From 7e5f09f40871b8b2bfc02a2849a201fa2e690d8b Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 30 Jan 2017 23:04:34 -0500 Subject: [PATCH] clang-tidy performance-unnecessary-value-param --- .clang-tidy | 2 +- .../mc_pos_control.cpp | 4 ++-- .../mc_pos_control.h | 4 ++-- .../mc_pos_control/mc_pos_control_main.cpp | 8 +++---- .../mc_pos_control_tests.cpp | 24 +++++++++---------- 5 files changed, 21 insertions(+), 21 deletions(-) diff --git a/.clang-tidy b/.clang-tidy index bd35d68abb..c4408fc30e 100644 --- a/.clang-tidy +++ b/.clang-tidy @@ -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, diff --git a/src/examples/mc_pos_control_multiplatform/mc_pos_control.cpp b/src/examples/mc_pos_control_multiplatform/mc_pos_control.cpp index bc131d4953..1563dc7b1c 100644 --- a/src/examples/mc_pos_control_multiplatform/mc_pos_control.cpp +++ b/src/examples/mc_pos_control_multiplatform/mc_pos_control.cpp @@ -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 */ diff --git a/src/examples/mc_pos_control_multiplatform/mc_pos_control.h b/src/examples/mc_pos_control_multiplatform/mc_pos_control.h index 51b93432d7..ab44209a7f 100644 --- a/src/examples/mc_pos_control_multiplatform/mc_pos_control.h +++ b/src/examples/mc_pos_control_multiplatform/mc_pos_control.h @@ -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 diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index ff65b064cf..01cf5652da 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -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) } 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 */ diff --git a/src/modules/mc_pos_control/mc_pos_control_tests/mc_pos_control_tests.cpp b/src/modules/mc_pos_control/mc_pos_control_tests/mc_pos_control_tests.cpp index f7eacd8ae9..2653297617 100644 --- a/src/modules/mc_pos_control/mc_pos_control_tests/mc_pos_control_tests.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_tests/mc_pos_control_tests.cpp @@ -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() 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() */ // 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() 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() 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() 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() 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() 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() 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() 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() 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);