Add new clang-tidy style rules (#2177)

.clang-tidy

@@ -18,6 +18,7 @@ Checks:          '-*,
                   readability-simplify-boolean-expr,
                   readability-container-size-empty,
                   readability-identifier-naming,
+                  readability-static-definition-in-anonymous-namespace,
                   '
 HeaderFilterRegex: ''
 AnalyzeTemporaryDtors: false
@@ -37,6 +38,9 @@ CheckOptions:
     value:           CamelCase
   - key:             readability-identifier-naming.UnionCase
     value:           CamelCase
+  # function names
+  - key:             readability-identifier-naming.FunctionCase
+    value:           camelBack
   # method names
   - key:             readability-identifier-naming.MethodCase
     value:           camelBack
@@ -50,8 +54,12 @@ CheckOptions:
   # const static or global variables are UPPER_CASE
   - key:             readability-identifier-naming.EnumConstantCase
     value:           UPPER_CASE
+  - key:             readability-identifier-naming.StaticVariableCasePrefix
+    value:           's_'
   - key:             readability-identifier-naming.StaticConstantCase
     value:           UPPER_CASE
   - key:             readability-identifier-naming.GlobalConstantCase
     value:           UPPER_CASE
+  - key:             readability-identifier-naming.ClassConstantCase
+    value:           UPPER_CASE
 ...

moveit_core/collision_detection/test/test_world.cpp

@@ -224,7 +224,7 @@ struct TestAction
 };
 
 /* notification callback */
-static void TrackChangesNotify(TestAction& ta, const World::ObjectConstPtr& obj, World::Action action)
+static void trackChangesNotify(TestAction& ta, const World::ObjectConstPtr& obj, World::Action action)
 {
   ta.obj_ = *obj;
   ta.action_ = action;
@@ -238,7 +238,7 @@ TEST(World, TrackChanges)
   TestAction ta;
   World::ObserverHandle observer_ta;
   observer_ta = world.addObserver([&ta](const World::ObjectConstPtr& object, World::Action action) {
-    return TrackChangesNotify(ta, object, action);
+    return trackChangesNotify(ta, object, action);
   });
 
   // Create some shapes
@@ -271,7 +271,7 @@ TEST(World, TrackChanges)
   TestAction ta2;
   World::ObserverHandle observer_ta2;
   observer_ta2 = world.addObserver([&ta2](const World::ObjectConstPtr& object, World::Action action) {
-    return TrackChangesNotify(ta2, object, action);
+    return trackChangesNotify(ta2, object, action);
   });
 
   world.addToObject("obj2", cyl, Eigen::Isometry3d::Identity());
@@ -311,7 +311,7 @@ TEST(World, TrackChanges)
   TestAction ta3;
   World::ObserverHandle observer_ta3;
   observer_ta3 = world.addObserver([&ta3](const World::ObjectConstPtr& object, World::Action action) {
-    return TrackChangesNotify(ta3, object, action);
+    return trackChangesNotify(ta3, object, action);
   });
 
   bool rm_good = world.removeShapeFromObject("obj2", cyl);
@@ -379,7 +379,7 @@ TEST(World, ObjectPoseAndSubframes)
   TestAction ta;
   World::ObserverHandle observer_ta;
   observer_ta = world.addObserver([&ta](const World::ObjectConstPtr& object, World::Action action) {
-    return TrackChangesNotify(ta, object, action);
+    return trackChangesNotify(ta, object, action);
   });
 
   // Create shapes

moveit_core/collision_detection_fcl/src/collision_common.cpp

@@ -709,7 +709,7 @@ bool distanceCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, void
  *
  * The returned cache is a quasi-singleton for each thread as it is created \e thread_local. */
 template <typename BV, typename T>
-FCLShapeCache& GetShapeCache()
+FCLShapeCache& getShapeCache()
 {
   /* The cache is created thread_local, that is each thread calling
    * this quasi-singleton function will get its own instance. Once
@@ -735,7 +735,7 @@ FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape,
   using ShapeKey = shapes::ShapeConstWeakPtr;
   using ShapeMap = std::map<ShapeKey, FCLGeometryConstPtr, std::owner_less<ShapeKey>>;
 
-  FCLShapeCache& cache = GetShapeCache<BV, T>();
+  FCLShapeCache& cache = getShapeCache<BV, T>();
 
   shapes::ShapeConstWeakPtr wptr(shape);
   {
@@ -767,7 +767,7 @@ FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape,
   if (std::is_same<T, moveit::core::AttachedBody>::value)
   {
     // get the cache that corresponds to objects; maybe this attached object used to be a world object
-    FCLShapeCache& othercache = GetShapeCache<BV, World::Object>();
+    FCLShapeCache& othercache = getShapeCache<BV, World::Object>();
 
     // attached bodies could be just moved from the environment.
     auto cache_it = othercache.map_.find(wptr);
@@ -800,7 +800,7 @@ FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape,
     if (std::is_same<T, World::Object>::value)
     {
       // get the cache that corresponds to objects; maybe this attached object used to be a world object
-      FCLShapeCache& othercache = GetShapeCache<BV, moveit::core::AttachedBody>();
+      FCLShapeCache& othercache = getShapeCache<BV, moveit::core::AttachedBody>();
 
       // attached bodies could be just moved from the environment.
       auto cache_it = othercache.map_.find(wptr);
@@ -966,11 +966,11 @@ FCLGeometryConstPtr createCollisionGeometry(const shapes::ShapeConstPtr& shape,
 
 void cleanCollisionGeometryCache()
 {
-  FCLShapeCache& cache1 = GetShapeCache<fcl::OBBRSSd, World::Object>();
+  FCLShapeCache& cache1 = getShapeCache<fcl::OBBRSSd, World::Object>();
   {
     cache1.bumpUseCount(true);
   }
-  FCLShapeCache& cache2 = GetShapeCache<fcl::OBBRSSd, moveit::core::AttachedBody>();
+  FCLShapeCache& cache2 = getShapeCache<fcl::OBBRSSd, moveit::core::AttachedBody>();
   {
     cache2.bumpUseCount(true);
   }

moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.cpp

@@ -105,7 +105,7 @@ void PR2ArmIKSolver::updateInternalDataStructures()
 int PR2ArmIKSolver::CartToJnt(const KDL::JntArray& q_init, const KDL::Frame& p_in, KDL::JntArray& q_out)
 {
   const bool verbose = false;
-  Eigen::Isometry3f b = KDLToEigenMatrix(p_in);
+  Eigen::Isometry3f b = kdlToEigenMatrix(p_in);
   std::vector<std::vector<double> > solution_ik;
   if (free_angle_ == 0)
   {
@@ -221,7 +221,7 @@ bool getKDLChain(const urdf::ModelInterface& model, const std::string& root_name
   return true;
 }
 
-Eigen::Isometry3f KDLToEigenMatrix(const KDL::Frame& p)
+Eigen::Isometry3f kdlToEigenMatrix(const KDL::Frame& p)
 {
   Eigen::Isometry3f b = Eigen::Isometry3f::Identity();
   for (int i = 0; i < 3; ++i)

moveit_core/constraint_samplers/test/pr2_arm_kinematics_plugin.h

@@ -115,7 +115,7 @@ class PR2ArmIKSolver : public KDL::ChainIkSolverPos
   std::string root_frame_name_;
 };
 
-Eigen::Isometry3f KDLToEigenMatrix(const KDL::Frame& p);
+Eigen::Isometry3f kdlToEigenMatrix(const KDL::Frame& p);
 double computeEuclideanDistance(const std::vector<double>& array_1, const KDL::JntArray& array_2);
 void getKDLChainInfo(const KDL::Chain& chain, moveit_msgs::msg::KinematicSolverInfo& chain_info);
 

moveit_core/distance_field/test/test_distance_field.cpp

@@ -59,7 +59,7 @@ static const Eigen::Vector3d POINT1(0.1, 0.0, 0.0);
 static const Eigen::Vector3d POINT2(0.0, 0.1, 0.2);
 static const Eigen::Vector3d POINT3(0.4, 0.0, 0.0);
 
-int dist_sq(int x, int y, int z)
+int distanceSequence(int x, int y, int z)
 {
   return x * x + y * y + z * z;
 }
@@ -295,8 +295,8 @@ unsigned int countLeafNodes(const octomap::OcTree& octree)
 }
 
 // points should contain all occupied points
-void check_distance_field(const PropagationDistanceField& df, const EigenSTL::vector_Vector3d& points, int numX,
-                          int numY, int numZ, bool do_negs)
+void checkDistanceField(const PropagationDistanceField& df, const EigenSTL::vector_Vector3d& points, int numX, int numY,
+                        int numZ, bool do_negs)
 {
   EigenSTL::vector_Vector3i points_ind(points.size());
   for (unsigned int i = 0; i < points.size(); ++i)
@@ -374,15 +374,15 @@ TEST(TestPropagationDistanceField, TestAddRemovePoints)
   // std::cout << "One removal, one addition" << '\n';
   // print(df, numX, numY, numZ);
   // printNeg(df, numX, numY, numZ);
-  check_distance_field(df, points, num_x, num_y, num_z, false);
+  checkDistanceField(df, points, num_x, num_y, num_z, false);
 
   // Remove
   points.clear();
   points.push_back(POINT2);
   df.removePointsFromField(points);
   points.clear();
   points.push_back(POINT3);
-  check_distance_field(df, points, num_x, num_y, num_z, false);
+  checkDistanceField(df, points, num_x, num_y, num_z, false);
 
   // now testing gradient calls
   df.reset();
@@ -455,7 +455,7 @@ TEST(TestSignedPropagationDistanceField, TestSignedAddRemovePoints)
   // print(df, numX, numY, numZ);
 
   // TODO - check initial values
-  // EXPECT_EQ( df.getCell(0,0,0).distance_square_, max_dist_sq_in_voxels );
+  // EXPECT_EQ( df.getCell(0,0,0).distance_square_, max_distanceSequence_in_voxels );
 
   // Add points to the grid
   double lwx, lwy, lwz;
@@ -627,7 +627,7 @@ TEST(TestSignedPropagationDistanceField, TestShape)
   EigenSTL::vector_Vector3d point_vec;
   findInternalPointsConvex(*body, RESOLUTION, point_vec);
   delete body;
-  check_distance_field(df, point_vec, num_x, num_y, num_z, true);
+  checkDistanceField(df, point_vec, num_x, num_y, num_z, true);
 
   // std::cout << "Shape pos "<< '\n';
   // print(df, numX, numY, numZ);
@@ -644,12 +644,12 @@ TEST(TestSignedPropagationDistanceField, TestShape)
   delete body;
   EigenSTL::vector_Vector3d point_vec_union = point_vec_2;
   point_vec_union.insert(point_vec_union.end(), point_vec.begin(), point_vec.end());
-  check_distance_field(df, point_vec_union, num_x, num_y, num_z, true);
+  checkDistanceField(df, point_vec_union, num_x, num_y, num_z, true);
 
   // should get rid of old pose
   df.moveShapeInField(&sphere, p, np);
 
-  check_distance_field(df, point_vec_2, num_x, num_y, num_z, true);
+  checkDistanceField(df, point_vec_2, num_x, num_y, num_z, true);
 
   // should be equivalent to just adding second shape
   PropagationDistanceField test_df(WIDTH, HEIGHT, DEPTH, RESOLUTION, ORIGIN_X, ORIGIN_Y, ORIGIN_Z, MAX_DIST, true);

moveit_core/kinematic_constraints/src/kinematic_constraint.cpp

@@ -89,7 +89,7 @@ static double normalizeAbsoluteAngle(const double angle)
  */
 template <typename Derived>
 std::tuple<Eigen::Matrix<typename Eigen::MatrixBase<Derived>::Scalar, 3, 1>, bool>
-CalcEulerAngles(const Eigen::MatrixBase<Derived>& R)
+calcEulerAngles(const Eigen::MatrixBase<Derived>& R)
 {
   using std::atan2;
   using std::sqrt;
@@ -721,11 +721,11 @@ ConstraintEvaluationResult OrientationConstraint::decide(const moveit::core::Rob
   Eigen::Vector3d xyz_rotation;
   if (parameterization_type_ == moveit_msgs::msg::OrientationConstraint::XYZ_EULER_ANGLES)
   {
-    euler_angles_error = CalcEulerAngles(diff.linear());
+    euler_angles_error = calcEulerAngles(diff.linear());
     // Converting from a rotation matrix to intrinsic XYZ Euler angles has 2 singularities:
     // pitch ~= pi/2 ==> roll + yaw = theta
     // pitch ~= -pi/2 ==> roll - yaw = theta
-    // in those cases CalcEulerAngles will set roll (xyz_rotation(0)) to theta and yaw (xyz_rotation(2)) to zero, so for
+    // in those cases calcEulerAngles will set roll (xyz_rotation(0)) to theta and yaw (xyz_rotation(2)) to zero, so for
     // us to be able to capture yaw tolerance violations we do the following: If theta violates the absolute yaw
     // tolerance we think of it as a pure yaw rotation and set roll to zero.
     xyz_rotation = std::get<Eigen::Vector3d>(euler_angles_error);

moveit_core/kinematic_constraints/test/test_orientation_constraints.cpp

@@ -126,14 +126,14 @@ class FloatingJointRobot : public testing::Test
 };
 
 /** Helper function to create a quaternion from Euler angles. **/
-inline Eigen::Quaterniond xyz_intrinsix_to_quat(double rx, double ry, double rz)
+inline Eigen::Quaterniond xyzIntrinsixToQuaternion(double rx, double ry, double rz)
 {
   return Eigen::AngleAxisd(rx, Eigen::Vector3d::UnitX()) * Eigen::AngleAxisd(ry, Eigen::Vector3d::UnitY()) *
          Eigen::AngleAxisd(rz, Eigen::Vector3d::UnitZ());
 }
 
 /** Helper function to create a quaternion from a rotation vector. **/
-inline Eigen::Quaterniond rotation_vector_to_quat(double rx, double ry, double rz)
+inline Eigen::Quaterniond rotationVectorToQuaternion(double rx, double ry, double rz)
 {
   Eigen::Vector3d v{ rx, ry, rz };
   Eigen::Matrix3d m{ Eigen::AngleAxisd(v.norm(), v.normalized()) };
@@ -415,16 +415,16 @@ TEST_F(FloatingJointRobot, OrientationConstraintsParameterization)
   EXPECT_TRUE(oc_rotvec.decide(robot_state, true).satisfied);
 
   // some trivial test cases
-  setRobotEndEffectorOrientation(robot_state, xyz_intrinsix_to_quat(0.1, 0.2, -0.3));
+  setRobotEndEffectorOrientation(robot_state, xyzIntrinsixToQuaternion(0.1, 0.2, -0.3));
   EXPECT_TRUE(oc_euler.decide(robot_state).satisfied);
 
-  setRobotEndEffectorOrientation(robot_state, xyz_intrinsix_to_quat(0.1, 0.2, -0.6));
+  setRobotEndEffectorOrientation(robot_state, xyzIntrinsixToQuaternion(0.1, 0.2, -0.6));
   EXPECT_FALSE(oc_euler.decide(robot_state).satisfied);
 
-  setRobotEndEffectorOrientation(robot_state, rotation_vector_to_quat(0.1, 0.2, -0.3));
+  setRobotEndEffectorOrientation(robot_state, rotationVectorToQuaternion(0.1, 0.2, -0.3));
   EXPECT_TRUE(oc_rotvec.decide(robot_state).satisfied);
 
-  setRobotEndEffectorOrientation(robot_state, rotation_vector_to_quat(0.1, 0.2, -0.6));
+  setRobotEndEffectorOrientation(robot_state, rotationVectorToQuaternion(0.1, 0.2, -0.6));
   EXPECT_FALSE(oc_rotvec.decide(robot_state).satisfied);
 
   // more extensive testing using the test data hardcoded at the top of this file
@@ -457,20 +457,20 @@ TEST_F(FloatingJointRobot, OrientationConstraintsParameterization)
   robot_state.update();
 
   ocm.parameterization = moveit_msgs::msg::OrientationConstraint::XYZ_EULER_ANGLES;
-  ocm.orientation = tf2::toMsg(xyz_intrinsix_to_quat(0.1, 0.2, -0.3));
+  ocm.orientation = tf2::toMsg(xyzIntrinsixToQuaternion(0.1, 0.2, -0.3));
   EXPECT_TRUE(oc_euler.configure(ocm, tf));
   EXPECT_TRUE(oc_euler.decide(robot_state).satisfied);
 
-  ocm.orientation = tf2::toMsg(xyz_intrinsix_to_quat(0.1, 0.2, -0.6));
+  ocm.orientation = tf2::toMsg(xyzIntrinsixToQuaternion(0.1, 0.2, -0.6));
   EXPECT_TRUE(oc_euler.configure(ocm, tf));
   EXPECT_FALSE(oc_euler.decide(robot_state).satisfied);
 
   ocm.parameterization = moveit_msgs::msg::OrientationConstraint::ROTATION_VECTOR;
-  ocm.orientation = tf2::toMsg(rotation_vector_to_quat(0.1, 0.2, -0.3));
+  ocm.orientation = tf2::toMsg(rotationVectorToQuaternion(0.1, 0.2, -0.3));
   EXPECT_TRUE(oc_rotvec.configure(ocm, tf));
   EXPECT_TRUE(oc_rotvec.decide(robot_state).satisfied);
 
-  ocm.orientation = tf2::toMsg(rotation_vector_to_quat(0.1, 0.2, -0.6));
+  ocm.orientation = tf2::toMsg(rotationVectorToQuaternion(0.1, 0.2, -0.6));
   EXPECT_TRUE(oc_rotvec.configure(ocm, tf));
   EXPECT_FALSE(oc_rotvec.decide(robot_state).satisfied);
 }

moveit_core/planning_interface/src/planning_interface.cpp

@@ -53,10 +53,10 @@ struct ActiveContexts
   std::set<PlanningContext*> contexts_;
 };
 
-static ActiveContexts& getActiveContexts()
+ActiveContexts& getActiveContexts()
 {
-  static ActiveContexts ac;
-  return ac;
+  static ActiveContexts s_ac;
+  return s_ac;
 }
 }  // namespace
 

moveit_core/planning_request_adapter/src/planning_request_adapter.cpp

@@ -72,7 +72,7 @@ bool callAdapter(const PlanningRequestAdapter& adapter, const PlanningRequestAda
     std::swap(res.added_path_index, added_path_index);
     bool result = adapter.adaptAndPlan(planner, planning_scene, req, res);
     std::swap(res.added_path_index, added_path_index);
-    RCLCPP_DEBUG_STREAM(LOGGER, adapter.getDescription() << ": " << moveit::core::error_code_to_string(res.error_code));
+    RCLCPP_DEBUG_STREAM(LOGGER, adapter.getDescription() << ": " << moveit::core::errorCodeToString(res.error_code));
     return result;
   }
   catch (std::exception& ex)