clang-tidy: add modernize-make-unique and modernize-use-noexcept (#5618)

* Streamlined modernize clang-tidy checks

* Fixed clang-tidy escapes

* Reverted to explicit check list per review

* Commented odd-looking use of this->

* Reverted explicit this-> per review

* Reverted this-> qualifier, changed per review

Author: gnawme

.clang-tidy

@@ -6,6 +6,7 @@ Checks: >
     google-readability-casting,
     modernize-deprecated-headers,
     modernize-loop-convert,
+    modernize-make-unique,
     modernize-redundant-void-arg,
     modernize-replace-random-shuffle,
     modernize-return-braced-init-list,
@@ -14,6 +15,7 @@ Checks: >
     modernize-use-emplace,
     modernize-use-equals-default,
     modernize-use-equals-delete,
+    modernize-use-noexcept,
     modernize-use-nullptr,
     modernize-use-override,
     modernize-use-using,

common/include/pcl/exceptions.h

@@ -78,25 +78,25 @@ namespace pcl
       {}
 
       const char*
-      getFileName () const throw ()
+      getFileName () const noexcept
       {
         return (file_name_);
       }
 
       const char*
-      getFunctionName () const throw ()
+      getFunctionName () const noexcept
       {
         return (function_name_);
       }
 
       unsigned
-      getLineNumber () const throw ()
+      getLineNumber () const noexcept
       {
         return (line_number_);
       }
 
       const char*
-      detailedMessage () const throw ()
+      detailedMessage () const noexcept
       {
         return (what ());
       }

filters/include/pcl/filters/impl/grid_minimum.hpp

@@ -135,7 +135,7 @@ pcl::GridMinimum<PointT>::applyFilterIndices (Indices &indices)
 
   // Second pass: sort the index_vector vector using value representing target cell as index
   // in effect all points belonging to the same output cell will be next to each other
-  std::sort (index_vector.begin (), index_vector.end (), std::less<point_index_idx> ());
+  std::sort (index_vector.begin (), index_vector.end (), std::less<> ());
 
   // Third pass: count output cells
   // we need to skip all the same, adjacenent idx values

filters/src/voxel_grid_label.cpp

@@ -189,7 +189,7 @@ pcl::VoxelGridLabel::applyFilter (PointCloud &output)
 
   // Second pass: sort the index_vector vector using value representing target cell as index
   // in effect all points belonging to the same output cell will be next to each other
-  std::sort (index_vector.begin (), index_vector.end (), std::less<cloud_point_index_idx> ());
+  std::sort (index_vector.begin (), index_vector.end (), std::less<> ());
 
   // Third pass: count output cells
   // we need to skip all the same, adjacenent idx values

io/include/pcl/io/io_exception.h

@@ -73,7 +73,7 @@ namespace pcl
         operator= (const IOException& exception);
 
         const char*
-        what () const throw () override;
+        what () const noexcept override;
 
         const std::string&
         getFunctionName () const;

io/include/pcl/io/openni_camera/openni_depth_image.h

@@ -77,7 +77,7 @@ namespace openni_wrapper
         * \return the actual depth data of type xn::DepthMetaData.
         */
       inline const xn::DepthMetaData& 
-      getDepthMetaData () const throw ();
+      getDepthMetaData () const noexcept;
 
       /** \brief fills a user given block of memory with the disparity values with additional nearest-neighbor down-scaling.
         * \param[in] width the width of the desired disparity image.
@@ -113,46 +113,46 @@ namespace openni_wrapper
         * \return baseline in meters
         */
       inline float 
-      getBaseline () const throw ();
+      getBaseline () const noexcept;
 
       /** \brief method to access the focal length of the "stereo" frame that was used to retrieve the depth image.
         * \return focal length in pixels
         */
       inline float 
-      getFocalLength () const throw ();
+      getFocalLength () const noexcept;
 
       /** \brief method to access the shadow value, that indicates pixels lying in shadow in the depth image.
         * \return shadow value
         */
       inline XnUInt64 
-      getShadowValue () const throw ();
+      getShadowValue () const noexcept;
 
       /** \brief method to access the no-sample value, that indicates pixels where no disparity could be determined for the depth image.
         * \return no-sample value
         */
       inline XnUInt64 
-      getNoSampleValue () const throw ();
+      getNoSampleValue () const noexcept;
 
       /** \return the width of the depth image */
       inline unsigned 
-      getWidth () const throw ();
+      getWidth () const noexcept;
 
       /** \return the height of the depth image */
       inline unsigned 
-      getHeight () const throw ();
+      getHeight () const noexcept;
 
       /** \return an ascending id for the depth frame
         * \attention not necessarily synchronized with other streams
         */
       inline unsigned 
-      getFrameID () const throw ();
+      getFrameID () const noexcept;
 
       /** \return a ascending timestamp for the depth frame
         * \attention its not the system time, thus can not be used directly to synchronize different sensors.
         *            But definitely synchronized with other streams
         */
       inline unsigned long 
-      getTimeStamp () const throw ();
+      getTimeStamp () const noexcept;
 
     protected:
       pcl::shared_ptr<xn::DepthMetaData> depth_md_;
@@ -172,55 +172,55 @@ namespace openni_wrapper
   DepthImage::~DepthImage () noexcept = default;
 
   const xn::DepthMetaData&
-  DepthImage::getDepthMetaData () const throw ()
+  DepthImage::getDepthMetaData () const noexcept
   {
     return *depth_md_;
   }
 
   float
-  DepthImage::getBaseline () const throw ()
+  DepthImage::getBaseline () const noexcept
   {
     return baseline_;
   }
 
   float
-  DepthImage::getFocalLength () const throw ()
+  DepthImage::getFocalLength () const noexcept
   {
     return focal_length_;
   }
 
   XnUInt64
-  DepthImage::getShadowValue () const throw ()
+  DepthImage::getShadowValue () const noexcept
   {
     return shadow_value_;
   }
 
   XnUInt64
-  DepthImage::getNoSampleValue () const throw ()
+  DepthImage::getNoSampleValue () const noexcept
   {
     return no_sample_value_;
   }
 
   unsigned
-  DepthImage::getWidth () const throw ()
+  DepthImage::getWidth () const noexcept
   {
     return depth_md_->XRes ();
   }
 
   unsigned
-  DepthImage::getHeight () const throw ()
+  DepthImage::getHeight () const noexcept
   {
     return depth_md_->YRes ();
   }
 
   unsigned
-  DepthImage::getFrameID () const throw ()
+  DepthImage::getFrameID () const noexcept
   {
     return depth_md_->FrameID ();
   }
 
   unsigned long
-  DepthImage::getTimeStamp () const throw ()
+  DepthImage::getTimeStamp () const noexcept
   {
     return static_cast<unsigned long> (depth_md_->Timestamp ());
   }