CPP Best Practices

moveit_core/exceptions/CMakeLists.txt

@@ -9,4 +9,4 @@ ament_target_dependencies(moveit_exceptions Boost rclcpp urdfdom
                           urdfdom_headers)
 target_link_libraries(moveit_exceptions moveit_utils)
 
-install(DIRECTORY include/ DESTINATION include/moveit_core)
+install(DIRECTORY include/ DESTINATION include/moveit_core_exceptions)

moveit_core/kinematic_constraints/CMakeLists.txt

@@ -30,7 +30,7 @@ target_link_libraries(
   moveit_kinematic_constraints moveit_collision_detection_fcl
   moveit_kinematics_base moveit_robot_state moveit_robot_model moveit_utils)
 
-install(DIRECTORY include/ DESTINATION include/moveit_core)
+install(DIRECTORY include/ DESTINATION include/moveit_core_kinematic_constraints)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)

moveit_core/kinematics_metrics/CMakeLists.txt

@@ -12,4 +12,4 @@ ament_target_dependencies(moveit_kinematics_metrics urdf urdfdom_headers
 target_link_libraries(moveit_kinematics_metrics moveit_robot_model
                       moveit_robot_state moveit_utils)
 
-install(DIRECTORY include/ DESTINATION include/moveit_core)
+install(DIRECTORY include/ DESTINATION include/moveit_core_kinematics_metrics)

moveit_core/macros/CMakeLists.txt

@@ -3,4 +3,4 @@ target_include_directories(
   moveit_macros INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
                           $<INSTALL_INTERFACE:include/moveit_core>)
 
-install(DIRECTORY include/ DESTINATION include/moveit_core)
+install(DIRECTORY include/ DESTINATION include/moveit_core_macros)

moveit_core/online_signal_smoothing/CMakeLists.txt

@@ -54,11 +54,11 @@ ament_target_dependencies(
 # Installation
 install(DIRECTORY include/ DESTINATION include/moveit_core)
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_smoothing_base_export.h
-        DESTINATION include/moveit_core)
+        DESTINATION include/moveit_core_online_signal_smoothing)
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_butterworth_filter_export.h
-        DESTINATION include/moveit_core)
+        DESTINATION include/moveit_core_online_signal_smoothing)
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_acceleration_filter_export.h
-        DESTINATION include/moveit_core)
+        DESTINATION include/moveit_core_online_signal_smoothing)
 
 # Testing
 

moveit_core/planning_interface/CMakeLists.txt

@@ -11,4 +11,4 @@ ament_target_dependencies(moveit_planning_interface moveit_msgs urdf urdfdom
 target_link_libraries(moveit_planning_interface moveit_robot_trajectory
                       moveit_robot_state moveit_planning_scene moveit_utils)
 
-install(DIRECTORY include/ DESTINATION include/moveit_core)
+install(DIRECTORY include/ DESTINATION include/moveit_core_planning_interface)

moveit_core/planning_scene/CMakeLists.txt

@@ -32,9 +32,9 @@ target_link_libraries(
   moveit_trajectory_processing
   moveit_utils)
 
-install(DIRECTORY include/ DESTINATION include/moveit_core)
+install(DIRECTORY include/ DESTINATION include/moveit_core_planning_scene)
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/moveit_planning_scene_export.h
-        DESTINATION include/moveit_core)
+        DESTINATION include/moveit_core_planning_scene)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)

moveit_core/robot_model/CMakeLists.txt

@@ -48,4 +48,4 @@ if(BUILD_TESTING)
   target_link_libraries(test_robot_model moveit_test_utils moveit_robot_model)
 endif()
 
-install(DIRECTORY include/ DESTINATION include/moveit_core)
+install(DIRECTORY include/ DESTINATION include/moveit_core_robot_model)

moveit_ros/planning/planning_components_tools/src/compare_collision_speed_checking_fcl_bullet.cpp

@@ -46,40 +46,40 @@
 
 static const std::string ROBOT_DESCRIPTION = "robot_description";
 
-/** \brief Factor to compute the maximum number of trials random clutter generation. */
+// \brief Factor to compute the maximum number of trials random clutter generation.
 static const int MAX_SEARCH_FACTOR_CLUTTER = 3;
 
-/** \brief Factor to compute the maximum number of trials for random state generation. */
+// \brief Factor to compute the maximum number of trials for random state generation.
 static const int MAX_SEARCH_FACTOR_STATES = 30;
 
-/** \brief Defines a random robot state. */
+// \brief Defines a random robot state.
 enum class RobotStateSelector
 {
   IN_COLLISION,
   NOT_IN_COLLISION,
   RANDOM,
 };
 
-/** \brief Enumerates the available collision detectors. */
+// \brief Enumerates the available collision detectors.
 enum class CollisionDetector
 {
   FCL,
   BULLET,
 };
 
-/** \brief Enumerates the different types of collision objects. */
+// \brief Enumerates the different types of collision objects.
 enum class CollisionObjectType
 {
   MESH,
   BOX,
 };
 
-/** \brief Clutters the world of the planning scene with random objects in a certain area around the origin. All added
- *  objects are not in collision with the robot.
- *
- *   \param planning_scene The planning scene
- *   \param num_objects The number of objects to be cluttered
- *   \param CollisionObjectType Type of object to clutter (mesh or box) */
+// \brief Clutters the world of the planning scene with random objects in a certain area around the origin. All added
+//  objects are not in collision with the robot.
+//
+//   \param planning_scene The planning scene
+//   \param num_objects The number of objects to be cluttered
+//   \param CollisionObjectType Type of object to clutter (mesh or box)
 void clutterWorld(const planning_scene::PlanningScenePtr& planning_scene, const size_t num_objects,
                   CollisionObjectType type)
 {
@@ -164,12 +164,12 @@ void clutterWorld(const planning_scene::PlanningScenePtr& planning_scene, const
   ROS_INFO_STREAM("Cluttered the planning scene with " << added_objects << " objects");
 }
 
-/** \brief Runs a collision detection benchmark and measures the time.
- *
- *   \param trials The number of repeated collision checks for each state
- *   \param scene The planning scene
- *   \param CollisionDetector The type of collision detector
- *   \param only_self Flag for only self collision check performed */
+// \brief Runs a collision detection benchmark and measures the time.
+//
+//   \param trials The number of repeated collision checks for each state
+//   \param scene The planning scene
+//   \param CollisionDetector The type of collision detector
+//   \param only_self Flag for only self collision check performed
 void runCollisionDetection(unsigned int trials, const planning_scene::PlanningScenePtr& scene,
                            const std::vector<moveit::core::RobotState>& states, const CollisionDetector col_detector,
                            bool only_self, bool distance = false)
@@ -242,11 +242,11 @@ void runCollisionDetection(unsigned int trials, const planning_scene::PlanningSc
   scene->setCurrentState(states.back());
 }
 
-/** \brief Samples valid states of the robot which can be in collision if desired.
- *  \param desired_states Specifier for type for desired state
- *  \param num_states Number of desired states
- *  \param scene The planning scene
- *  \param robot_states Result vector */
+//\brief Samples valid states of the robot which can be in collision if desired.
+//\param desired_states Specifier for type for desired state
+//\param num_states Number of desired states
+//\param scene The planning scene
+//\param robot_states Result vector
 void findStates(const RobotStateSelector desired_states, unsigned int num_states,
                 const planning_scene::PlanningScenePtr& scene, std::vector<moveit::core::RobotState>& robot_states)
 {

moveit_ros/planning/planning_components_tools/src/display_random_state.cpp

@@ -102,7 +102,7 @@ int main(int argc, char** argv)
       if (valid)
       {
         bool found = false;
-        unsigned int attempts = 0;
+        unsigned int attempts{ 0 };
         do
         {
           attempts++;
@@ -121,7 +121,7 @@ int main(int argc, char** argv)
       else if (invalid)
       {
         bool found = false;
-        unsigned int attempts = 0;
+        unsigned int attempts{ 0 };
         do
         {
           attempts++;

moveit_setup_assistant/moveit_setup_controllers/src/modified_urdf_config.cpp

@@ -67,7 +67,7 @@ bool ModifiedUrdfConfig::hasChanges() const
 {
   // Returns true if any of the included xacros are configured and have individually changed
   // or the list of included xacros have changed.
-  unsigned int count = 0;
+  unsigned int count{ 0 };
   for (auto& pair : getIncludedXacroMap())
   {
     if (!pair.second->isConfigured())