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Fix ClangTidy warnings. (#455)

master
zjwoody 2017-08-16 06:21:04 -07:00 committed by Wolfgang Hess
parent 11dbdf91b9
commit ba6f782949
35 changed files with 59 additions and 50 deletions
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2
cartographer/common/thread_pool.cc
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@ -45,7 +45,7 @@ ThreadPool::~ThreadPool() {
}
}
void ThreadPool::Schedule(std::function<void()> work_item) {
void ThreadPool::Schedule(const std::function<void()>& work_item) {
MutexLocker locker(&mutex_);
CHECK(running_);
work_queue_.push_back(work_item);

2
cartographer/common/thread_pool.h
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@ -40,7 +40,7 @@ class ThreadPool {
ThreadPool(const ThreadPool&) = delete;
ThreadPool& operator=(const ThreadPool&) = delete;
void Schedule(std::function<void()> work_item);
void Schedule(const std::function<void()>& work_item);
private:
void DoWork();

2
cartographer/io/hybrid_grid_points_processor.cc
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@ -28,7 +28,7 @@ HybridGridPointsProcessor::HybridGridPointsProcessor(
std::unique_ptr<HybridGridPointsProcessor>
HybridGridPointsProcessor::FromDictionary(
FileWriterFactory file_writer_factory,
const FileWriterFactory& file_writer_factory,
common::LuaParameterDictionary* const dictionary,
PointsProcessor* const next) {
return common::make_unique<HybridGridPointsProcessor>(

2
cartographer/io/hybrid_grid_points_processor.h
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@ -33,7 +33,7 @@ class HybridGridPointsProcessor : public PointsProcessor {
delete;
static std::unique_ptr<HybridGridPointsProcessor> FromDictionary(
FileWriterFactory file_writer_factory,
const FileWriterFactory& file_writer_factory,
common::LuaParameterDictionary* dictionary, PointsProcessor* next);
~HybridGridPointsProcessor() override {}

8
cartographer/io/outlier_removing_points_processor.cc
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@ -41,18 +41,18 @@ OutlierRemovingPointsProcessor::OutlierRemovingPointsProcessor(
}
void OutlierRemovingPointsProcessor::Process(
std::unique_ptr<PointsBatch> points) {
std::unique_ptr<PointsBatch> batch) {
switch (state_) {
case State::kPhase1:
ProcessInPhaseOne(*points);
ProcessInPhaseOne(*batch);
break;
case State::kPhase2:
ProcessInPhaseTwo(*points);
ProcessInPhaseTwo(*batch);
break;
case State::kPhase3:
ProcessInPhaseThree(std::move(points));
ProcessInPhaseThree(std::move(batch));
break;
}
}

2
cartographer/io/ply_writing_points_processor.cc
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@ -71,7 +71,7 @@ void WriteBinaryPlyPointColor(const Uint8Color& color,
std::unique_ptr<PlyWritingPointsProcessor>
PlyWritingPointsProcessor::FromDictionary(
FileWriterFactory file_writer_factory,
const FileWriterFactory& file_writer_factory,
common::LuaParameterDictionary* const dictionary,
PointsProcessor* const next) {
return common::make_unique<PlyWritingPointsProcessor>(

4
cartographer/io/ply_writing_points_processor.h
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@ -25,11 +25,11 @@ namespace io {
class PlyWritingPointsProcessor : public PointsProcessor {
public:
constexpr static const char* kConfigurationFileActionName = "write_ply";
PlyWritingPointsProcessor(std::unique_ptr<FileWriter> file,
PlyWritingPointsProcessor(std::unique_ptr<FileWriter> file_writer,
PointsProcessor* next);
static std::unique_ptr<PlyWritingPointsProcessor> FromDictionary(
FileWriterFactory file_writer_factory,
const FileWriterFactory& file_writer_factory,
common::LuaParameterDictionary* dictionary, PointsProcessor* next);
~PlyWritingPointsProcessor() override {}

8
cartographer/io/points_processor_pipeline_builder.cc
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@ -48,7 +48,7 @@ void RegisterPlainPointsProcessor(
template <typename PointsProcessorType>
void RegisterFileWritingPointsProcessor(
FileWriterFactory file_writer_factory,
const FileWriterFactory& file_writer_factory,
PointsProcessorPipelineBuilder* const builder) {
builder->Register(
PointsProcessorType::kConfigurationFileActionName,
@ -63,7 +63,7 @@ void RegisterFileWritingPointsProcessor(
template <typename PointsProcessorType>
void RegisterFileWritingPointsProcessorWithTrajectories(
const std::vector<mapping::proto::Trajectory>& trajectories,
FileWriterFactory file_writer_factory,
const FileWriterFactory& file_writer_factory,
PointsProcessorPipelineBuilder* const builder) {
builder->Register(
PointsProcessorType::kConfigurationFileActionName,
@ -77,7 +77,7 @@ void RegisterFileWritingPointsProcessorWithTrajectories(
void RegisterBuiltInPointsProcessors(
const std::vector<mapping::proto::Trajectory>& trajectories,
FileWriterFactory file_writer_factory,
const FileWriterFactory& file_writer_factory,
PointsProcessorPipelineBuilder* builder) {
RegisterPlainPointsProcessor<CountingPointsProcessor>(builder);
RegisterPlainPointsProcessor<FixedRatioSamplingPointsProcessor>(builder);
@ -104,7 +104,7 @@ void PointsProcessorPipelineBuilder::Register(const std::string& name,
FactoryFunction factory) {
CHECK(factories_.count(name) == 0) << "A points processor named '" << name
<< "' has already been registered.";
factories_[name] = factory;
factories_[name] = std::move(factory);
}
PointsProcessorPipelineBuilder::PointsProcessorPipelineBuilder() {}

6
cartographer/io/probability_grid_points_processor.cc
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@ -37,9 +37,9 @@ void WriteGrid(
}
};
Image image(cell_limits.num_x_cells, cell_limits.num_y_cells);
for (auto xy_index :
for (const auto& xy_index :
cartographer::mapping_2d::XYIndexRangeIterator(cell_limits)) {
auto index = xy_index + offset;
const auto index = xy_index + offset;
uint8 value = compute_color_value(index);
image.SetPixel(xy_index.x(), xy_index.y(), {{value, value, value}});
}
@ -91,7 +91,7 @@ ProbabilityGridPointsProcessor::ProbabilityGridPointsProcessor(
std::unique_ptr<ProbabilityGridPointsProcessor>
ProbabilityGridPointsProcessor::FromDictionary(
const std::vector<mapping::proto::Trajectory>& trajectories,
FileWriterFactory file_writer_factory,
const FileWriterFactory& file_writer_factory,
common::LuaParameterDictionary* const dictionary,
PointsProcessor* const next) {
const auto draw_trajectories = (!dictionary->HasKey("draw_trajectories") ||

2
cartographer/io/probability_grid_points_processor.h
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@ -39,7 +39,7 @@ class ProbabilityGridPointsProcessor : public PointsProcessor {
static std::unique_ptr<ProbabilityGridPointsProcessor> FromDictionary(
const std::vector<mapping::proto::Trajectory>& trajectories,
FileWriterFactory file_writer_factory,
const FileWriterFactory& file_writer_factory,
common::LuaParameterDictionary* dictionary, PointsProcessor* next);
~ProbabilityGridPointsProcessor() override {}

2
cartographer/io/xyz_writing_points_processor.cc
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@ -27,7 +27,7 @@ XyzWriterPointsProcessor::XyzWriterPointsProcessor(
std::unique_ptr<XyzWriterPointsProcessor>
XyzWriterPointsProcessor::FromDictionary(
FileWriterFactory file_writer_factory,
const FileWriterFactory& file_writer_factory,
common::LuaParameterDictionary* const dictionary,
PointsProcessor* const next) {
return common::make_unique<XyzWriterPointsProcessor>(

2
cartographer/io/xyz_writing_points_processor.h
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@ -36,7 +36,7 @@ class XyzWriterPointsProcessor : public PointsProcessor {
XyzWriterPointsProcessor(std::unique_ptr<FileWriter>, PointsProcessor* next);
static std::unique_ptr<XyzWriterPointsProcessor> FromDictionary(
FileWriterFactory file_writer_factory,
const FileWriterFactory& file_writer_factory,
common::LuaParameterDictionary* dictionary, PointsProcessor* next);
~XyzWriterPointsProcessor() override {}

2
cartographer/mapping_2d/global_trajectory_builder.cc
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@ -41,7 +41,7 @@ void GlobalTrajectoryBuilder::AddRangefinderData(
insertion_result->time, insertion_result->tracking_to_tracking_2d,
insertion_result->range_data_in_tracking_2d,
insertion_result->pose_estimate_2d, trajectory_id_,
std::move(insertion_result->insertion_submaps));
insertion_result->insertion_submaps);
}
void GlobalTrajectoryBuilder::AddImuData(const sensor::ImuData& imu_data) {

2
cartographer/mapping_2d/local_trajectory_builder.cc
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@ -174,7 +174,7 @@ LocalTrajectoryBuilder::AddAccumulatedRangeData(
// Querying the active submaps must be done here before calling
// InsertRangeData() since the queried values are valid for next insertion.
std::vector<std::shared_ptr<const Submap>> insertion_submaps;
for (std::shared_ptr<Submap> submap : active_submaps_.submaps()) {
for (const std::shared_ptr<Submap>& submap : active_submaps_.submaps()) {
insertion_submaps.push_back(submap);
}
active_submaps_.InsertRangeData(

3
cartographer/mapping_2d/local_trajectory_builder.h
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@ -58,7 +58,8 @@ class LocalTrajectoryBuilder {
std::unique_ptr<InsertionResult> AddHorizontalRangeData(
common::Time, const sensor::RangeData& range_data);
void AddImuData(const sensor::ImuData& imu_data);
void AddOdometerData(common::Time time, const transform::Rigid3d& pose);
void AddOdometerData(common::Time time,
const transform::Rigid3d& odometer_pose);
private:
std::unique_ptr<InsertionResult> AddAccumulatedRangeData(

2
cartographer/mapping_2d/scan_matching/fast_global_localizer.cc
View File

@ -38,7 +38,7 @@ bool PerformGlobalLocalization(
const sensor::PointCloud filtered_point_cloud =
voxel_filter.Filter(point_cloud);
bool success = false;
if (matchers.size() == 0) {
if (matchers.empty()) {
LOG(WARNING) << "Map not yet large enough to localize in!";
return false;
}

6
cartographer/mapping_2d/sparse_pose_graph.cc
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@ -148,7 +148,7 @@ void SparsePoseGraph::AddScan(
});
}
void SparsePoseGraph::AddWorkItem(std::function<void()> work_item) {
void SparsePoseGraph::AddWorkItem(const std::function<void()>& work_item) {
if (scan_queue_ == nullptr) {
work_item();
} else {
@ -432,6 +432,10 @@ void SparsePoseGraph::RunOptimization() {
if (optimization_problem_.submap_data().empty()) {
return;
}
// No other thread is accessing the optimization_problem_, constraints_ and
// frozen_trajectories_ when executing the Solve. Solve is time consuming, so
// not taking the mutex before Solve to avoid blocking foreground processing.
optimization_problem_.Solve(constraints_, frozen_trajectories_);
common::MutexLocker locker(&mutex_);

2
cartographer/mapping_2d/sparse_pose_graph.h
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@ -114,7 +114,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
};
// Handles a new work item.
void AddWorkItem(std::function<void()> work_item) REQUIRES(mutex_);
void AddWorkItem(const std::function<void()>& work_item) REQUIRES(mutex_);
// Grows the optimization problem to have an entry for every element of
// 'insertion_submaps'. Returns the IDs for the 'insertion_submaps'.

4
cartographer/mapping_2d/sparse_pose_graph/constraint_builder.cc
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@ -111,7 +111,7 @@ void ConstraintBuilder::NotifyEndOfScan() {
}
void ConstraintBuilder::WhenDone(
const std::function<void(const ConstraintBuilder::Result&)> callback) {
const std::function<void(const ConstraintBuilder::Result&)>& callback) {
common::MutexLocker locker(&mutex_);
CHECK(when_done_ == nullptr);
when_done_ =
@ -124,7 +124,7 @@ void ConstraintBuilder::WhenDone(
void ConstraintBuilder::ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
const mapping::SubmapId& submap_id, const ProbabilityGrid* const submap,
const std::function<void()> work_item) {
const std::function<void()>& work_item) {
if (submap_scan_matchers_[submap_id].fast_correlative_scan_matcher !=
nullptr) {
thread_pool_->Schedule(work_item);

4
cartographer/mapping_2d/sparse_pose_graph/constraint_builder.h
View File

@ -102,7 +102,7 @@ class ConstraintBuilder {
// Registers the 'callback' to be called with the results, after all
// computations triggered by MaybeAddConstraint() have finished.
void WhenDone(std::function<void(const Result&)> callback);
void WhenDone(const std::function<void(const Result&)>& callback);
// Returns the number of consecutive finished scans.
int GetNumFinishedScans();
@ -121,7 +121,7 @@ class ConstraintBuilder {
// construction and queues the 'work_item'.
void ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
const mapping::SubmapId& submap_id, const ProbabilityGrid* submap,
std::function<void()> work_item) REQUIRES(mutex_);
const std::function<void()>& work_item) REQUIRES(mutex_);
// Constructs the scan matcher for a 'submap', then schedules its work items.
void ConstructSubmapScanMatcher(const mapping::SubmapId& submap_id,

4
cartographer/mapping_2d/sparse_pose_graph_test.cc
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@ -158,7 +158,7 @@ class SparsePoseGraphTest : public ::testing::Test {
point_cloud_,
transform::Embed3D(current_pose_.inverse().cast<float>()));
std::vector<std::shared_ptr<const Submap>> insertion_submaps;
for (auto submap : active_submaps_->submaps()) {
for (const auto& submap : active_submaps_->submaps()) {
insertion_submaps.push_back(submap);
}
const sensor::RangeData range_data{
@ -170,7 +170,7 @@ class SparsePoseGraphTest : public ::testing::Test {
sparse_pose_graph_->AddScan(
common::FromUniversal(0), transform::Rigid3d::Identity(), range_data,
pose_estimate, kTrajectoryId, std::move(insertion_submaps));
pose_estimate, kTrajectoryId, insertion_submaps);
}
void MoveRelative(const transform::Rigid2d& movement) {

2
cartographer/mapping_2d/submaps_test.cc
View File

@ -50,7 +50,7 @@ TEST(SubmapsTest, TheRightNumberOfScansAreInserted) {
for (int i = 0; i != 1000; ++i) {
submaps.InsertRangeData({Eigen::Vector3f::Zero(), {}, {}});
// Except for the first, maps should only be returned after enough scans.
for (auto submap : submaps.submaps()) {
for (const auto& submap : submaps.submaps()) {
all_submaps.insert(submap);
}
if (submaps.matching_index() != 0) {

2
cartographer/mapping_3d/global_trajectory_builder.cc
View File

@ -44,7 +44,7 @@ void GlobalTrajectoryBuilder::AddRangefinderData(
sparse_pose_graph_->AddScan(
insertion_result->time, insertion_result->range_data_in_tracking,
insertion_result->pose_observation, trajectory_id_,
std::move(insertion_result->insertion_submaps));
insertion_result->insertion_submaps);
}
void GlobalTrajectoryBuilder::AddOdometerData(const common::Time time,

2
cartographer/mapping_3d/local_trajectory_builder.cc
View File

@ -190,7 +190,7 @@ LocalTrajectoryBuilder::InsertIntoSubmap(
// Querying the active submaps must be done here before calling
// InsertRangeData() since the queried values are valid for next insertion.
std::vector<std::shared_ptr<const Submap>> insertion_submaps;
for (std::shared_ptr<Submap> submap : active_submaps_.submaps()) {
for (const std::shared_ptr<Submap>& submap : active_submaps_.submaps()) {
insertion_submaps.push_back(submap);
}
active_submaps_.InsertRangeData(

6
cartographer/mapping_3d/sparse_pose_graph.cc
View File

@ -139,7 +139,7 @@ void SparsePoseGraph::AddScan(
});
}
void SparsePoseGraph::AddWorkItem(std::function<void()> work_item) {
void SparsePoseGraph::AddWorkItem(const std::function<void()>& work_item) {
if (scan_queue_ == nullptr) {
work_item();
} else {
@ -427,6 +427,10 @@ void SparsePoseGraph::RunOptimization() {
if (optimization_problem_.submap_data().empty()) {
return;
}
// No other thread is accessing the optimization_problem_, constraints_ and
// frozen_trajectories_ when executing the Solve. Solve is time consuming, so
// not taking the mutex before Solve to avoid blocking foreground processing.
optimization_problem_.Solve(constraints_, frozen_trajectories_);
common::MutexLocker locker(&mutex_);

2
cartographer/mapping_3d/sparse_pose_graph.h
View File

@ -112,7 +112,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
};
// Handles a new work item.
void AddWorkItem(std::function<void()> work_item) REQUIRES(mutex_);
void AddWorkItem(const std::function<void()>& work_item) REQUIRES(mutex_);
// Grows the optimization problem to have an entry for every element of
// 'insertion_submaps'. Returns the IDs for the 'insertion_submaps'.

4
cartographer/mapping_3d/sparse_pose_graph/constraint_builder.cc
View File

@ -109,7 +109,7 @@ void ConstraintBuilder::NotifyEndOfScan() {
}
void ConstraintBuilder::WhenDone(
const std::function<void(const ConstraintBuilder::Result&)> callback) {
const std::function<void(const ConstraintBuilder::Result&)>& callback) {
common::MutexLocker locker(&mutex_);
CHECK(when_done_ == nullptr);
when_done_ =
@ -123,7 +123,7 @@ void ConstraintBuilder::WhenDone(
void ConstraintBuilder::ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
const mapping::SubmapId& submap_id,
const std::vector<mapping::TrajectoryNode>& submap_nodes,
const Submap* const submap, const std::function<void()> work_item) {
const Submap* const submap, const std::function<void()>& work_item) {
if (submap_scan_matchers_[submap_id].fast_correlative_scan_matcher !=
nullptr) {
thread_pool_->Schedule(work_item);

4
cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h
View File

@ -103,7 +103,7 @@ class ConstraintBuilder {
// Registers the 'callback' to be called with the results, after all
// computations triggered by MaybeAddConstraint() have finished.
void WhenDone(std::function<void(const Result&)> callback);
void WhenDone(const std::function<void(const Result&)>& callback);
// Returns the number of consecutive finished scans.
int GetNumFinishedScans();
@ -121,7 +121,7 @@ class ConstraintBuilder {
void ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
const mapping::SubmapId& submap_id,
const std::vector<mapping::TrajectoryNode>& submap_nodes,
const Submap* submap, std::function<void()> work_item) REQUIRES(mutex_);
const Submap* submap, const std::function<void()>& work_item) REQUIRES(mutex_);
// Constructs the scan matcher for a 'submap', then schedules its work items.
void ConstructSubmapScanMatcher(

1
cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc
View File

@ -205,6 +205,7 @@ void OptimizationProblem::Solve(const std::vector<Constraint>& constraints,
// Add constraints based on IMU observations of angular velocities and
// linear acceleration.
trajectory_data_.resize(imu_data_.size());
CHECK_GE(trajectory_data_.size(), node_data_.size());
for (size_t trajectory_id = 0; trajectory_id != node_data_.size();
++trajectory_id) {
const auto& node_data = node_data_[trajectory_id];

2
cartographer/sensor/collator.cc
View File

@ -22,7 +22,7 @@ namespace sensor {
void Collator::AddTrajectory(
const int trajectory_id,
const std::unordered_set<string>& expected_sensor_ids,
const Callback callback) {
const Callback& callback) {
for (const auto& sensor_id : expected_sensor_ids) {
const auto queue_key = QueueKey{trajectory_id, sensor_id};
queue_.AddQueue(queue_key,

2
cartographer/sensor/collator.h
View File

@ -42,7 +42,7 @@ class Collator {
// for each collated sensor data.
void AddTrajectory(int trajectory_id,
const std::unordered_set<string>& expected_sensor_ids,
Callback callback);
const Callback& callback);
// Marks 'trajectory_id' as finished.
void FinishTrajectory(int trajectory_id);

2
cartographer/sensor/range_data.h
View File

@ -54,7 +54,7 @@ proto::CompressedRangeData ToProto(
CompressedRangeData FromProto(const proto::CompressedRangeData& proto);
CompressedRangeData Compress(const RangeData& range_data);
RangeData Decompress(const CompressedRangeData& compressed_range_Data);
RangeData Decompress(const CompressedRangeData& compressed_range_data);
} // namespace sensor
} // namespace cartographer

1
cartographer/sensor/range_data_test.cc
View File

@ -26,7 +26,6 @@ namespace sensor {
namespace {
using ::testing::Contains;
using ::testing::PrintToString;
MATCHER(NearPointwise, std::string(negation ? "Doesn't" : "Does") + " match.") {
return std::get<0>(arg).isApprox(std::get<1>(arg), 0.001f);

6
cartographer/transform/transform.cc
View File

@ -19,9 +19,9 @@
namespace cartographer {
namespace transform {
Rigid2d ToRigid2(const proto::Rigid2d& pose) {
return Rigid2d({pose.translation().x(), pose.translation().y()},
pose.rotation());
Rigid2d ToRigid2(const proto::Rigid2d& transform) {
return Rigid2d({transform.translation().x(), transform.translation().y()},
transform.rotation());
}
Eigen::Vector2d ToEigen(const proto::Vector2d& vector) {

2
cartographer/transform/transform_interpolation_buffer.cc
View File

@ -29,7 +29,7 @@ namespace transform {
void TransformInterpolationBuffer::Push(const common::Time time,
const transform::Rigid3d& transform) {
if (deque_.size() > 0) {
if (!deque_.empty()) {
CHECK_GE(time, latest_time()) << "New transform is older than latest.";
}
deque_.push_back(TimestampedTransform{time, transform});