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);