clang-tidy trivial cleanup

.clang-tidy

@@ -0,0 +1,9 @@
+Checks:          'clang-diagnostic-*,clang-analyzer-*,*,
+		,-cppcoreguidelines-pro-type-vararg
+		,-cppcoreguidelines-pro-bounds-array-to-pointer-decay
+		,-cppcoreguidelines-pro-bounds-constant-array-index
+		,-cppcoreguidelines-pro-bounds-pointer-arithmetic
+		'
+WarningsAsErrors: '*'
+HeaderFilterRegex: '*.h, *.hpp, *.hh, *.hxx'
+

CMakeLists.txt

@@ -6,6 +6,9 @@ set(VERSION_PATCH "2")
 
 project(matrix CXX)
 
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
 if (NOT CMAKE_BUILD_TYPE)
 	set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING "Build type" FORCE)
 	message(STATUS "set build type to ${CMAKE_BUILD_TYPE}")
@@ -65,7 +68,6 @@ add_compile_options(
 	-Wsign-conversion
 	-Wsign-promo
 	-Wstrict-null-sentinel
-	-Wstrict-overflow=5
 	-Wswitch-default
 	-Wundef
 	-Wuninitialized
@@ -74,7 +76,14 @@ add_compile_options(
 
 # clang tolerate unknown gcc options
 if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
-	add_compile_options(-Wno-error=unused-command-line-argument-hard-error-in-future -Wno-unknown-warning-option)
+	add_compile_options(
+		-Wno-error=unused-command-line-argument-hard-error-in-future
+		-Wno-unknown-warning-option
+		)
+else()
+	add_compile_options(
+		-Wstrict-overflow=5
+		)
 endif()
 
 add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} --output-on-failure)
@@ -83,6 +92,9 @@ if(TESTING)
 	enable_testing()
 	add_subdirectory(test)
 	add_dependencies(check test_build)
+
+	add_custom_target(clang-tidy COMMAND clang-tidy -p . ${CMAKE_SOURCE_DIR}/test/*.cpp)
+	add_dependencies(clang-tidy test_build)
 endif()
 
 if(FORMAT)

matrix/AxisAngle.hpp

@@ -31,7 +31,7 @@ template<typename Type>
 class AxisAngle : public Vector<Type, 3>
 {
 public:
-    virtual ~AxisAngle() {};
+    ~AxisAngle() override = default;
 
     typedef Matrix<Type, 3, 1> Matrix31;
 

matrix/Dcm.hpp

@@ -17,7 +17,6 @@
 
 #include "math.hpp"
 
-
 namespace matrix
 {
 
@@ -30,7 +29,6 @@ class Euler;
 template<typename Type>
 class AxisAngle;
 
-
 /**
  * Direction cosine matrix class
  *

matrix/Matrix.hpp

@@ -8,11 +8,10 @@
 
 #pragma once
 
-#include <stdio.h>
+#include <cmath>
-#include <stddef.h>
+#include <cstdio>
-#include <stdlib.h>
+#include <cstring>
-#include <string.h>
+
-#include <math.h>
 #if defined(SUPPORT_STDIOSTREAM)
 #include <iostream>
 #include <iomanip>
@@ -36,25 +35,20 @@ public:
 
     virtual ~Matrix() {};
 
-    Matrix() :
+    // Constructors
-        _data()
+    Matrix() : _data() {}
-    {
-    }
 
-    Matrix(const Type data_[][N]) :
+    Matrix(const Type data_[][N]) : _data()
-        _data()
     {
         memcpy(_data, data_, sizeof(_data));
     }
 
-    Matrix(const Type *data_) :
+    Matrix(const Type *data_) : _data()
-        _data()
     {
         memcpy(_data, data_, sizeof(_data));
     }
 
-    Matrix(const Matrix &other) :
+    Matrix(const Matrix &other) : _data()
-        _data()
     {
         memcpy(_data, other._data, sizeof(_data));
     }
@@ -519,7 +513,7 @@ bool isEqualF(Type x,
 
     bool equal = true;
 
-    if (fabsf(x - y) > eps) {
+    if (fabs(x - y) > eps) {
         equal = false;
     }
 

matrix/Scalar.hpp

@@ -8,12 +8,6 @@
 
 #pragma once
 
-#include <stdio.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-
 #include "math.hpp"
 
 namespace matrix

matrix/SquareMatrix.hpp

@@ -8,12 +8,6 @@
 
 #pragma once
 
-#include <stdio.h>
-#include <stddef.h>
-#include <stdlib.h>
-#include <string.h>
-#include <math.h>
-
 #include "math.hpp"
 #include "helper_functions.hpp"
 

matrix/Vector.hpp

@@ -22,7 +22,7 @@ template<typename Type, size_t M>
 class Vector : public Matrix<Type, M, 1>
 {
 public:
-    virtual ~Vector() {};
+    ~Vector() override = default;
 
     typedef Matrix<Type, M, 1> MatrixM1;
 

matrix/helper_functions.hpp

@@ -1,14 +1,7 @@
 #pragma once
 
 #include "math.hpp"
-
-// grody hack - this should go once C++11 is supported
-// on all platforms.
-#if defined (__PX4_NUTTX) || defined (__PX4_QURT)
-#include <math.h>
-#else
 #include <cmath>
-#endif
 
 namespace matrix
 {

test/attitude.cpp

@@ -1,21 +1,20 @@
-#include <cstdio>
-#include <stdexcept>
-
-#include <matrix/math.hpp>
 #include "test_macros.hpp"
+#include <matrix/math.hpp>
 
-using namespace matrix;
+using matrix::AxisAnglef;
-
+using matrix::Dcm;
-// important to list all classes here for coverage
+using matrix::Dcmf;
-template class Quaternion<float>;
+using matrix::Euler;
-template class Euler<float>;
+using matrix::Eulerf;
-template class Dcm<float>;
+using matrix::eye;
-template class AxisAngle<float>;
+using matrix::isEqualF;
-template class Scalar<float>;
+using matrix::Matrix;
-template class SquareMatrix<float, 2>;
+using matrix::Quaternion;
-template class Vector<float, 3>;
+using matrix::Quatf;
-template class Vector2<float>;
+using matrix::SquareMatrix;
-template class Vector3<float>;
+using matrix::Vector3f;
+using matrix::Vector;
+using matrix::zeros;
 
 int main()
 {
@@ -51,10 +50,10 @@ int main()
     // quaternion ctor
     Quatf q0(1, 2, 3, 4);
     Quatf q(q0);
-    TEST(fabs(q(0) - 1) < eps);
+    TEST(fabsf(q(0) - 1) < eps);
-    TEST(fabs(q(1) - 2) < eps);
+    TEST(fabsf(q(1) - 2) < eps);
-    TEST(fabs(q(2) - 3) < eps);
+    TEST(fabsf(q(2) - 3) < eps);
-    TEST(fabs(q(3) - 4) < eps);
+    TEST(fabsf(q(3) - 4) < eps);
 
     // quat normalization
     q.normalize();
@@ -102,10 +101,12 @@ int main()
     for (size_t i = 0; i < 1000; i++) {
         A = R * A;
     }
+
     A.renormalize();
     float err = 0.0f;
-    for (size_t row = 0; row < 3; row++) {
+
-        matrix::Vector3f rvec(A._data[row]);
+    for (auto & row : A._data) {
+        Vector3f rvec(row);
         err += fabsf(1.0f - rvec.length());
     }
     TEST(err < eps);

test/filter.cpp

@@ -1,9 +1,11 @@
-#include <stdio.h>
-
-#include <matrix/filter.hpp>
 #include "test_macros.hpp"
+#include <matrix/filter.hpp>
 
-using namespace matrix;
+using matrix::Matrix;
+using matrix::kalman_correct;
+using matrix::eye;
+using matrix::SquareMatrix;
+using matrix::Vector;
 
 int main()
 {

test/hatvee.cpp

@@ -1,11 +1,10 @@
-#include <stdio.h>
 #include "test_macros.hpp"
-
 #include <matrix/math.hpp>
 
-using namespace matrix;
+using matrix::Dcm;
-
+using matrix::Euler;
-template class SquareMatrix<float, 3>;
+using matrix::isEqual;
+using matrix::Vector3;
 
 int main()
 {

test/helper.cpp

@@ -1,10 +1,10 @@
-#include <stdio.h>
-
-#include <matrix/helper_functions.hpp>
 #include "test_macros.hpp"
+#include <matrix/helper_functions.hpp>
 
-using namespace matrix;
+using matrix::isEqual;
-
+using matrix::isEqualF;
+using matrix::Vector3f;
+using matrix::wrap_pi;
 
 int main()
 {

test/integration.cpp

@@ -1,13 +1,13 @@
-#include <stdio.h>
-
-#include <matrix/integration.hpp>
 #include "test_macros.hpp"
+#include <matrix/integration.hpp>
 
-using namespace matrix;
+using matrix::Matrix;
+using matrix::ones;
+using matrix::Vector;
 
-Vector<float, 6> f(float t, const Matrix<float, 6, 1> & y, const Matrix<float, 3, 1> & u);
+Vector<float, 6> f(float t, const Matrix<float, 6, 1> &  /*y*/, const Matrix<float, 3, 1> &  /*u*/);
 
-Vector<float, 6> f(float t, const Matrix<float, 6, 1> & y, const Matrix<float, 3, 1> & u) {
+Vector<float, 6> f(float t, const Matrix<float, 6, 1> &  /*y*/, const Matrix<float, 3, 1> &  /*u*/) {
     float v = -sinf(t);
     return v*ones<float, 6, 1>();
 }

test/inverse.cpp

@@ -1,15 +1,11 @@
-#include <stdio.h>
-
-#include <matrix/math.hpp>
 #include "test_macros.hpp"
+#include <matrix/math.hpp>
 
-using namespace matrix;
+using matrix::SquareMatrix;
+using matrix::zeros;
 
 static const size_t n_large = 50;
 
-template class SquareMatrix<float, 3>;
-template class SquareMatrix<float, n_large>;
-
 int main()
 {
     float data[9] = {0, 2, 3,

test/matrixAssignment.cpp

@@ -1,9 +1,11 @@
-#include <matrix/math.hpp>
 #include "test_macros.hpp"
+#include <matrix/math.hpp>
 
-using namespace matrix;
+using matrix::Matrix;
-
+using matrix::Matrix3f;
-template class Matrix<float, 3, 3>;
+using matrix::Scalar;
+using matrix::Vector;
+using matrix::Vector2f;
 
 int main()
 {
@@ -24,7 +26,7 @@ int main()
     Matrix3f m2(data);
 
     for(int i=0; i<9; i++) {
-        TEST(fabs(data[i] - m2.data()[i]) < 1e-6f);
+        TEST(fabsf(data[i] - m2.data()[i]) < 1e-6f);
     }
 
     float data2d[3][3] = {
@@ -34,7 +36,7 @@ int main()
     };
     m2 = Matrix3f(data2d);
     for(int i=0; i<9; i++) {
-        TEST(fabs(data[i] - m2.data()[i]) < 1e-6f);
+        TEST(fabsf(data[i] - m2.data()[i]) < 1e-6f);
     }
 
     float data_times_2[9] = {2, 4, 6, 8, 10, 12, 14, 16, 18};
@@ -96,17 +98,17 @@ int main()
     m4.swapCols(2, 2);
     TEST(isEqual(m4, Matrix3f(data)));
 
-    TEST(fabs(m4.min() - 1) < 1e-5);
+    TEST(fabsf(m4.min() - 1) < 1e-5);
-    TEST(fabs((-m4).min() + 9) < 1e-5);
+    TEST(fabsf((-m4).min() + 9) < 1e-5);
 
     Scalar<float> s;
     s = 1;
     const Vector<float, 1> & s_vect = s;
-    TEST(fabs(s - 1) < 1e-5);
+    TEST(fabsf(s - 1) < 1e-5);
-    TEST(fabs(s_vect(0) - 1.0f) < 1e-5);
+    TEST(fabsf(s_vect(0) - 1.0f) < 1e-5);
 
     Matrix<float, 1, 1> m5 = s;
-    TEST(fabs(m5(0,0) - s) < 1e-5);
+    TEST(fabsf(m5(0,0) - s) < 1e-5);
 
     Matrix<float, 2, 2> m6;
     m6.setRow(0, Vector2f(1, 2));

test/matrixMult.cpp

@@ -1,9 +1,8 @@
-#include <stdio.h>
-
-#include <matrix/math.hpp>
 #include "test_macros.hpp"
+#include <matrix/math.hpp>
 
-using namespace matrix;
+using matrix::Matrix3f;
+using matrix::eye;
 
 int main()
 {

test/matrixScalarMult.cpp

@@ -1,9 +1,8 @@
-#include <stdio.h>
+#include "test_macros.hpp"
 
 #include <matrix/math.hpp>
-#include "test_macros.hpp"
 
-using namespace matrix;
+using matrix::Matrix3f;
 
 int main()
 {

test/setIdentity.cpp

@@ -1,9 +1,7 @@
-#include <matrix/math.hpp>
 #include "test_macros.hpp"
+#include <matrix/math.hpp>
 
-using namespace matrix;
+using matrix::Matrix3f;
-
-template class Matrix<float, 3, 3>;
 
 int main()
 {
@@ -13,10 +11,10 @@ int main()
     for (size_t i = 0; i < 3; i++) {
         for (size_t j = 0; j < 3; j++) {
             if (i == j) {
-                TEST( fabs(A(i, j) -  1) < 1e-7);
+                TEST(fabsf(A(i, j) -  1) < 1e-7);
 
             } else {
-                TEST( fabs(A(i, j) -  0) < 1e-7);
+                TEST(fabsf(A(i, j) -  0) < 1e-7);
             }
         }
     }
@@ -27,13 +25,14 @@ int main()
     for (size_t i = 0; i < 3; i++) {
         for (size_t j = 0; j < 3; j++) {
             if (i == j) {
-                TEST( fabs(B(i, j) -  1) < 1e-7);
+                TEST(fabsf(B(i, j) -  1) < 1e-7);
 
             } else {
-                TEST( fabs(B(i, j) -  0) < 1e-7);
+                TEST(fabsf(B(i, j) -  0) < 1e-7);
             }
         }
     }
+
     return 0;
 }
 

test/slice.cpp

@@ -1,9 +1,8 @@
-#include <stdio.h>
-
-#include <matrix/math.hpp>
 #include "test_macros.hpp"
+#include <matrix/math.hpp>
 
-using namespace matrix;
+using matrix::Matrix;
+using matrix::SquareMatrix;
 
 int main()
 {

test/squareMatrix.cpp

@@ -1,11 +1,9 @@
-#include <stdio.h>
 #include "test_macros.hpp"
 
 #include <matrix/math.hpp>
 
-using namespace matrix;
+using matrix::SquareMatrix;
-
+using matrix::Vector3;
-template class SquareMatrix<float, 3>;
 
 int main()
 {

test/transpose.cpp

@@ -1,12 +1,8 @@
-#include <stdio.h>
-
-#include <matrix/math.hpp>
 #include "test_macros.hpp"
 
-using namespace matrix;
+#include <matrix/math.hpp>
 
-template class Matrix<float, 2, 3>;
+using matrix::Matrix;
-template class Matrix<float, 3, 2>;
 
 int main()
 {
@@ -16,6 +12,7 @@ int main()
     float data_check[6] = {1, 4, 2, 5, 3, 6};
     Matrix<float, 3, 2> A_T_check(data_check);
     TEST(isEqual(A_T, A_T_check));
+
     return 0;
 }
 

test/vector.cpp

@@ -1,11 +1,9 @@
-#include <stdio.h>
-
-#include <matrix/math.hpp>
 #include "test_macros.hpp"
 
-using namespace matrix;
+#include <matrix/math.hpp>
 
-template class Vector<float, 5>;
+using matrix::Vector;
+using matrix::isEqualF;
 
 int main()
 {

test/vector2.cpp

@@ -1,35 +1,34 @@
-#include <stdio.h>
+
 
 #include <matrix/math.hpp>
 
 #include "test_macros.hpp"
 
-using namespace matrix;
+using matrix::Vector2f;
-
+using matrix::Matrix;
-template class Vector<float, 2>;
 
 int main()
 {
     Vector2f a(1, 0);
     Vector2f b(0, 1);
-    TEST(fabs(a % b - 1.0f) < 1e-5);
+    TEST(fabsf(a % b - 1.0f) < 1e-5);
 
     Vector2f c;
-    TEST(fabs(c(0) - 0) < 1e-5);
+    TEST(fabsf(c(0) - 0) < 1e-5);
-    TEST(fabs(c(1) - 0) < 1e-5);
+    TEST(fabsf(c(1) - 0) < 1e-5);
 
     Matrix<float, 2, 1> d(a);
-    TEST(fabs(d(0,0) - 1) < 1e-5);
+    TEST(fabsf(d(0,0) - 1) < 1e-5);
-    TEST(fabs(d(1,0) - 0) < 1e-5);
+    TEST(fabsf(d(1,0) - 0) < 1e-5);
 
     Vector2f e(d);
-    TEST(fabs(e(0) - 1) < 1e-5);
+    TEST(fabsf(e(0) - 1) < 1e-5);
-    TEST(fabs(e(1) - 0) < 1e-5);
+    TEST(fabsf(e(1) - 0) < 1e-5);
 
     float data[] = {4,5};
     Vector2f f(data);
-    TEST(fabs(f(0) - 4) < 1e-5);
+    TEST(fabsf(f(0) - 4) < 1e-5);
-    TEST(fabs(f(1) - 5) < 1e-5);
+    TEST(fabsf(f(1) - 5) < 1e-5);
 
     return 0;
 }

test/vector3.cpp

@@ -1,34 +1,33 @@
-#include <stdio.h>
-
-#include <matrix/math.hpp>
 #include "test_macros.hpp"
 
-using namespace matrix;
+#include <matrix/math.hpp>
 
-template class Vector<float, 3>;
+using matrix::Vector3f;
+using matrix::Matrix;
 
 int main()
 {
     Vector3f a(1, 0, 0);
     Vector3f b(0, 1, 0);
     Vector3f c = a.cross(b);
-    TEST(isEqual(c, Vector3f(0,0,1)));
+    TEST(matrix::isEqual(c, Vector3f(0,0,1)));
     c = a % b;
-    TEST (isEqual(c, Vector3f(0,0,1)));
+    TEST(matrix::isEqual(c, Vector3f(0,0,1)));
     Matrix<float, 3, 1> d(c);
     Vector3f e(d);
-    TEST (isEqual(e, d));
+    TEST (matrix::isEqual(e, d));
     float data[] = {4, 5, 6};
     Vector3f f(data);
-    TEST(isEqual(f, Vector3f(4, 5, 6)));
+    TEST(matrix::isEqual(f, Vector3f(4, 5, 6)));
+
+    TEST(matrix::isEqual(a + b, Vector3f(1, 1, 0)));
+    TEST(matrix::isEqual(a - b, Vector3f(1, -1, 0)));
+    TEST(matrix::isEqualF(a * b, 0.0f));
+    TEST(matrix::isEqual(-a, Vector3f(-1, 0, 0)));
+    TEST(matrix::isEqual(a.unit(), a));
+    TEST(matrix::isEqual(a.unit(), a.normalized()));
+    TEST(matrix::isEqual(a*2.0, Vector3f(2, 0, 0)));
 
-    TEST(isEqual(a + b, Vector3f(1, 1, 0)));
-    TEST(isEqual(a - b, Vector3f(1, -1, 0)));
-    TEST(isEqualF(a * b, 0.0f));
-    TEST(isEqual(-a, Vector3f(-1, 0, 0)));
-    TEST(isEqual(a.unit(), a));
-    TEST(isEqual(a.unit(), a.normalized()));
-    TEST(isEqual(a*2.0, Vector3f(2, 0, 0)));
     return 0;
 }
 

test/vectorAssignment.cpp

@@ -2,9 +2,8 @@
 
 #include "test_macros.hpp"
 
-using namespace matrix;
+using matrix::SquareMatrix;
-
+using matrix::Vector3f;
-template class Vector<float, 3>;
 
 int main()
 {
@@ -15,20 +14,20 @@ int main()
 
     static const float eps = 1e-7f;
 
-    TEST(fabs(v(0) - 1) < eps);
+    TEST(fabsf(v(0) - 1) < eps);
-    TEST(fabs(v(1) - 2) < eps);
+    TEST(fabsf(v(1) - 2) < eps);
-    TEST(fabs(v(2) - 3) < eps);
+    TEST(fabsf(v(2) - 3) < eps);
 
     Vector3f v2(4, 5, 6);
 
-    TEST(fabs(v2(0) - 4) < eps);
+    TEST(fabsf(v2(0) - 4) < eps);
-    TEST(fabs(v2(1) - 5) < eps);
+    TEST(fabsf(v2(1) - 5) < eps);
-    TEST(fabs(v2(2) - 6) < eps);
+    TEST(fabsf(v2(2) - 6) < eps);
 
     SquareMatrix<float, 3> m = diag(Vector3f(1,2,3));
-    TEST(fabs(m(0, 0) - 1) < eps);
+    TEST(fabsf(m(0, 0) - 1) < eps);
-    TEST(fabs(m(1, 1) - 2) < eps);
+    TEST(fabsf(m(1, 1) - 2) < eps);
-    TEST(fabs(m(2, 2) - 3) < eps);
+    TEST(fabsf(m(2, 2) - 3) < eps);
 
     return 0;
 }