Update clang-format-14 with QualifierAlignment (moveit#2362)

* Set qualifier order in .clang-format

* Ran pre-commit to update according to new style guide

.clang-format

@@ -59,6 +59,10 @@ SpaceBeforeAssignmentOperators: true
 # Configure each individual brace in BraceWrapping
 BreakBeforeBraces: Custom
 
+# Qualifiers (const, volatile, static, etc)
+QualifierAlignment: Custom
+QualifierOrder: ['static', 'inline', 'constexpr', 'const', 'volatile', 'type']
+
 # Control of individual brace wrapping cases
 BraceWrapping:
     AfterCaseLabel: true

moveit_core/collision_detection/src/collision_matrix.cpp

@@ -64,10 +64,10 @@ AllowedCollisionMatrix::AllowedCollisionMatrix(const srdf::Model& srdf)
   for (const std::string& name : srdf.getNoDefaultCollisionLinks())
     setDefaultEntry(name, collision_detection::AllowedCollision::ALWAYS);
   // re-enable specific collision pairs
-  for (auto const& collision : srdf.getEnabledCollisionPairs())
+  for (const auto& collision : srdf.getEnabledCollisionPairs())
     setEntry(collision.link1_, collision.link2_, false);
   // *finally* disable selected collision pairs
-  for (auto const& collision : srdf.getDisabledCollisionPairs())
+  for (const auto& collision : srdf.getDisabledCollisionPairs())
     setEntry(collision.link1_, collision.link2_, true);
 }
 

moveit_core/collision_distance_field/src/collision_distance_field_types.cpp

@@ -43,7 +43,7 @@
 #include <rclcpp/time.hpp>
 #include <memory>
 
-const static double EPSILON{ 0.0001 };
+static const double EPSILON{ 0.0001 };
 
 namespace collision_detection
 {

moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h

@@ -156,7 +156,7 @@ class MOVEIT_KINEMATICS_BASE_EXPORT KinematicsBase
 
   /** @brief Signature for a cost function used to evaluate IK solutions. */
   using IKCostFn = std::function<double(const geometry_msgs::msg::Pose&, const moveit::core::RobotState&,
-                                        moveit::core::JointModelGroup const*, const std::vector<double>&)>;
+                                        const moveit::core::JointModelGroup*, const std::vector<double>&)>;
 
   /**
    * @brief Given a desired pose of the end-effector, compute the joint angles to reach it

moveit_core/robot_trajectory/include/moveit/robot_trajectory/robot_trajectory.h

@@ -398,18 +398,18 @@ std::ostream& operator<<(std::ostream& out, const RobotTrajectory& trajectory);
 /// active joint distances between the two states (L1 norm).
 /// \param[in] trajectory Given robot trajectory
 /// \return Length of the robot trajectory [rad]
-[[nodiscard]] double path_length(RobotTrajectory const& trajectory);
+[[nodiscard]] double path_length(const RobotTrajectory& trajectory);
 
 /// \brief Calculate the smoothness of a given trajectory
 /// \param[in] trajectory Given robot trajectory
 /// \return Smoothness of the given trajectory
 /// or nullopt if it is not possible to calculate the smoothness
-[[nodiscard]] std::optional<double> smoothness(RobotTrajectory const& trajectory);
+[[nodiscard]] std::optional<double> smoothness(const RobotTrajectory& trajectory);
 
 /// \brief Calculate the waypoint density of a trajectory
 /// \param[in] trajectory Given robot trajectory
 /// \return Waypoint density of the given trajectory
 /// or nullopt if it is not possible to calculate the density
-[[nodiscard]] std::optional<double> waypoint_density(RobotTrajectory const& trajectory);
+[[nodiscard]] std::optional<double> waypoint_density(const RobotTrajectory& trajectory);
 
 }  // namespace robot_trajectory

moveit_core/robot_trajectory/src/robot_trajectory.cpp

@@ -636,19 +636,19 @@ std::ostream& operator<<(std::ostream& out, const RobotTrajectory& trajectory)
   return out;
 }
 
-double path_length(RobotTrajectory const& trajectory)
+double path_length(const RobotTrajectory& trajectory)
 {
   auto trajectory_length = 0.0;
   for (std::size_t index = 1; index < trajectory.getWayPointCount(); ++index)
   {
-    auto const& first = trajectory.getWayPoint(index - 1);
-    auto const& second = trajectory.getWayPoint(index);
+    const auto& first = trajectory.getWayPoint(index - 1);
+    const auto& second = trajectory.getWayPoint(index);
     trajectory_length += first.distance(second);
   }
   return trajectory_length;
 }
 
-std::optional<double> smoothness(RobotTrajectory const& trajectory)
+std::optional<double> smoothness(const RobotTrajectory& trajectory)
 {
   if (trajectory.getWayPointCount() > 2)
   {
@@ -686,13 +686,13 @@ std::optional<double> smoothness(RobotTrajectory const& trajectory)
   return std::nullopt;
 }
 
-std::optional<double> waypoint_density(RobotTrajectory const& trajectory)
+std::optional<double> waypoint_density(const RobotTrajectory& trajectory)
 {
   // Only calculate density if more than one waypoint exists
   if (trajectory.getWayPointCount() > 1)
   {
     // Calculate path length
-    auto const length = path_length(trajectory);
+    const auto length = path_length(trajectory);
     if (length > 0.0)
     {
       auto density = static_cast<double>(trajectory.getWayPointCount()) / length;

moveit_core/trajectory_processing/include/moveit/trajectory_processing/ruckig_traj_smoothing.h

@@ -108,7 +108,7 @@ class RuckigSmoothing
    */
   [[nodiscard]] static bool getRobotModelBounds(const double max_velocity_scaling_factor,
                                                 const double max_acceleration_scaling_factor,
-                                                moveit::core::JointModelGroup const* const group,
+                                                const moveit::core::JointModelGroup* const group,
                                                 ruckig::InputParameter<ruckig::DynamicDOFs>& ruckig_input);
 
   /**

moveit_core/trajectory_processing/src/ruckig_traj_smoothing.cpp

@@ -75,7 +75,7 @@ bool RuckigSmoothing::applySmoothing(robot_trajectory::RobotTrajectory& trajecto
   }
 
   // Kinematic limits (vels/accels/jerks) from RobotModel
-  moveit::core::JointModelGroup const* const group = trajectory.getGroup();
+  const moveit::core::JointModelGroup* const group = trajectory.getGroup();
   const size_t num_dof = group->getVariableCount();
   ruckig::InputParameter<ruckig::DynamicDOFs> ruckig_input{ num_dof };
   if (!getRobotModelBounds(max_velocity_scaling_factor, max_acceleration_scaling_factor, group, ruckig_input))
@@ -109,7 +109,7 @@ bool RuckigSmoothing::applySmoothing(robot_trajectory::RobotTrajectory& trajecto
   }
 
   // Set default kinematic limits (vels/accels/jerks)
-  moveit::core::JointModelGroup const* const group = trajectory.getGroup();
+  const moveit::core::JointModelGroup* const group = trajectory.getGroup();
   const size_t num_dof = group->getVariableCount();
   ruckig::InputParameter<ruckig::DynamicDOFs> ruckig_input{ num_dof };
   if (!getRobotModelBounds(max_velocity_scaling_factor, max_acceleration_scaling_factor, group, ruckig_input))
@@ -176,7 +176,7 @@ bool RuckigSmoothing::applySmoothing(robot_trajectory::RobotTrajectory& trajecto
 
 bool RuckigSmoothing::validateGroup(const robot_trajectory::RobotTrajectory& trajectory)
 {
-  moveit::core::JointModelGroup const* const group = trajectory.getGroup();
+  const moveit::core::JointModelGroup* const group = trajectory.getGroup();
   if (!group)
   {
     RCLCPP_ERROR(LOGGER, "The planner did not set the group the plan was computed for");
@@ -187,7 +187,7 @@ bool RuckigSmoothing::validateGroup(const robot_trajectory::RobotTrajectory& tra
 
 bool RuckigSmoothing::getRobotModelBounds(const double max_velocity_scaling_factor,
                                           const double max_acceleration_scaling_factor,
-                                          moveit::core::JointModelGroup const* const group,
+                                          const moveit::core::JointModelGroup* const group,
                                           ruckig::InputParameter<ruckig::DynamicDOFs>& ruckig_input)
 {
   const size_t num_dof = group->getVariableCount();
@@ -244,7 +244,7 @@ bool RuckigSmoothing::runRuckig(robot_trajectory::RobotTrajectory& trajectory,
                                 const bool mitigate_overshoot, const double overshoot_threshold)
 {
   const size_t num_waypoints = trajectory.getWayPointCount();
-  moveit::core::JointModelGroup const* const group = trajectory.getGroup();
+  const moveit::core::JointModelGroup* const group = trajectory.getGroup();
   const size_t num_dof = group->getVariableCount();
   ruckig::OutputParameter<ruckig::DynamicDOFs> ruckig_output{ num_dof };
 

moveit_core/trajectory_processing/test/test_ruckig_traj_smoothing.cpp

@@ -158,9 +158,9 @@ TEST_F(RuckigTests, single_waypoint)
   EXPECT_TRUE(
       smoother_.applySmoothing(*trajectory_, 1.0 /* max vel scaling factor */, 1.0 /* max accel scaling factor */));
   // And the waypoint did not change
-  auto const new_first_waypoint = trajectory_->getFirstWayPointPtr();
-  auto const& variable_names = new_first_waypoint->getVariableNames();
-  for (std::string const& variable_name : variable_names)
+  const auto new_first_waypoint = trajectory_->getFirstWayPointPtr();
+  const auto& variable_names = new_first_waypoint->getVariableNames();
+  for (const std::string& variable_name : variable_names)
   {
     EXPECT_EQ(first_waypoint_input.getVariablePosition(variable_name),
               new_first_waypoint->getVariablePosition(variable_name));

moveit_kinematics/test/test_kinematics_plugin.cpp

@@ -85,7 +85,7 @@ class SharedData
   int num_nearest_ik_tests_;
   bool publish_trajectory_;
 
-  SharedData(SharedData const&) = delete;  // this is a singleton
+  SharedData(const SharedData&) = delete;  // this is a singleton
   SharedData()
   {
     initialize();

moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_goal_sampler.h

@@ -57,7 +57,7 @@ class ConstrainedGoalSampler : public ompl::base::GoalLazySamples
 
 private:
   bool sampleUsingConstraintSampler(const ompl::base::GoalLazySamples* gls, ompl::base::State* new_goal);
-  bool stateValidityCallback(ompl::base::State* new_goal, moveit::core::RobotState const* state,
+  bool stateValidityCallback(ompl::base::State* new_goal, const moveit::core::RobotState* state,
                              const moveit::core::JointModelGroup* /*jmg*/, const double* /*jpos*/,
                              bool verbose = false) const;
   bool checkStateValidity(ompl::base::State* new_goal, const moveit::core::RobotState& state,

moveit_planners/ompl/ompl_interface/src/detail/constrained_goal_sampler.cpp

@@ -77,7 +77,7 @@ bool ompl_interface::ConstrainedGoalSampler::checkStateValidity(ob::State* new_g
 }
 
 bool ompl_interface::ConstrainedGoalSampler::stateValidityCallback(ob::State* new_goal,
-                                                                   moveit::core::RobotState const* state,
+                                                                   const moveit::core::RobotState* state,
                                                                    const moveit::core::JointModelGroup* jmg,
                                                                    const double* jpos, bool verbose) const
 {

moveit_planners/ompl/ompl_interface/test/test_threadsafe_state_storage.cpp

@@ -68,10 +68,10 @@ class TestThreadSafeStateStorage : public ompl_interface_testing::LoadTestRobot,
     auto robot_state_stored = tss.getStateStorage();
 
     // Check if robot_state_stored's joint angles matches with what we set
-    for (auto const& joint_name : robot_state_->getVariableNames())
+    for (const auto& joint_name : robot_state_->getVariableNames())
     {
-      auto const expected_value = robot_state_->getVariablePosition(joint_name);
-      auto const actual_value = robot_state_stored->getVariablePosition(joint_name);
+      const auto expected_value = robot_state_->getVariablePosition(joint_name);
+      const auto actual_value = robot_state_stored->getVariablePosition(joint_name);
       EXPECT_EQ(actual_value, expected_value) << "Expecting joint value for " << joint_name << " to match.";
     }
   }

moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator.cpp

@@ -154,7 +154,7 @@ void TrajectoryGenerator::checkJointGoalConstraint(const moveit_msgs::msg::Const
                                                    const std::vector<std::string>& expected_joint_names,
                                                    const std::string& group_name) const
 {
-  for (auto const& joint_constraint : constraint.joint_constraints)
+  for (const auto& joint_constraint : constraint.joint_constraints)
   {
     const std::string& curr_joint_name{ joint_constraint.joint_name };
     if (std::find(expected_joint_names.cbegin(), expected_joint_names.cend(), curr_joint_name) ==

moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_ptp.cpp

@@ -102,7 +102,7 @@ void TrajectoryGeneratorPTP::planPTP(const std::map<std::string, double>& start_
 
   // check if goal already reached
   bool goal_reached = true;
-  for (auto const& goal : goal_pos)
+  for (const auto& goal : goal_pos)
   {
     if (fabs(start_pos.at(goal.first) - goal.second) >= MIN_MOVEMENT)
     {

moveit_planners/pilz_industrial_motion_planner/test/test_utils.h

@@ -72,7 +72,7 @@ static constexpr double DEFAULT_ROTATION_AXIS_EQUALITY_TOLERANCE{ 1e-8 };
 /**
  * @brief Convert degree to rad.
  */
-inline static constexpr double deg2Rad(double angle)
+static inline constexpr double deg2Rad(double angle)
 {
   return (angle / 180.0) * M_PI;
 }
@@ -88,7 +88,7 @@ inline std::string getJointName(size_t joint_number, const std::string& joint_pr
  */
 pilz_industrial_motion_planner::JointLimitsContainer createFakeLimits(const std::vector<std::string>& joint_names);
 
-inline std::string demangle(char const* name)
+inline std::string demangle(const char* name)
 {
   return boost::core::demangle(name);
 }

moveit_planners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_get_solver_tip_frame.cpp

@@ -59,7 +59,7 @@ class SolverMock
 class JointModelGroupMock
 {
 public:
-  MOCK_CONST_METHOD0(getSolverInstance, SolverMock const*());
+  MOCK_CONST_METHOD0(getSolverInstance, const SolverMock*());
   MOCK_CONST_METHOD0(getName, const std::string&());
 };
 

moveit_planners/pilz_industrial_motion_planner_testutils/include/pilz_industrial_motion_planner_testutils/xml_testdata_loader.h

@@ -173,7 +173,7 @@ class XmlTestdataLoader : public TestdataLoader
   /**
    * @brief Converts string vector to double vector.
    */
-  inline static std::vector<double> strVec2doubleVec(std::vector<std::string>& strVec);
+  static inline std::vector<double> strVec2doubleVec(std::vector<std::string>& strVec);
 
 public:
   /**

moveit_planners/stomp/include/stomp_moveit/filter_functions.hpp

@@ -50,7 +50,7 @@ namespace stomp_moveit
 namespace filters
 {
 // \brief An empty placeholder filter that doesn't apply any updates to the trajectory.
-const static FilterFn NO_FILTER = [](const Eigen::MatrixXd& /*values*/, Eigen::MatrixXd& /*filtered_values*/) {
+static const FilterFn NO_FILTER = [](const Eigen::MatrixXd& /*values*/, Eigen::MatrixXd& /*filtered_values*/) {
   return true;
 };
 

moveit_planners/stomp/src/stomp_moveit_planner_plugin.cpp

@@ -87,7 +87,7 @@ class StompPlannerManager : public PlannerManager
       return nullptr;
     }
 
-    auto const params = param_listener_->get_params();
+    const auto params = param_listener_->get_params();
 
     std::shared_ptr<StompPlanningContext> planning_context =
         std::make_shared<StompPlanningContext>("STOMP", req.group_name, params);

moveit_ros/benchmarks/src/BenchmarkExecutor.cpp

@@ -112,7 +112,7 @@ BenchmarkExecutor::~BenchmarkExecutor()
       return false;
     }
 
-    auto const& pipeline = moveit_cpp_->getPlanningPipelines().at(planning_pipeline_name);
+    const auto& pipeline = moveit_cpp_->getPlanningPipelines().at(planning_pipeline_name);
     // Verify the pipeline has successfully initialized a planner
     if (!pipeline->getPlannerManager())
     {
@@ -861,7 +861,7 @@ void BenchmarkExecutor::runBenchmark(moveit_msgs::msg::MotionPlanRequest request
         std::chrono::system_clock::time_point start = std::chrono::system_clock::now();
 
         // Planning pipeline benchmark
-        auto const response = planning_component->plan(plan_req_params, planning_scene_);
+        const auto response = planning_component->plan(plan_req_params, planning_scene_);
 
         solved[j] = bool(response.error_code);
 
@@ -924,7 +924,7 @@ void BenchmarkExecutor::runBenchmark(moveit_msgs::msg::MotionPlanRequest request
 
       // Create multi-pipeline request
       moveit_cpp::PlanningComponent::MultiPipelinePlanRequestParameters multi_pipeline_plan_request;
-      for (auto const& pipeline_planner_id_pair : parallel_pipeline_entry.second)
+      for (const auto& pipeline_planner_id_pair : parallel_pipeline_entry.second)
       {
         moveit_cpp::PlanningComponent::PlanRequestParameters plan_req_params = {
           .planner_id = pipeline_planner_id_pair.second,
@@ -959,11 +959,11 @@ void BenchmarkExecutor::runBenchmark(moveit_msgs::msg::MotionPlanRequest request
         // Solve problem
         std::chrono::system_clock::time_point start = std::chrono::system_clock::now();
 
-        auto const t1 = std::chrono::system_clock::now();
-        auto const response = planning_component->plan(multi_pipeline_plan_request,
+        const auto t1 = std::chrono::system_clock::now();
+        const auto response = planning_component->plan(multi_pipeline_plan_request,
                                                        &moveit::planning_pipeline_interfaces::getShortestSolution,
                                                        nullptr, planning_scene_);
-        auto const t2 = std::chrono::system_clock::now();
+        const auto t2 = std::chrono::system_clock::now();
 
         solved[j] = bool(response.error_code);
 

moveit_ros/benchmarks/src/BenchmarkOptions.cpp

@@ -255,10 +255,10 @@ bool BenchmarkOptions::readPlannerConfigs(const rclcpp::Node::SharedPtr& node)
 
       parallel_planning_pipelines[parallel_pipeline] = pipeline_planner_id_pairs;
 
-      for (auto const& entry : parallel_planning_pipelines)
+      for (const auto& entry : parallel_planning_pipelines)
       {
         RCLCPP_INFO(LOGGER, "Parallel planning pipeline '%s'", entry.first.c_str());
-        for (auto const& pair : entry.second)
+        for (const auto& pair : entry.second)
         {
           RCLCPP_INFO(LOGGER, "  '%s': '%s'", pair.first.c_str(), pair.second.c_str());
         }

moveit_ros/benchmarks/src/RunBenchmark.cpp

@@ -97,7 +97,7 @@ int main(int argc, char** argv)
       return 1;
     }
     // Running benchmarks
-    for (auto const& name : scene_names)
+    for (const auto& name : scene_names)
     {
       options.scene_name = name;
       if (!server.runBenchmarks(options))

moveit_ros/perception/mesh_filter/src/gl_renderer.cpp

@@ -261,7 +261,7 @@ GLuint mesh_filter::GLRenderer::createShader(GLuint shaderType, const string& Sh
   GLuint shader_id = glCreateShader(shaderType);
 
   // Compile Shader
-  char const* source_pointer = ShaderCode.c_str();
+  const char* source_pointer = ShaderCode.c_str();
   glShaderSource(shader_id, 1, &source_pointer, nullptr);
   glCompileShader(shader_id);
 

moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp

@@ -140,7 +140,7 @@ class KinematicsPluginLoader::KinematicsLoaderImpl
 
     // just to be sure, do not call the same pluginlib instance allocation function in parallel
     std::scoped_lock slock(lock_);
-    for (auto const& [group, solver] : possible_kinematics_solvers_)
+    for (const auto& [group, solver] : possible_kinematics_solvers_)
     {
       // Don't bother trying to load a solver for the wrong group
       if (group != jmg->getName())
@@ -206,7 +206,7 @@ class KinematicsPluginLoader::KinematicsLoaderImpl
 
   void status() const
   {
-    for (auto const& [group, solver] : possible_kinematics_solvers_)
+    for (const auto& [group, solver] : possible_kinematics_solvers_)
     {
       RCLCPP_INFO(LOGGER, "Solver for group '%s': '%s' (search resolution = %lf)", group.c_str(), solver.c_str(),
                   search_res_.at(group));

moveit_ros/planning/moveit_cpp/src/planning_component.cpp

@@ -189,7 +189,7 @@ planning_interface::MotionPlanResponse PlanningComponent::plan(
     planning_scene->setCurrentState(request.start_state);
   }
 
-  auto const motion_plan_response_vector = moveit::planning_pipeline_interfaces::planWithParallelPipelines(
+  const auto motion_plan_response_vector = moveit::planning_pipeline_interfaces::planWithParallelPipelines(
       requests, planning_scene, moveit_cpp_->getPlanningPipelines(), stopping_criterion_callback,
       solution_selection_function);
 
@@ -354,7 +354,7 @@ std::vector<::planning_interface::MotionPlanRequest> PlanningComponent::getMotio
 {
   std::vector<::planning_interface::MotionPlanRequest> motion_plan_requests;
   motion_plan_requests.reserve(multi_pipeline_plan_request_parameters.plan_request_parameter_vector.size());
-  for (auto const& plan_request_parameters : multi_pipeline_plan_request_parameters.plan_request_parameter_vector)
+  for (const auto& plan_request_parameters : multi_pipeline_plan_request_parameters.plan_request_parameter_vector)
   {
     motion_plan_requests.push_back(getMotionPlanRequest(plan_request_parameters));
   }