Fix TPE codecheck errors

tools/code_check.sh

@@ -45,7 +45,7 @@ then
  CPPLINT_FILES="$CHECK_FILES"
  QUICK_TMP=`mktemp -t asdfXXXXXXXXXX`
 else
- CHECK_DIRS="./src ./include ./test/integration ./test/regression ./test/performance"
+ CHECK_DIRS="./src ./include ./test/integration ./test/regression ./test/performance ./tpe"
  if [ $CPPCHECK_LT_157 -eq 1 ]; then
  # cppcheck is older than 1.57, so don't check header files (issue #907)
  CPPCHECK_FILES=`find $CHECK_DIRS -name "*.cc"`

tpe/lib/src/Collision.cc

@@ -74,7 +74,8 @@ void Collision::SetShape(const Shape &_shape)
  }
  else if (_shape.GetType() == ShapeType::CYLINDER)
  {
- const CylinderShape *typedShape = static_cast<const CylinderShape *>(&_shape);
+ const CylinderShape *typedShape =
+ static_cast<const CylinderShape *>(&_shape);
  this->dataPtr->shape.reset(new CylinderShape(*typedShape));
  }
  else if (_shape.GetType() == ShapeType::SPHERE)

tpe/lib/src/Collision.hh

@@ -38,7 +38,7 @@ class IGNITION_PHYSICS_TPELIB_VISIBLE Collision : public Entity
 
  /// \brief Constructor
  /// \param[in] _id Collision id
- public: Collision(std::size_t _id);
+ public: explicit Collision(std::size_t _id);
 
  /// \brief Copy Constructor
  /// \param[in] _other The other collision to copy from

tpe/lib/src/Engine.cc

@@ -34,7 +34,8 @@ Engine::Engine()
 Entity &Engine::AddWorld()
 {
  auto world = std::make_shared<World>();
- const auto [it, success] = this->worlds.insert({world->GetId(), world});
+ const auto[it, success] =
+ this->worlds.insert({world->GetId(), world});
  return *it->second;
 }
 

tpe/lib/src/Engine.hh

@@ -18,6 +18,7 @@
 #ifndef IGNITION_PHYSICS_TPE_LIB_SRC_ENGINE_HH_
 #define IGNITION_PHYSICS_TPE_LIB_SRC_ENGINE_HH_
 
+#include <map>
 #include <memory>
 
 #include <ignition/utilities/SuppressWarning.hh>
@@ -67,8 +68,8 @@ class IGNITION_PHYSICS_TPELIB_VISIBLE Engine
  IGN_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
 };
 
-} // namespace tpelib
-} // namespace physics
-} // namespace ignition
+}  // namespace tpelib
+}  // namespace physics
+}  // namespace ignition
 
 #endif

tpe/lib/src/Link.cc

@@ -36,7 +36,7 @@ Link::Link(std::size_t _id) : Entity(_id)
 Entity &Link::AddCollision()
 {
  std::size_t collisionId = Entity::GetNextId();
- const auto [it, success] = this->GetChildren().insert(
+ const auto[it, success] = this->GetChildren().insert(
  {collisionId, std::make_shared<Collision>(collisionId)});
  return *it->second.get();
 }

tpe/lib/src/Link.hh

@@ -34,7 +34,7 @@ class IGNITION_PHYSICS_TPELIB_VISIBLE Link : public Entity
 
  /// \brief Constructor
  /// \param[in] _id Link id
- public: Link(std::size_t _id);
+ public: explicit Link(std::size_t _id);
 
  /// \brief Destructor
  public: ~Link() = default;

tpe/lib/src/Model.cc

@@ -41,7 +41,7 @@ Model::Model(std::size_t _id) : Entity(_id)
 Entity &Model::AddLink()
 {
  std::size_t linkId = Entity::GetNextId();
- const auto [it, success] = this->GetChildren().insert(
+ const auto[it, success] = this->GetChildren().insert(
  {linkId, std::make_shared<Link>(linkId)});
  return *it->second.get();
 }

tpe/lib/src/Model.hh

@@ -38,7 +38,7 @@ class IGNITION_PHYSICS_TPELIB_VISIBLE Model : public Entity
 
  /// \brief Constructor
  /// \param[in] _id Model id
- public: Model(std::size_t _id);
+ public: explicit Model(std::size_t _id);
 
  /// \brief Destructor
  public: ~Model() = default;

tpe/lib/src/Model_TEST.cc

@@ -55,7 +55,8 @@ TEST(Model, BasicAPI)
  math::Pose3d expectedPose(
  originalPose.Pos() + math::Vector3d(0.1, 0.1, 0.1) * timeStep,
  originalPose.Rot().Integrate(math::Vector3d(1.0, 0, 0), timeStep));
- model2.UpdatePose(timeStep, model2.GetLinearVelocity(), model2.GetAngularVelocity());
+ model2.UpdatePose(
+ timeStep, model2.GetLinearVelocity(), model2.GetAngularVelocity());
  EXPECT_EQ(expectedPose, model2.GetPose());
 }
 

tpe/lib/src/Shape.cc

@@ -27,16 +27,16 @@ Shape::Shape()
  this->type = ShapeType::EMPTY;
 }
 
- //////////////////////////////////////////////////
- math::AxisAlignedBox Shape::GetBoundingBox()
- {
-  if (this->dirty)
-  {
-  this->UpdateBoundingBox();
-  this->dirty = false;
-  }
-  return this->bbox;
- }
+//////////////////////////////////////////////////
+math::AxisAlignedBox Shape::GetBoundingBox()
+{
+ if (this->dirty)
+ {
+ this->UpdateBoundingBox();
+ this->dirty = false;
+ }
+ return this->bbox;
+}
 
 //////////////////////////////////////////////////
 void Shape::UpdateBoundingBox()

tpe/lib/src/Shape.hh

@@ -76,13 +76,13 @@ class IGNITION_PHYSICS_TPELIB_VISIBLE Shape
  /// \brief Update the shape's bounding box
  protected: virtual void UpdateBoundingBox();
 
-  /// \brief Bounding Box
+ /// \brief Bounding Box
  protected: math::AxisAlignedBox bbox;
 
-  /// \brief Type of shape
+ /// \brief Type of shape
  protected: ShapeType type;
 
-  /// \brief Flag to indicate if dimensions changed
+ /// \brief Flag to indicate if dimensions changed
  protected: bool dirty = true;
 };
 

tpe/lib/src/World.cc

@@ -80,7 +80,7 @@ void World::Step()
 Entity &World::AddModel()
 {
  std::size_t modelId = Entity::GetNextId();
- const auto [it, success]  = this->GetChildren().insert(
+ const auto[it, success] = this->GetChildren().insert(
  {modelId, std::make_shared<Model>(modelId)});
  return *it->second.get();
 }

tpe/lib/src/World.hh

@@ -65,9 +65,8 @@ class IGNITION_PHYSICS_TPELIB_VISIBLE World : public Entity
  protected: double timeStep{0.1};
 };
 
-} // namespace tpelib
-} // namespace physics
-} // namespace ignition
-
+} // namespace tpelib
+} // namespace physics
+} // namespace ignition
 
 #endif

tpe/plugin/src/Base.hh

@@ -127,7 +127,7 @@ class Base : public Implements3d<FeatureList<Feature>>
  modelPtr->model = &_model;
  size_t modelId = _model.GetId();
  this->models.insert({modelId, modelPtr});
- // keep track of model's corresponding world 
+ // keep track of model's corresponding world
  this->childIdToParentId.insert({modelId, _worldId});
 
  return this->GenerateIdentity(modelId, modelPtr);

tpe/plugin/src/Base_TEST.cc

@@ -15,10 +15,10 @@
  *
  */
 
-#include <memory>
-
 #include <gtest/gtest.h>
 
+#include <memory>
+
 #include <ignition/physics/Implements.hh>
 
 #include <ignition/math/Vector3.hh>
@@ -50,21 +50,23 @@ TEST(BaseClass, AddEntities)
 
  EXPECT_TRUE(base.worlds.find(worldId) != base.worlds.end());
  EXPECT_EQ(worldId, base.worlds.find(worldId)->second->world->GetId());
- EXPECT_EQ(world->GetName(), base.worlds.find(worldId)->second->world->GetName());
+ EXPECT_EQ(
+ world->GetName(), base.worlds.find(worldId)->second->world->GetName());
 
  // add models to world
  auto &modelEnt1 = world->AddModel();
  modelEnt1.SetName("box");
  auto *model1 = static_cast<tpelib::Model *>(&modelEnt1);
  std::size_t modelId1 = model1->GetId();
- 
+
  EXPECT_EQ(0u, base.models.size());
  auto modelIdentity1 = base.AddModel(worldId, *model1);
  EXPECT_EQ(1u, base.models.size());
 
  EXPECT_TRUE(base.models.find(modelId1) != base.models.end());
  EXPECT_EQ(modelId1, base.models.find(modelId1)->second->model->GetId());
- EXPECT_EQ(model1->GetName(), base.models.find(modelId1)->second->model->GetName());
+ EXPECT_EQ(
+ model1->GetName(), base.models.find(modelId1)->second->model->GetName());
 
  auto &modelEnt2 = world->AddModel();
  modelEnt2.SetName("cylinder");
@@ -77,7 +79,8 @@ TEST(BaseClass, AddEntities)
 
  EXPECT_TRUE(base.models.find(modelId2) != base.models.end());
  EXPECT_EQ(modelId2, base.models.find(modelId2)->second->model->GetId());
- EXPECT_EQ(model2->GetName(), base.models.find(modelId2)->second->model->GetName());
+ EXPECT_EQ(
+ model2->GetName(), base.models.find(modelId2)->second->model->GetName());
 
  // add first link to model1
  auto &linkEnt1 = model1->AddLink();
@@ -92,7 +95,8 @@ TEST(BaseClass, AddEntities)
 
  EXPECT_TRUE(base.links.find(linkId1) != base.links.end());
  EXPECT_EQ(linkId1, base.links.find(linkId1)->second->link->GetId());
- EXPECT_EQ(link1->GetName(), base.links.find(linkId1)->second->link->GetName());
+ EXPECT_EQ(
+ link1->GetName(), base.links.find(linkId1)->second->link->GetName());
  EXPECT_EQ(modelId1, base.childIdToParentId.find(linkId1)->second);
 
  // add second link to model2
@@ -108,7 +112,8 @@ TEST(BaseClass, AddEntities)
 
  EXPECT_TRUE(base.links.find(linkId2) != base.links.end());
  EXPECT_EQ(linkId2, base.links.find(linkId2)->second->link->GetId());
- EXPECT_EQ(link2->GetName(), base.links.find(linkId2)->second->link->GetName());
+ EXPECT_EQ(
+ link2->GetName(), base.links.find(linkId2)->second->link->GetName());
  EXPECT_EQ(modelId2, base.childIdToParentId.find(linkId2)->second);
 
  // add collision shape box to link1
@@ -123,8 +128,11 @@ TEST(BaseClass, AddEntities)
  EXPECT_EQ(1u, link1->GetChildCount());
 
  EXPECT_TRUE(base.collisions.find(boxId) != base.collisions.end());
- EXPECT_EQ(boxId, base.collisions.find(boxId)->second->collision->GetId());
- EXPECT_EQ(box->GetName(), base.collisions.find(boxId)->second->collision->GetName());
+ EXPECT_EQ(
+ boxId, base.collisions.find(boxId)->second->collision->GetId());
+ EXPECT_EQ(
+ box->GetName(),
+ base.collisions.find(boxId)->second->collision->GetName());
  EXPECT_EQ(linkId1, base.childIdToParentId.find(boxId)->second);
 
  // add collision shape cylinder to link2
@@ -139,8 +147,12 @@ TEST(BaseClass, AddEntities)
  EXPECT_EQ(1u, link2->GetChildCount());
 
  EXPECT_TRUE(base.collisions.find(cylinderId) != base.collisions.end());
- EXPECT_EQ(cylinderId, base.collisions.find(cylinderId)->second->collision->GetId());
- EXPECT_EQ(cylinder->GetName(), base.collisions.find(cylinderId)->second->collision->GetName());
+ EXPECT_EQ(
+ cylinderId,
+ base.collisions.find(cylinderId)->second->collision->GetId());
+ EXPECT_EQ(
+ cylinder->GetName(),
+ base.collisions.find(cylinderId)->second->collision->GetName());
  EXPECT_EQ(linkId2, base.childIdToParentId.find(cylinderId)->second);
 
  // check indices

tpe/plugin/src/EntityManagementFeatures.cc

@@ -72,7 +72,7 @@ Identity EntityManagementFeatures::GetWorld(
  {
  return this->GenerateIdentity(it->first, it->second);
  }
- } 
+ }
  }
  return this->GenerateInvalidId();
 }
@@ -376,15 +376,16 @@ bool EntityManagementFeatures::RemoveModel(const Identity &_modelID)
  return worldIt->second->world->RemoveChildById(_modelID.id);
  }
  }
- return false; 
+ return false;
 }
 
 /////////////////////////////////////////////////
 bool EntityManagementFeatures::ModelRemoved(const Identity &_modelID) const
 {
  if (this->models.find(_modelID.id) == this->models.end()
- && this->childIdToParentId.find(_modelID.id) == this->childIdToParentId.end())
- return true;
+ && this->childIdToParentId.find(_modelID.id) ==
+ this->childIdToParentId.end())
+ return true;
  return false;
 }
 

tpe/plugin/src/EntityManagement_TEST.cc

@@ -107,9 +107,6 @@ TEST(EntityManagement_TEST, RemoveEntities)
  EXPECT_EQ(nullptr, world->GetModel("empty model"));
  EXPECT_EQ(0ul, world->GetModelCount());
 
- // Why calling GetName shouldn't throw (from dartsim) 
- // EXPECT_EQ("empty model", model->GetName());
-
  auto model2 = world->ConstructEmptyModel("model2");
  ASSERT_NE(nullptr, model2);
  EXPECT_EQ(0ul, model2->GetIndex());

tpe/plugin/src/FreeGroupFeatures.cc

@@ -65,7 +65,7 @@ Identity FreeGroupFeatures::GetFreeGroupCanonicalLink(
  tpelib::Entity &link = model_it->second->model->GetCanonicalLink();
  auto linkPtr = std::make_shared<LinkInfo>();
  linkPtr->link = static_cast<tpelib::Link *>(&link);
- return this->GenerateIdentity(link.GetId(), linkPtr); 
+ return this->GenerateIdentity(link.GetId(), linkPtr);
  }
  return this->GenerateInvalidId();
 }

tpe/plugin/src/KinematicsFeatures.hh

@@ -34,7 +34,8 @@ class KinematicsFeatures :
  public virtual Base,
  public virtual Implements3d<KinematicsFeatureList>
 {
- public: FrameData3d FrameDataRelativeToWorld(const FrameID &_id) const override;
+ public: FrameData3d FrameDataRelativeToWorld(
+ const FrameID &_id) const override;
 };
 
 }

tpe/plugin/src/SDFFeatures.cc

@@ -93,7 +93,7 @@ Identity SDFFeatures::ConstructSdfLink(
  {
  ignwarn << "Model [" << _modelID.id << "] is not found" << std::endl;
  return this->GenerateInvalidId();
- } 
+ }
  auto model = it->second->model;
  if (model == nullptr)
  {

tpe/plugin/src/SDFFeatures_TEST.cc

@@ -19,6 +19,11 @@
 
 #include <tuple>
 
+#include <sdf/Root.hh>
+#include <sdf/World.hh>
+
+#include <test/Utils.hh>
+
 #include <ignition/plugin/Loader.hh>
 
 #include <ignition/physics/Joint.hh>
@@ -33,11 +38,6 @@
 #include "lib/src/World.hh"
 #include "World.hh"
 
-#include <sdf/Root.hh>
-#include <sdf/World.hh>
-
-#include <test/Utils.hh>
-
 struct TestFeatureList : ignition::physics::FeatureList<
  ignition::physics::tpeplugin::RetrieveWorld,
  ignition::physics::sdf::ConstructSdfLink,
@@ -146,7 +146,8 @@ TEST(SDFFeatures_TEST, CheckTpeData)
  EXPECT_EQ(ignition::math::Pose3d(-0.275, 0, 1.1, 0, 0, 0),
  collision02.GetPose());
 
- ignition::physics::tpelib::Entity &link02 = model.GetChildByName("upper_link");
+ ignition::physics::tpelib::Entity &link02 =
+ model.GetChildByName("upper_link");
  ASSERT_NE(ignition::physics::tpelib::Entity::kNullEntity.GetId(),
  link02.GetId());
  EXPECT_EQ("upper_link", link02.GetName());
@@ -179,7 +180,8 @@ TEST(SDFFeatures_TEST, CheckTpeData)
  EXPECT_EQ(ignition::math::Pose3d(0, 0, 0.5, 0, 0, 0),
  collision05.GetPose());
 
- ignition::physics::tpelib::Entity &link03 = model.GetChildByName("lower_link");
+ ignition::physics::tpelib::Entity &link03 =
+ model.GetChildByName("lower_link");
  ASSERT_NE(ignition::physics::tpelib::Entity::kNullEntity.GetId(),
  link03.GetId());
  EXPECT_EQ("lower_link", link03.GetName());

tpe/plugin/src/ShapeFeatures.cc

@@ -148,7 +148,7 @@ Identity ShapeFeatures::AttachCylinderShape(
  it->second->link->AddCollision());
  collision.SetName(_name);
  collision.SetPose(math::eigen3::convert(_pose));
- 
+
  tpelib::CylinderShape cylindershape;
  cylindershape.SetRadius(_radius);
  cylindershape.SetLength(_height);