *indices)
 {
-  const int numCol = gridMap.getSize().y();
-  const int numRow = gridMap.getSize().x();
+  const unsigned int numCol = gridMap.getSize().y();
+  const unsigned int numRow = gridMap.getSize().x();
 
   //top left
   {
@@ -346,10 +335,11 @@ bool getFirstOrderDerivatives(const Matrix &layerData, const IndicesMatrix &indi
 double firstOrderDerivativeAt(const Matrix &layerData, const Index &index, Dim2D dim,
                               double resolution)
 {
-  const int numCol = layerData.cols();
-  const int numRow = layerData.rows();
+  const auto numCol{static_cast<unsigned int>(layerData.cols())};
+  const auto numRow{static_cast<unsigned int>(layerData.rows())};
 
-  double left, right;
+  double left;
+  double right;
   switch (dim) {
     case Dim2D::X: {
       left = layerData(bindIndexToRange(index.x() + 1, numRow), index.y());
@@ -380,9 +370,8 @@ double mixedSecondOrderDerivativeAt(const Matrix &layerData, const Index &index,
    * the order doesn't matter. Derivative values are the same.
    * Taken from https://www.mathematik.uni-dortmund.de/~kuzmin/cfdintro/lecture4.pdf
    */
-
-  const int numCol = layerData.cols();
-  const int numRow = layerData.rows();
+  const auto numCol{static_cast<unsigned int>(layerData.cols())};
+  const auto numRow{static_cast<unsigned int>(layerData.rows())};
 
   const double f11 = layerData(bindIndexToRange(index.x() - 1, numRow),
                                bindIndexToRange(index.y() - 1, numCol));