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clang-tidy performance-unnecessary-value-param

sbg
Daniel Agar 8 years ago
parent
be5764db48
commit
7e5f09f408
5 changed files with 21 additions and 21 deletions
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  1. 2
      .clang-tidy
  2. 4
      src/examples/mc_pos_control_multiplatform/mc_pos_control.cpp
  3. 4
      src/examples/mc_pos_control_multiplatform/mc_pos_control.h
  4. 8
      src/modules/mc_pos_control/mc_pos_control_main.cpp
  5. 24
      src/modules/mc_pos_control/mc_pos_control_tests/mc_pos_control_tests.cpp

2
.clang-tidy
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@ -166,7 +166,7 @@ Checks: 'clang-diagnostic-*,clang-analyzer-*,-*, @@ -166,7 +166,7 @@ Checks: 'clang-diagnostic-*,clang-analyzer-*,-*,
## TODO: fix code and enable # performance-inefficient-string-concatenation,
## TODO: fix code and enable # performance-type-promotion-in-math-fn,
## TODO: fix code and enable # performance-unnecessary-copy-initialization,
## TODO: fix code and enable # performance-unnecessary-value-param,
performance-unnecessary-value-param,
## TODO: fix code and enable # readability-avoid-const-params-in-decls,
readability-braces-around-statements,
readability-container-size-empty,

4
src/examples/mc_pos_control_multiplatform/mc_pos_control.cpp
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@ -398,8 +398,8 @@ MulticopterPositionControlMultiplatform::control_offboard(float dt) @@ -398,8 +398,8 @@ MulticopterPositionControlMultiplatform::control_offboard(float dt)
}
bool
MulticopterPositionControlMultiplatform::cross_sphere_line(const math::Vector<3> &sphere_c, float sphere_r,
const math::Vector<3> line_a, const math::Vector<3> line_b, math::Vector<3> &res)
MulticopterPositionControlMultiplatform::cross_sphere_line(const math::Vector<3> &sphere_c, const float sphere_r,
const math::Vector<3> &line_a, const math::Vector<3> &line_b, math::Vector<3> &res)
{
/* project center of sphere on line */
/* normalized AB */

4
src/examples/mc_pos_control_multiplatform/mc_pos_control.h
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@ -214,8 +214,8 @@ protected: @@ -214,8 +214,8 @@ protected:
*/
void control_offboard(float dt);
bool cross_sphere_line(const math::Vector<3> &sphere_c, float sphere_r,
const math::Vector<3> line_a, const math::Vector<3> line_b, math::Vector<3> &res);
bool cross_sphere_line(const math::Vector<3> &sphere_c, const float sphere_r,
const math::Vector<3> &line_a, const math::Vector<3> &line_b, math::Vector<3> &res);
/**
* Set position setpoint for AUTO

8
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -119,8 +119,8 @@ public: @@ -119,8 +119,8 @@ public:
*/
int start();
bool cross_sphere_line(const math::Vector<3> &sphere_c, float sphere_r,
const math::Vector<3> line_a, const math::Vector<3> line_b, math::Vector<3> &res);
bool cross_sphere_line(const math::Vector<3> &sphere_c, const float sphere_r,
const math::Vector<3> &line_a, const math::Vector<3> &line_b, math::Vector<3> &res);
private:
bool _task_should_exit; /**< if true, task should exit */
@ -1311,8 +1311,8 @@ MulticopterPositionControl::limit_acceleration(float dt) @@ -1311,8 +1311,8 @@ MulticopterPositionControl::limit_acceleration(float dt)
}
bool
MulticopterPositionControl::cross_sphere_line(const math::Vector<3> &sphere_c, float sphere_r,
const math::Vector<3> line_a, const math::Vector<3> line_b, math::Vector<3> &res)
MulticopterPositionControl::cross_sphere_line(const math::Vector<3> &sphere_c, const float sphere_r,
const math::Vector<3> &line_a, const math::Vector<3> &line_b, math::Vector<3> &res)
{
/* project center of sphere on line */
/* normalized AB */

24
src/modules/mc_pos_control/mc_pos_control_tests/mc_pos_control_tests.cpp
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@ -51,8 +51,8 @@ bool mcPosControlTests(); @@ -51,8 +51,8 @@ bool mcPosControlTests();
class MulticopterPositionControl
{
public:
bool cross_sphere_line(const math::Vector<3> &sphere_c, float sphere_r,
const math::Vector<3> line_a, const math::Vector<3> line_b, math::Vector<3> &res);
bool cross_sphere_line(const math::Vector<3> &sphere_c, const float sphere_r,
const math::Vector<3> &line_a, const math::Vector<3> &line_b, math::Vector<3> &res);
};
class McPosControlTests : public UnitTest
@ -77,7 +77,7 @@ McPosControlTests::~McPosControlTests() @@ -77,7 +77,7 @@ McPosControlTests::~McPosControlTests()
bool McPosControlTests::cross_sphere_line_test()
{
MulticopterPositionControl *control = {};
MulticopterPositionControl control = MulticopterPositionControl();
math::Vector<3> prev = math::Vector<3>(0, 0, 0);
math::Vector<3> curr = math::Vector<3>(0, 0, 2);
@ -108,7 +108,7 @@ bool McPosControlTests::cross_sphere_line_test() @@ -108,7 +108,7 @@ bool McPosControlTests::cross_sphere_line_test()
*/
// on line, near, before previous waypoint
retval = control->cross_sphere_line(math::Vector<3>(0.0f, 0.0f, -0.5f), 1.0f, prev, curr, res);
retval = control.cross_sphere_line(math::Vector<3>(0.0f, 0.0f, -0.5f), 1.0f, prev, curr, res);
PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
ut_assert_true(retval);
ut_compare_float("target A 0", res(0), 0.0f, 2);
@ -116,7 +116,7 @@ bool McPosControlTests::cross_sphere_line_test() @@ -116,7 +116,7 @@ bool McPosControlTests::cross_sphere_line_test()
ut_compare_float("target A 2", res(2), 0.5f, 2);
// on line, near, before target waypoint
retval = control->cross_sphere_line(math::Vector<3>(0.0f, 0.0f, 1.0f), 1.0f, prev, curr, res);
retval = control.cross_sphere_line(math::Vector<3>(0.0f, 0.0f, 1.0f), 1.0f, prev, curr, res);
PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
ut_assert_true(retval);
ut_compare_float("target B 0", res(0), 0.0f, 2);
@ -124,7 +124,7 @@ bool McPosControlTests::cross_sphere_line_test() @@ -124,7 +124,7 @@ bool McPosControlTests::cross_sphere_line_test()
ut_compare_float("target B 2", res(2), 2.0f, 2);
// on line, near, after target waypoint
retval = control->cross_sphere_line(math::Vector<3>(0.0f, 0.0f, 2.5f), 1.0f, prev, curr, res);
retval = control.cross_sphere_line(math::Vector<3>(0.0f, 0.0f, 2.5f), 1.0f, prev, curr, res);
PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
ut_assert_true(retval);
ut_compare_float("target C 0", res(0), 0.0f, 2);
@ -132,7 +132,7 @@ bool McPosControlTests::cross_sphere_line_test() @@ -132,7 +132,7 @@ bool McPosControlTests::cross_sphere_line_test()
ut_compare_float("target C 2", res(2), 2.0f, 2);
// near, before previous waypoint
retval = control->cross_sphere_line(math::Vector<3>(0.0f, 0.5f, -0.5f), 1.0f, prev, curr, res);
retval = control.cross_sphere_line(math::Vector<3>(0.0f, 0.5f, -0.5f), 1.0f, prev, curr, res);
PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
ut_assert_true(retval);
ut_compare_float("target D 0", res(0), 0.0f, 2);
@ -140,7 +140,7 @@ bool McPosControlTests::cross_sphere_line_test() @@ -140,7 +140,7 @@ bool McPosControlTests::cross_sphere_line_test()
ut_compare_float("target D 2", res(2), 0.37f, 2);
// near, before target waypoint
retval = control->cross_sphere_line(math::Vector<3>(0.0f, 0.5f, 1.0f), 1.0f, prev, curr, res);
retval = control.cross_sphere_line(math::Vector<3>(0.0f, 0.5f, 1.0f), 1.0f, prev, curr, res);
PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
ut_assert_true(retval);
ut_compare_float("target E 0", res(0), 0.0f, 2);
@ -148,7 +148,7 @@ bool McPosControlTests::cross_sphere_line_test() @@ -148,7 +148,7 @@ bool McPosControlTests::cross_sphere_line_test()
ut_compare_float("target E 2", res(2), 1.87f, 2);
// near, after target waypoint
retval = control->cross_sphere_line(math::Vector<3>(0.0f, 0.5f, 2.5f), 1.0f, prev, curr, res);
retval = control.cross_sphere_line(math::Vector<3>(0.0f, 0.5f, 2.5f), 1.0f, prev, curr, res);
PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
ut_assert_true(retval);
ut_compare_float("target F 0", res(0), 0.0f, 2);
@ -156,7 +156,7 @@ bool McPosControlTests::cross_sphere_line_test() @@ -156,7 +156,7 @@ bool McPosControlTests::cross_sphere_line_test()
ut_compare_float("target F 2", res(2), 2.0f, 2);
// far, before previous waypoint
retval = control->cross_sphere_line(math::Vector<3>(0.0f, 2.0f, -0.5f), 1.0f, prev, curr, res);
retval = control.cross_sphere_line(math::Vector<3>(0.0f, 2.0f, -0.5f), 1.0f, prev, curr, res);
PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
ut_assert_false(retval);
ut_compare_float("target G 0", res(0), 0.0f, 2);
@ -164,7 +164,7 @@ bool McPosControlTests::cross_sphere_line_test() @@ -164,7 +164,7 @@ bool McPosControlTests::cross_sphere_line_test()
ut_compare_float("target G 2", res(2), 0.0f, 2);
// far, before target waypoint
retval = control->cross_sphere_line(math::Vector<3>(0.0f, 2.0f, 1.0f), 1.0f, prev, curr, res);
retval = control.cross_sphere_line(math::Vector<3>(0.0f, 2.0f, 1.0f), 1.0f, prev, curr, res);
PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
ut_assert_false(retval);
ut_compare_float("target H 0", res(0), 0.0f, 2);
@ -172,7 +172,7 @@ bool McPosControlTests::cross_sphere_line_test() @@ -172,7 +172,7 @@ bool McPosControlTests::cross_sphere_line_test()
ut_compare_float("target H 2", res(2), 1.0f, 2);
// far, after target waypoint
retval = control->cross_sphere_line(math::Vector<3>(0.0f, 2.0f, 2.5f), 1.0f, prev, curr, res);
retval = control.cross_sphere_line(math::Vector<3>(0.0f, 2.0f, 2.5f), 1.0f, prev, curr, res);
PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
ut_assert_false(retval);
ut_compare_float("target I 0", res(0), 0.0f, 2);

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