Update to clang-tidy version 10

Author: Levi Armstrong

README.md

@@ -122,8 +122,8 @@ Tesseract currently leverages Compiler Warnigs, Clang Tidy and Code Coverage. Al
   - cppcoreguidelines-no-malloc
   - cppcoreguidelines-slicing
   - cppcoreguidelines-special-member-functions
-  - misc-*
-  - modernize-*
+  - misc-*,-misc-non-private-member-variables-in-classes
+  - modernize-*,-modernize-use-trailing-return-type,-modernize-use-nodiscard
   - performance-*
   - readability-avoid-const-params-in-decls
   - readability-container-size-empty

tesseract/tesseract_collision/include/tesseract_collision/test_suite/collision_octomap_mesh_unit.hpp

@@ -106,14 +106,11 @@ inline void runTest(DiscreteContactManager& checker, const std::string& file_pat
       idx = 1;
 
     mesh_vertices_color[static_cast<std::size_t>(
-        (*mesh_triangles)[static_cast<std::size_t>(4 * r.subshape_id[static_cast<std::size_t>(idx)] + 1)])] =
-        Eigen::Vector3i(255, 0, 0);
+        (*mesh_triangles)[4 * r.subshape_id[static_cast<std::size_t>(idx)] + 1])] = Eigen::Vector3i(255, 0, 0);
     mesh_vertices_color[static_cast<std::size_t>(
-        (*mesh_triangles)[static_cast<std::size_t>(4 * r.subshape_id[static_cast<std::size_t>(idx)] + 2)])] =
-        Eigen::Vector3i(255, 0, 0);
+        (*mesh_triangles)[4 * r.subshape_id[static_cast<std::size_t>(idx)] + 2])] = Eigen::Vector3i(255, 0, 0);
     mesh_vertices_color[static_cast<std::size_t>(
-        (*mesh_triangles)[static_cast<std::size_t>(4 * r.subshape_id[static_cast<std::size_t>(idx)] + 3)])] =
-        Eigen::Vector3i(255, 0, 0);
+        (*mesh_triangles)[4 * r.subshape_id[static_cast<std::size_t>(idx)] + 3])] = Eigen::Vector3i(255, 0, 0);
   }
 
   writeSimplePlyFile(file_path, *mesh_vertices, mesh_vertices_color, *mesh_triangles, mesh->getTriangleCount());

tesseract/tesseract_common/cmake/tesseract_macros.cmake

@@ -49,7 +49,7 @@ macro(tesseract_variables)
   set(TESSERACT_COMPILE_OPTIONS_PUBLIC "")
   set(TESSERACT_COMPILE_OPTIONS_PRIVATE "")
   if (NOT TESSERACT_ENABLE_TESTING AND NOT TESSERACT_ENABLE_TESTING_ALL)
-    set(TESSERACT_CLANG_TIDY_ARGS "-header-filter=.*" "-line-filter=[{'name':'EnvironmentMonitorDynamicReconfigureConfig.h','lines':[[9999999,9999999]]}, {'name':'.h'}, {'name':'.hpp'}]" "-checks=-*,clang-analyzer-*,bugprone-*,cppcoreguidelines-avoid-goto,cppcoreguidelines-c-copy-assignment-signature,cppcoreguidelines-interfaces-global-init,cppcoreguidelines-narrowing-conversions,cppcoreguidelines-no-malloc,cppcoreguidelines-slicing,cppcoreguidelines-special-member-functions,misc-*,modernize-*,performance-*,readability-avoid-const-params-in-decls,readability-container-size-empty,readability-delete-null-pointer,readability-deleted-default,readability-else-after-return,readability-function-size,readability-identifier-naming,readability-inconsistent-declaration-parameter-name,readability-misleading-indentation,readability-misplaced-array-index,readability-non-const-parameter,readability-redundant-*,readability-simplify-*,readability-static-*,readability-string-compare,readability-uniqueptr-delete-release,readability-rary-objects")
+    set(TESSERACT_CLANG_TIDY_ARGS "-header-filter=.*" "-line-filter=[{'name':'EnvironmentMonitorDynamicReconfigureConfig.h','lines':[[9999999,9999999]]}, {'name':'.h'}, {'name':'.hpp'}]" "-checks=-*,clang-analyzer-*,bugprone-*,cppcoreguidelines-avoid-goto,cppcoreguidelines-c-copy-assignment-signature,cppcoreguidelines-interfaces-global-init,cppcoreguidelines-narrowing-conversions,cppcoreguidelines-no-malloc,cppcoreguidelines-slicing,cppcoreguidelines-special-member-functions,misc-*,-misc-non-private-member-variables-in-classes,modernize-*,-modernize-use-trailing-return-type,-modernize-use-nodiscard,performance-*,readability-avoid-const-params-in-decls,readability-container-size-empty,readability-delete-null-pointer,readability-deleted-default,readability-else-after-return,readability-function-size,readability-identifier-naming,readability-inconsistent-declaration-parameter-name,readability-misleading-indentation,readability-misplaced-array-index,readability-non-const-parameter,readability-redundant-*,readability-simplify-*,readability-static-*,readability-string-compare,readability-uniqueptr-delete-release,readability-rary-objects")
     if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
       set(TESSERACT_COMPILE_OPTIONS_PRIVATE -Wall -Wextra -Wconversion -Wsign-conversion -Wno-sign-compare -Wnon-virtual-dtor)
       set(TESSERACT_COMPILE_OPTIONS_PUBLIC -mno-avx)
@@ -63,7 +63,7 @@ macro(tesseract_variables)
       message(WARNING "${CMAKE_CXX_COMPILER_ID} Unsupported compiler detected.")
     endif()
   else()
-    set(TESSERACT_CLANG_TIDY_ARGS "-header-filter=.*" "-line-filter=[{'name':'EnvironmentMonitorDynamicReconfigureConfig.h','lines':[[9999999,9999999]]}, {'name':'.h'}, {'name':'.hpp'}]" "-checks=-*,clang-analyzer-*,bugprone-*,cppcoreguidelines-avoid-goto,cppcoreguidelines-c-copy-assignment-signature,cppcoreguidelines-interfaces-global-init,cppcoreguidelines-narrowing-conversions,cppcoreguidelines-no-malloc,cppcoreguidelines-slicing,cppcoreguidelines-special-member-functions,misc-*,modernize-*,performance-*,readability-avoid-const-params-in-decls,readability-container-size-empty,readability-delete-null-pointer,readability-deleted-default,readability-else-after-return,readability-function-size,readability-identifier-naming,readability-inconsistent-declaration-parameter-name,readability-misleading-indentation,readability-misplaced-array-index,readability-non-const-parameter,readability-redundant-*,readability-simplify-*,readability-static-*,readability-string-compare,readability-uniqueptr-delete-release,readability-rary-objects" "-warnings-as-errors=-*,clang-analyzer-*,bugprone-*,cppcoreguidelines-avoid-goto,cppcoreguidelines-c-copy-assignment-signature,cppcoreguidelines-interfaces-global-init,cppcoreguidelines-narrowing-conversions,cppcoreguidelines-no-malloc,cppcoreguidelines-slicing,cppcoreguidelines-special-member-functions,misc-*,modernize-*,performance-*,readability-avoid-const-params-in-decls,readability-container-size-empty,readability-delete-null-pointer,readability-deleted-default,readability-else-after-return,readability-function-size,readability-identifier-naming,readability-inconsistent-declaration-parameter-name,readability-misleading-indentation,readability-misplaced-array-index,readability-non-const-parameter,readability-redundant-*,readability-simplify-*,readability-static-*,readability-string-compare,readability-uniqueptr-delete-release,readability-rary-objects")
+    set(TESSERACT_CLANG_TIDY_ARGS "-header-filter=.*" "-line-filter=[{'name':'EnvironmentMonitorDynamicReconfigureConfig.h','lines':[[9999999,9999999]]}, {'name':'.h'}, {'name':'.hpp'}]" "-checks=-*,clang-analyzer-*,bugprone-*,cppcoreguidelines-avoid-goto,cppcoreguidelines-c-copy-assignment-signature,cppcoreguidelines-interfaces-global-init,cppcoreguidelines-narrowing-conversions,cppcoreguidelines-no-malloc,cppcoreguidelines-slicing,cppcoreguidelines-special-member-functions,misc-*,-misc-non-private-member-variables-in-classes,modernize-*,-modernize-use-trailing-return-type,-modernize-use-nodiscard,performance-*,readability-avoid-const-params-in-decls,readability-container-size-empty,readability-delete-null-pointer,readability-deleted-default,readability-else-after-return,readability-function-size,readability-identifier-naming,readability-inconsistent-declaration-parameter-name,readability-misleading-indentation,readability-misplaced-array-index,readability-non-const-parameter,readability-redundant-*,readability-simplify-*,readability-static-*,readability-string-compare,readability-uniqueptr-delete-release,readability-rary-objects" "-warnings-as-errors=-*,clang-analyzer-*,bugprone-*,cppcoreguidelines-avoid-goto,cppcoreguidelines-c-copy-assignment-signature,cppcoreguidelines-interfaces-global-init,cppcoreguidelines-narrowing-conversions,cppcoreguidelines-no-malloc,cppcoreguidelines-slicing,cppcoreguidelines-special-member-functions,misc-*,-misc-non-private-member-variables-in-classes,modernize-*,-modernize-use-trailing-return-type,-modernize-use-nodiscard,performance-*,readability-avoid-const-params-in-decls,readability-container-size-empty,readability-delete-null-pointer,readability-deleted-default,readability-else-after-return,readability-function-size,readability-identifier-naming,readability-inconsistent-declaration-parameter-name,readability-misleading-indentation,readability-misplaced-array-index,readability-non-const-parameter,readability-redundant-*,readability-simplify-*,readability-static-*,readability-string-compare,readability-uniqueptr-delete-release,readability-rary-objects")
     if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
       set(TESSERACT_COMPILE_OPTIONS_PRIVATE -Werror=all -Werror=extra -Werror=conversion -Werror=sign-conversion -Wno-sign-compare -Werror=non-virtual-dtor)
       set(TESSERACT_COMPILE_OPTIONS_PUBLIC -mno-avx)

tesseract/tesseract_common/include/tesseract_common/sfinae_utils.h

@@ -1,7 +1,11 @@
 #ifndef TESSEACT_COMMON_SFINAE_UTILS_H
 #define TESSEACT_COMMON_SFINAE_UTILS_H
 
+#include <tesseract_common/macros.h>
+TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <type_traits>
+#include <array>
+TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 /*
  *  https://stackoverflow.com/questions/257288/templated-check-for-the-existence-of-a-class-member-function
@@ -40,9 +44,9 @@ template <typename Alias, typename AmbiguitySeed>
 struct has_member
 {
   template <typename C>
-  static char (&f(decltype(&C::value)))[1];
+  static std::array<char, 1>& f(decltype(&C::value));
   template <typename C>
-  static char (&f(...))[2];
+  static std::array<char, 2>& f(...);
 
   // Make sure the member name is consistently spelled the same.
   static_assert((sizeof(f<AmbiguitySeed>(nullptr)) == 1),

tesseract/tesseract_common/include/tesseract_common/utils.h

@@ -127,13 +127,13 @@ inline bool toNumeric(const std::string& s, FloatType& value)
  * @param limits The limits to generated numbers based on.
  * @return A vector of random numbers between the provided limits.
  */
-inline Eigen::VectorXd generateRandomNumber(Eigen::MatrixX2d limits)
+inline Eigen::VectorXd generateRandomNumber(const Eigen::Ref<const Eigen::MatrixX2d>& limits)
 {
   Eigen::VectorXd joint_values;
   joint_values.resize(limits.rows());
   for (long i = 0; i < limits.rows(); ++i)
   {
-    std::uniform_real_distribution<double> sample{ limits(i, 0), limits(i, 1) };
+    std::uniform_real_distribution<double> sample(limits(i, 0), limits(i, 1));
     joint_values(i) = sample(mersenne);
   }
   return joint_values;

tesseract/tesseract_planning/tesseract_motion_planners/include/tesseract_motion_planners/core/planner.h

@@ -33,7 +33,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_common/status_code.h>
 #include <tesseract_motion_planners/core/types.h>
-#include <tesseract_motion_planners/core/trajectory_validator.h>
 
 #ifdef SWIG
 %shared_ptr(tesseract_planning::MotionPlanner)

tesseract/tesseract_planning/tesseract_motion_planners/include/tesseract_motion_planners/core/trajectory_validator.h

@@ -53,16 +53,19 @@ class DescartesTesseractKinematics : public descartes_light::KinematicsInterface
    * @param tesseract_fk Forward kinematics object
    * @param tesseract_ik Inverse kinematics object
    */
-  DescartesTesseractKinematics(const tesseract_kinematics::ForwardKinematics::ConstPtr tesseract_fk,
-                               const tesseract_kinematics::InverseKinematics::ConstPtr tesseract_ik)
-    : DescartesTesseractKinematics(tesseract_fk,
-                                   tesseract_ik,
-                                   std::bind(&descartes_light::isWithinLimits<FloatType>,
-                                             std::placeholders::_1,
-                                             tesseract_fk->getLimits().joint_limits.cast<FloatType>()),
-                                   std::bind(&descartes_light::getRedundantSolutions<FloatType>,
-                                             std::placeholders::_1,
-                                             tesseract_fk->getLimits().joint_limits.cast<FloatType>()))
+  DescartesTesseractKinematics(const tesseract_kinematics::ForwardKinematics::ConstPtr& tesseract_fk,
+                               const tesseract_kinematics::InverseKinematics::ConstPtr& tesseract_ik)
+    : DescartesTesseractKinematics(
+          tesseract_fk,
+          tesseract_ik,
+          [=](const FloatType* vertex) {
+            return descartes_light::isWithinLimits<FloatType>(vertex,
+                                                              tesseract_fk->getLimits().joint_limits.cast<FloatType>());
+          },
+          [=](const FloatType* vertex) {
+            return descartes_light::getRedundantSolutions<FloatType>(
+                vertex, tesseract_fk->getLimits().joint_limits.cast<FloatType>());
+          })
   {
     ik_seed_ = Eigen::VectorXd::Zero(dof());
   }

tesseract/tesseract_planning/tesseract_motion_planners/include/tesseract_motion_planners/descartes/descartes_tesseract_kinematics.h

@@ -58,7 +58,7 @@ class DescartesJointLimitsVertexEvaluator : public DescartesVertexEvaluator<Floa
 {
 public:
   using Ptr = typename std::shared_ptr<DescartesJointLimitsVertexEvaluator<FloatType>>;
-  DescartesJointLimitsVertexEvaluator(Eigen::MatrixX2d limits) : limits_(std::move(limits)) {}
+  DescartesJointLimitsVertexEvaluator(const Eigen::Ref<const Eigen::MatrixX2d>& limits) : limits_(limits) {}
 
   bool operator()(const Eigen::Ref<const Eigen::Matrix<FloatType, Eigen::Dynamic, 1>>& vertex) const override
   {