Merge branch 'master' into ros2

.github/workflows/ci.yaml

@@ -47,7 +47,7 @@ jobs:
       # perform full clang-tidy check only on manual trigger (workflow_dispatch), PRs do check changed files, otherwise nothing
       CLANG_TIDY_BASE_REF: ${{ github.event_name != 'workflow_dispatch' && (github.base_ref || github.ref) || '' }}
       CC: ${{ matrix.env.CLANG_TIDY && 'clang' }}
-      CXX: ${{ matrix.env.CLANG_TIDY && 'clang++' }}
+      CXX: ${{ matrix.env.CLANG_TIDY && 'clang++ -std=c++17' }}
 
     name: "${{ matrix.env.IMAGE }}${{ matrix.env.NAME && ' • ' || ''}}${{ matrix.env.NAME }}${{ matrix.env.CLANG_TIDY && ' • clang-tidy' || '' }}"
     runs-on: ubuntu-latest

.github/workflows/format.yaml

@@ -18,7 +18,7 @@ jobs:
           submodules: recursive
       - name: Install clang-format-14
         run: sudo apt-get install clang-format-14
-      - uses: rhaschke/pre-commit-action@main
+      - uses: pre-commit/action@v3.0.1
         id: precommit
       - name: Upload pre-commit changes
         if: failure() && steps.precommit.outcome == 'failure'

core/include/moveit/task_constructor/cost_terms.h

@@ -70,7 +70,7 @@ class CostTerm
 class TrajectoryCostTerm : public CostTerm
 {
 public:
-	enum class Mode
+	enum class Mode : uint8_t
 	{
 		AUTO /* TRAJECTORY, or START_INTERFACE if no trajectory is given */,
 		START_INTERFACE,

core/include/moveit/task_constructor/solvers/cartesian_path.h

@@ -60,7 +60,7 @@ class CartesianPath : public PlannerInterface
 	void setStepSize(double step_size) { setProperty("step_size", step_size); }
 	void setPrecision(const moveit::core::CartesianPrecision& precision) { setProperty("precision", precision); }
 	template <typename T = float>
-	void setJumpThreshold(double) {
+	void setJumpThreshold(double /*unused*/) {
 		static_assert(std::is_integral<T>::value, "setJumpThreshold() is deprecated. Replace with setPrecision.");
 	}
 	void setMinFraction(double min_fraction) { setProperty("min_fraction", min_fraction); }

core/include/moveit/task_constructor/stage.h

@@ -72,7 +72,7 @@ MOVEIT_CLASS_FORWARD(RobotTrajectory);
 namespace moveit {
 namespace task_constructor {
 
-enum InterfaceFlag
+enum InterfaceFlag : uint8_t
 {
 	READS_START = 0x01,
 	READS_END = 0x02,
@@ -155,7 +155,7 @@ class Stage
 	 *
 	 * INTERFACE takes precedence over PARENT.
 	 */
-	enum PropertyInitializerSource
+	enum PropertyInitializerSource : uint8_t
 	{  // TODO: move to property.cpp
 		DEFAULT = 0,
 		MANUAL = 1,
@@ -293,7 +293,7 @@ class PropagatingEitherWay : public ComputeBase
 	PRIVATE_CLASS(PropagatingEitherWay)
 	PropagatingEitherWay(const std::string& name = "propagating either way");
 
-	enum Direction
+	enum Direction : uint8_t
 	{
 		AUTO = 0x00,  // auto-derive direction from context
 		FORWARD = 0x01,  // propagate forward only

core/include/moveit/task_constructor/stages/connect.h

@@ -67,7 +67,7 @@ class Connect : public Connecting
 	bool compatible(const InterfaceState& from_state, const InterfaceState& to_state) const override;
 
 public:
-	enum MergeMode
+	enum MergeMode : uint8_t
 	{
 		SEQUENTIAL = 0,
 		WAYPOINTS = 1

core/include/moveit/task_constructor/stages/generate_random_pose.h

@@ -56,8 +56,8 @@ class GenerateRandomPose : public GeneratePose
 
 	/** Function signature for pose dimension samplers.
 	 * The input parameter is the seed, the returned value is the sampling result. */
-	typedef std::function<double(double)> PoseDimensionSampler;
-	enum PoseDimension
+	using PoseDimensionSampler = std::function<double(double)>;
+	enum PoseDimension : uint8_t
 	{
 		X,
 		Y,

core/include/moveit/task_constructor/storage.h

@@ -81,7 +81,7 @@ class InterfaceState
 	friend class ContainerBasePrivate;  // allow setting priority_ for pruning
 
 public:
-	enum Status
+	enum Status : uint8_t
 	{
 		ENABLED,  // state is actively considered during planning
 		ARMED,  // disabled state in a Connecting interface that will become re-enabled with a new opposite state
@@ -198,12 +198,12 @@ class Interface : public ordered<InterfaceState*>
 		const InterfaceState* operator->() const noexcept { return base_type::const_iterator::operator*(); }
 	};
 
-	enum Direction
+	enum Direction : uint8_t
 	{
 		FORWARD,
 		BACKWARD,
 	};
-	enum Update
+	enum Update : uint8_t
 	{
 		STATUS = 1 << 0,
 		PRIORITY = 1 << 1,

core/python/bindings/src/properties.cpp

@@ -59,7 +59,7 @@ class PropertyConverterRegistry
 		PropertyConverterBase::from_python_converter_function from_;
 	};
 	// map from type_index to corresponding converter functions
-	typedef std::map<std::type_index, Entry> RegistryMap;
+	using RegistryMap = std::map<std::type_index, Entry>;
 	RegistryMap types_;
 	// map from ros-msg-names to entry in types_
 	using RosMsgTypeNameMap = std::map<std::string, RegistryMap::iterator>;

core/src/container.cpp

@@ -63,24 +63,24 @@ printChildrenInterfaces(const ContainerBasePrivate& container, bool success, con
                         std::ostream& os = std::cerr) {
 	static unsigned int id = 0;
 	const unsigned int width = 10;  // indentation of name
-	os << std::endl << (success ? '+' : '-') << ' ' << creator.name() << ' ';
+	os << '\n' << (success ? '+' : '-') << ' ' << creator.name() << ' ';
 	if (success)
 		os << ++id << ' ';
 	if (const auto conn = dynamic_cast<const ConnectingPrivate*>(creator.pimpl()))
 		os << conn->pendingPairsPrinter();
-	os << std::endl;
+	os << '\n';
 
 	for (const auto& child : container.children()) {
 		auto cimpl = child->pimpl();
 		os << std::setw(width) << std::left << child->name();
 		if (!cimpl->starts() && !cimpl->ends())
-			os << "↕ " << std::endl;
+			os << "↕ \n";
 		if (cimpl->starts())
-			os << "↓ " << *child->pimpl()->starts() << std::endl;
+			os << "↓ " << *child->pimpl()->starts() << '\n';
 		if (cimpl->starts() && cimpl->ends())
 			os << std::setw(width) << "  ";
 		if (cimpl->ends())
-			os << "↑ " << *child->pimpl()->ends() << std::endl;
+			os << "↑ " << *child->pimpl()->ends() << '\n';
 	}
 }
 
@@ -460,7 +460,7 @@ void ContainerBase::explainFailure(std::ostream& os) const {
 		if (stage->numFailures()) {
 			os << stage->name() << " (0/" << stage->numFailures() << ")";
 			stage->explainFailure(os);
-			os << std::endl;
+			os << '\n';
 			break;
 		}
 		stage->explainFailure(os);  // recursively process children
@@ -469,7 +469,7 @@ void ContainerBase::explainFailure(std::ostream& os) const {
 
 std::ostream& operator<<(std::ostream& os, const ContainerBase& container) {
 	ContainerBase::StageCallback processor = [&os](const Stage& stage, unsigned int depth) -> bool {
-		os << std::string(2 * depth, ' ') << *stage.pimpl() << std::endl;
+		os << std::string(2 * depth, ' ') << *stage.pimpl() << '\n';
 		return true;
 	};
 	container.traverseRecursively(processor);

core/src/introspection.cpp

@@ -206,7 +206,7 @@ void Introspection::publishAllSolutions(bool wait) {
 		publishSolution(*solution);
 
 		if (wait) {
-			std::cout << "Press <Enter> to continue ..." << std::endl;
+			std::cout << "Press <Enter> to continue ...\n";
 			int ch = getchar();
 			if (ch == 'q' || ch == 'Q')
 				break;

core/src/stage.cpp

@@ -91,9 +91,9 @@ const char* InitStageException::what() const noexcept {
 }
 
 std::ostream& operator<<(std::ostream& os, const InitStageException& e) {
-	os << "Error initializing stage" << (e.errors_.size() > 1 ? "s" : "") << ":" << std::endl;
+	os << "Error initializing stage" << (e.errors_.size() > 1 ? "s" : "") << ":\n ";
 	for (const auto& pair : e.errors_)
-		os << pair.first->name() << ": " << pair.second << std::endl;
+		os << pair.first->name() << ": " << pair.second << '\n';
 	return os;
 }
 
@@ -841,10 +841,10 @@ void ConnectingPrivate::newState(Interface::iterator it, Interface::UpdateFlags
 			os << (updated ? " !" : " +");
 		else
 			os << "  ";
-		os << d << " " << this->pullInterface(d) << ": " << *this->pullInterface(d) << std::endl;
+		os << d << " " << this->pullInterface(d) << ": " << *this->pullInterface(d) << '\n';
 	}
 	os << std::setw(15) << " ";
-	os << pendingPairsPrinter() << std::endl;
+	os << pendingPairsPrinter() << '\n';
 #endif
 }
 

core/src/stages/predicate_filter.cpp

@@ -80,8 +80,6 @@ void PredicateFilter::init(const moveit::core::RobotModelConstPtr& robot_model)
 void PredicateFilter::onNewSolution(const SolutionBase& s) {
 	const auto& props = properties();
 
-	// false-positive in clang-tidy 10.0.0: predicate might change comment
-	// NOLINTNEXTLINE(performance-unnecessary-copy-initialization)
 	std::string comment = s.comment();
 
 	double cost = s.cost();

core/test/pick_pa10.cpp

@@ -180,7 +180,7 @@ TEST(PA10, pick) {
 	try {
 		t.plan();
 	} catch (const InitStageException& e) {
-		ADD_FAILURE() << "planning failed with exception" << std::endl << e << t;
+		ADD_FAILURE() << "planning failed with exception\n" << e << t;
 	}
 
 	auto solutions = t.solutions().size();

core/test/pick_pr2.cpp

@@ -77,7 +77,7 @@ TEST(PR2, pick) {
 		spawnObject();
 		t.plan();
 	} catch (const InitStageException& e) {
-		ADD_FAILURE() << "planning failed with exception" << std::endl << e << t;
+		ADD_FAILURE() << "planning failed with exception\n" << e << t;
 	}
 
 	auto solutions = t.solutions().size();

core/test/pick_ur5.cpp

@@ -79,7 +79,7 @@ TEST(UR5, pick) {
 		spawnObject();
 		t.plan();
 	} catch (const InitStageException& e) {
-		ADD_FAILURE() << "planning failed with exception" << std::endl << e << t;
+		ADD_FAILURE() << "planning failed with exception\n" << e << t;
 	}
 
 	auto solutions = t.solutions().size();

core/test/stage_mockups.h

@@ -65,7 +65,7 @@ struct GeneratorMockup : public Generator
 	void init(const moveit::core::RobotModelConstPtr& robot_model) override;
 	bool canCompute() const override;
 	void compute() override;
-	virtual void reset() override { runs_ = 0; };
+	void reset() override { runs_ = 0; };
 };
 
 struct MonitoringGeneratorMockup : public MonitoringGenerator
@@ -82,7 +82,7 @@ struct MonitoringGeneratorMockup : public MonitoringGenerator
 	bool canCompute() const override { return false; }
 	void compute() override {}
 	void onNewSolution(const SolutionBase& s) override;
-	virtual void reset() override { runs_ = 0; };
+	void reset() override { runs_ = 0; };
 };
 
 struct ConnectMockup : public Connecting
@@ -99,7 +99,7 @@ struct ConnectMockup : public Connecting
 	using Connecting::compatible;  // make this accessible for testing
 
 	void compute(const InterfaceState& from, const InterfaceState& to) override;
-	virtual void reset() override { runs_ = 0; };
+	void reset() override { runs_ = 0; };
 };
 
 struct PropagatorMockup : public PropagatingEitherWay
@@ -116,7 +116,7 @@ struct PropagatorMockup : public PropagatingEitherWay
 
 	void computeForward(const InterfaceState& from) override;
 	void computeBackward(const InterfaceState& to) override;
-	virtual void reset() override { runs_ = 0; };
+	void reset() override { runs_ = 0; };
 };
 
 struct ForwardMockup : public PropagatorMockup

core/test/test_container.cpp

@@ -15,7 +15,7 @@
 
 using namespace moveit::task_constructor;
 
-enum StageType
+enum StageType : uint8_t
 {
 	GEN,
 	FW,
@@ -625,7 +625,7 @@ TEST(Task, reuse) {
 		configure(t);
 		EXPECT_TRUE(t.plan(1));
 	} catch (const InitStageException& e) {
-		ADD_FAILURE() << "InitStageException:" << std::endl << e << t;
+		ADD_FAILURE() << "InitStageException:\n" << e << t;
 	}
 }
 

core/test/test_cost_queue.cpp

@@ -126,7 +126,7 @@ TYPED_TEST(OrderedTest, sorting) {
 template <typename ValueType, typename CostType>
 std::ostream& operator<<(std::ostream& os, const cost_ordered<ValueType, CostType>& queue) {
 	for (const auto& pair : queue.sorted())
-		os << pair.cost() << ": " << pair.value() << std::endl;
+		os << pair.cost() << ": " << pair.value() << '\n';
 	return os;
 }
 

core/test/test_move_to.cpp

@@ -207,7 +207,7 @@ TEST(Task, taskMoveConstructor) {
 		t.init();
 		EXPECT_TRUE(t.plan(1));
 	} catch (const InitStageException& e) {
-		ADD_FAILURE() << "InitStageException:" << std::endl << e << t;
+		ADD_FAILURE() << "InitStageException:\n" << e << t;
 	}
 }
 

demo/src/alternative_path_costs.cpp

@@ -77,7 +77,7 @@ int main(int argc, char** argv) {
 	try {
 		t.plan(0);
 	} catch (const InitStageException& e) {
-		std::cout << e << std::endl;
+		std::cout << e << '\n';
 	}
 
 	// keep alive for interactive inspection in rviz

demo/src/cartesian.cpp

@@ -133,7 +133,7 @@ int main(int argc, char** argv) {
 		if (task.plan())
 			task.introspection().publishSolution(*task.solutions().front());
 	} catch (const InitStageException& ex) {
-		std::cerr << "planning failed with exception" << std::endl << ex << task;
+		std::cerr << "planning failed with exception\n" << ex << task;
 	}
 
 	// keep alive for interactive inspection in rviz

demo/src/fallbacks_move_to.cpp

@@ -125,7 +125,7 @@ int main(int argc, char** argv) {
 	try {
 		t.plan();
 	} catch (const InitStageException& e) {
-		std::cout << e << std::endl;
+		std::cout << e << '\n';
 	}
 
 	// keep alive for interactive inspection in rviz

demo/src/ik_clearance_cost.cpp

@@ -70,7 +70,7 @@ int main(int argc, char** argv) {
 	try {
 		t.plan(0);
 	} catch (const InitStageException& e) {
-		std::cout << e << std::endl;
+		std::cout << e << '\n';
 	}
 
 	// Keep introspection alive

demo/src/modular.cpp

@@ -121,7 +121,7 @@ int main(int argc, char** argv) {
 		if (task.plan())
 			task.introspection().publishSolution(*task.solutions().front());
 	} catch (const InitStageException& ex) {
-		std::cerr << "planning failed with exception" << std::endl << ex << task;
+		std::cerr << "planning failed with exception\n" << ex << task;
 	}
 
 	// keep alive for interactive inspection in rviz

rviz_marker_tools/include/rviz_marker_tools/marker_creation.h

@@ -11,7 +11,7 @@ class Geometry;
 
 namespace rviz_marker_tools {
 
-enum Color
+enum Color : uint8_t
 {
 	BLACK = 0,
 	BROWN = 1,

visualization/motion_planning_tasks/src/remote_task_model.cpp

@@ -55,7 +55,7 @@ using namespace moveit::task_constructor;
 
 namespace moveit_rviz_plugin {
 
-enum NodeFlag
+enum NodeFlag : uint8_t
 {
 	WAS_VISITED = 0x01,  // indicate that model should emit change notifications
 	NAME_CHANGED = 0x02,  // indicate that name was manually changed

visualization/motion_planning_tasks/src/task_list_model.h

@@ -79,7 +79,7 @@ class BaseTaskModel : public QAbstractItemModel
 	rviz_common::DisplayContext* display_context_;
 
 public:
-	enum TaskModelFlag
+	enum TaskModelFlag : uint8_t
 	{
 		LOCAL_MODEL = 0x01,
 		IS_DESTROYED = 0x02,

visualization/motion_planning_tasks/src/task_panel.h

@@ -120,7 +120,7 @@ class TaskView : public SubPanel
 
 protected:
 	// configuration settings
-	enum TaskExpand
+	enum TaskExpand : uint8_t
 	{
 		EXPAND_TOP = 1,
 		EXPAND_ALL,
@@ -132,7 +132,7 @@ class TaskView : public SubPanel
 	rviz_common::properties::BoolProperty* show_time_column;
 
 public:
-	enum OldTaskHandling
+	enum OldTaskHandling : uint8_t
 	{
 		OLD_TASK_KEEP = 1,
 		OLD_TASK_REPLACE,