diff --git a/GraspPlanning/ConvexHullGenerator.cpp b/GraspPlanning/ConvexHullGenerator.cpp
index c176c2f712c682d6476cc26b143076754d93450e..32062cdbf4b9584f6a0e136f863b42eb9323186e 100644
--- a/GraspPlanning/ConvexHullGenerator.cpp
+++ b/GraspPlanning/ConvexHullGenerator.cpp
@@ -183,9 +183,9 @@ namespace GraspStudio
double pCenter[3];
- for (int u = 0; u < 3; u++)
+ for (double & u : pCenter)
{
- pCenter[u] = 0;
+ u = 0;
}
int nVcertexCount = 0;
@@ -200,9 +200,9 @@ namespace GraspStudio
}
if (nVcertexCount > 0)
- for (int u = 0; u < 3; u++)
+ for (double & u : pCenter)
{
- pCenter[u] /= (float)nVcertexCount;
+ u /= (float)nVcertexCount;
}
result->center[0] = pCenter[0];
@@ -360,16 +360,16 @@ namespace GraspStudio
/*int convexNumVert2 =*/ qh_setsize(qh_facetvertices(facet_list, NULL, false));
double pCenter[6];
- for (int u = 0; u < 6; u++)
+ for (double & u : pCenter)
{
- pCenter[u] = 0;
+ u = 0;
}
double pZero[6];
- for (int u = 0; u < 6; u++)
+ for (double & u : pZero)
{
- pZero[u] = 0;
+ u = 0;
}
int nVcertexCount = 0;
@@ -384,9 +384,9 @@ namespace GraspStudio
}
if (nVcertexCount > 0)
- for (int u = 0; u < 6; u++)
+ for (double & u : pCenter)
{
- pCenter[u] /= (float)nVcertexCount;
+ u /= (float)nVcertexCount;
}
result->center.p[0] = pCenter[0];
diff --git a/GraspPlanning/GraspQuality/GraspEvaluationPoseUncertainty.cpp b/GraspPlanning/GraspQuality/GraspEvaluationPoseUncertainty.cpp
index 7b14bff3ed0c8b5a241094625abec01cd7dd660c..4dcb65f444fce35ed34bbe1e8f4002b58fcf21de 100644
--- a/GraspPlanning/GraspQuality/GraspEvaluationPoseUncertainty.cpp
+++ b/GraspPlanning/GraspQuality/GraspEvaluationPoseUncertainty.cpp
@@ -244,18 +244,18 @@ GraspEvaluationPoseUncertainty::PoseEvalResults GraspEvaluationPoseUncertainty::
return res;
res.numPosesTested = results.size();
- for (size_t i=0;i<results.size();i++)
+ for (auto & result : results)
{
- if (results.at(i).initialCollision)
+ if (result.initialCollision)
{
res.numColPoses++;
}
else
{
res.numValidPoses++;
- res.avgQuality += results.at(i).quality;
- res.avgQualityCol += results.at(i).quality;
- if (results.at(i).forceClosure)
+ res.avgQuality += result.quality;
+ res.avgQualityCol += result.quality;
+ if (result.forceClosure)
{
res.forceClosureRate += 1.0f;
res.forceClosureRateCol += 1.0f;
diff --git a/GraspPlanning/GraspQuality/GraspQualityMeasure.cpp b/GraspPlanning/GraspQuality/GraspQualityMeasure.cpp
index 2b48150237a5f4b7b84d0d28368485cbfab26d11..62d3339bcdfe0e6eb64919c4372d9bc9085f8ef6 100644
--- a/GraspPlanning/GraspQuality/GraspQualityMeasure.cpp
+++ b/GraspPlanning/GraspQuality/GraspQualityMeasure.cpp
@@ -100,10 +100,10 @@ namespace GraspStudio
return p;
}
- for (int i = 0; i < (int)sampledObjectPoints.size(); i++)
+ for (auto & sampledObjectPoint : sampledObjectPoints)
{
- p.p += sampledObjectPoints[i].p;
- p.n += sampledObjectPoints[i].n;
+ p.p += sampledObjectPoint.p;
+ p.n += sampledObjectPoint.n;
}
p.p /= (float)sampledObjectPoints.size();
diff --git a/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpace.cpp b/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpace.cpp
index 060a40c04ecac741f793de1c61e181a7e202c9ef..6d64559d73c7f8b4470824b36c1ac2c63dc81e49 100644
--- a/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpace.cpp
+++ b/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpace.cpp
@@ -296,10 +296,10 @@ namespace GraspStudio
faceCenter.p.setZero();
faceCenter.n.setZero();
- for (int j = 0; j < 6; j++)
+ for (int j : faceIter->id)
{
- faceCenter.p += (convexHullGWS->vertices)[faceIter->id[j]].p;
- faceCenter.n += (convexHullGWS->vertices)[faceIter->id[j]].n;
+ faceCenter.p += (convexHullGWS->vertices)[j].p;
+ faceCenter.n += (convexHullGWS->vertices)[j].n;
}
faceCenter.p /= 6.0f;
@@ -406,15 +406,15 @@ namespace GraspStudio
float fRes = FLT_MAX;
int nWrongFacets = 0;
- for (size_t i = 0; i < ch->faces.size(); i++)
+ for (auto & face : ch->faces)
{
- if (ch->faces[i].distNormCenter > 0)
+ if (face.distNormCenter > 0)
{
nWrongFacets++;
}
- else if (-(ch->faces[i].distNormCenter) < fRes)
+ else if (-(face.distNormCenter) < fRes)
{
- fRes = -(ch->faces[i].distNormCenter);
+ fRes = -(face.distNormCenter);
}
}
diff --git a/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpaceNotNormalized.cpp b/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpaceNotNormalized.cpp
index 436b632d7f5f95f851081d068c8abc0fc72fd127..7fc17b04544212c14992021d0367eb058c59d2e0 100644
--- a/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpaceNotNormalized.cpp
+++ b/GraspPlanning/GraspQuality/GraspQualityMeasureWrenchSpaceNotNormalized.cpp
@@ -227,10 +227,10 @@ namespace GraspStudio
faceCenter.p.setZero();
faceCenter.n.setZero();
- for (int j = 0; j < 6; j++)
+ for (int j : faceIter->id)
{
- faceCenter.p += (convexHullGWS->vertices)[faceIter->id[j]].p;
- faceCenter.n += (convexHullGWS->vertices)[faceIter->id[j]].n;
+ faceCenter.p += (convexHullGWS->vertices)[j].p;
+ faceCenter.n += (convexHullGWS->vertices)[j].n;
}
faceCenter.p /= 6.0f;
@@ -285,9 +285,9 @@ namespace GraspStudio
float fRes = FLT_MAX;
int nWrongFacets = 0;
- for (size_t i = 0; i < ch->faces.size(); i++)
+ for (auto & face : ch->faces)
{
- const auto dist = ch->faces[i].distNormCenter;
+ const auto dist = face.distNormCenter;
if (dist > 0)
{
//outside
diff --git a/GraspPlanning/Visualization/CoinVisualization/CoinConvexHullVisualization.cpp b/GraspPlanning/Visualization/CoinVisualization/CoinConvexHullVisualization.cpp
index 5ae6bf4e5129bda59567db8fb6354890640d92f5..51ccb15fddd6e68a262cb159793d44271e120ce0 100644
--- a/GraspPlanning/Visualization/CoinVisualization/CoinConvexHullVisualization.cpp
+++ b/GraspPlanning/Visualization/CoinVisualization/CoinConvexHullVisualization.cpp
@@ -215,17 +215,17 @@ namespace GraspStudio
for (int i = 0; i < nFaces; i++)
{
- for (int j = 0; j < 6; j++)
+ for (int j : convHull->faces[i].id)
{
if (buseFirst3Coords)
{
//v[j] = convHull->vertices.at(convHull->faces[i].id[j]).p;
- vProjectedPoints.push_back(convHull->vertices[ convHull->faces[i].id[j] ].p);
+ vProjectedPoints.push_back(convHull->vertices[ j ].p);
}
else
{
//v[j] = convHull->vertices.at(convHull->faces[i].id[j]).n;
- vProjectedPoints.push_back(convHull->vertices[ convHull->faces[i].id[j] ].n);
+ vProjectedPoints.push_back(convHull->vertices[ j ].n);
}
}
diff --git a/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp b/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp
index 871f76570a448e96d3357b19f7463a82d505180a..e9acf17b6f8b159e8222a6cd38657a06621386dc 100644
--- a/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp
+++ b/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp
@@ -262,15 +262,15 @@ void GraspPlannerWindow::buildVisu()
}
// add approach dir visu
- for (size_t i = 0; i < contacts.size(); i++)
+ for (auto & contact : contacts)
{
SoSeparator* s = new SoSeparator;
Eigen::Matrix4f ma;
ma.setIdentity();
- ma.block(0, 3, 3, 1) = contacts[i].contactPointFingerGlobal;
+ ma.block(0, 3, 3, 1) = contact.contactPointFingerGlobal;
SoMatrixTransform* m = CoinVisualizationFactory::getMatrixTransformScaleMM2M(ma);
s->addChild(m);
- s->addChild(CoinVisualizationFactory::CreateArrow(contacts[i].approachDirectionGlobal, 10.0f, 1.0f));
+ s->addChild(CoinVisualizationFactory::CreateArrow(contact.approachDirectionGlobal, 10.0f, 1.0f));
frictionConeSep->addChild(s);
}
}
diff --git a/GraspPlanning/examples/GraspQuality/GraspQualityWindow.cpp b/GraspPlanning/examples/GraspQuality/GraspQualityWindow.cpp
index 744b1cf4c726cbc9b8e14bfdacdad6e6b6b40aee..989797f4e6af118667409bbaffb529989b5b13e5 100644
--- a/GraspPlanning/examples/GraspQuality/GraspQualityWindow.cpp
+++ b/GraspPlanning/examples/GraspQuality/GraspQualityWindow.cpp
@@ -488,9 +488,9 @@ void GraspQualityWindow::setEEFComboBox()
robot->getEndEffectors(eefs);
- for (size_t i = 0; i < eefs.size(); i++)
+ for (auto & eef : eefs)
{
- QString nameEEF(eefs[i]->getName().c_str());
+ QString nameEEF(eef->getName().c_str());
UI.comboBoxEEF->addItem(nameEEF);
}
}
diff --git a/MotionPlanning/ApproachDiscretization.cpp b/MotionPlanning/ApproachDiscretization.cpp
index 425d8883b83eb0f37dcf790ef2e11034a03b37d3..c2999018db6af6ad8d007c6d3c58c9a10f121787 100644
--- a/MotionPlanning/ApproachDiscretization.cpp
+++ b/MotionPlanning/ApproachDiscretization.cpp
@@ -93,15 +93,15 @@ namespace Saba
zeroPt.setZero();
VirtualRobot::SphereApproximator::FaceIndex faceIndx = sphere.mapVerticeIndxToFaceIndx[nIndex];
- for (int i = 0; i < (int)faceIndx.faceIds.size(); i++)
+ for (int faceId : faceIndx.faceIds)
{
- VirtualRobot::MathTools::TriangleFace f = sphere.faces[faceIndx.faceIds[i]];
+ VirtualRobot::MathTools::TriangleFace f = sphere.faces[faceId];
//if (sphereGenerator->check_intersect_tri(sphere.vertices[f.n1],sphere.m_Vertices[f.m_n2],sphere.m_Vertices[f.m_n3],zeroPt,Pose1,storeIntPoint))
if (sphereGenerator->check_intersect_tri(sphere.vertices[f.id1], sphere.vertices[f.id2], sphere.vertices[f.id3], zeroPt, dir, storeIntPoint))
{
//MarkFace(FaceIndx.m_faceIds[i],true);
- return faceIndx.faceIds[i];
+ return faceId;
}
}
diff --git a/MotionPlanning/CSpace/CSpace.cpp b/MotionPlanning/CSpace/CSpace.cpp
index 5c4ff7df7e700bfdab6802e4cb56aef7ea45db29..ca450d4210935ff30f39f1296aee835a00e70d72 100644
--- a/MotionPlanning/CSpace/CSpace.cpp
+++ b/MotionPlanning/CSpace/CSpace.cpp
@@ -842,9 +842,9 @@ namespace Saba
bool CSpace::isSatisfyingConstraints(const Eigen::VectorXf& config)
{
- for (size_t i = 0; i < constraints.size(); i++)
+ for (auto & constraint : constraints)
{
- if (!constraints[i]->isValid(config))
+ if (!constraint->isValid(config))
{
return false;
}
diff --git a/MotionPlanning/CSpace/CSpaceTree.cpp b/MotionPlanning/CSpace/CSpaceTree.cpp
index 8e2a632b2ce2bec7998c854b4a56bf59d63e7170..126ebb53c8e64a4cac551a52842389b38aaecec4 100644
--- a/MotionPlanning/CSpace/CSpaceTree.cpp
+++ b/MotionPlanning/CSpace/CSpaceTree.cpp
@@ -362,10 +362,10 @@ namespace Saba
CSpaceNodePtr actualNode;
- for (unsigned int i = 0; i < nodes.size(); i++)
+ for (const auto & node : nodes)
{
// save ID, configuration and parentID of each node in one row
- actualNode = nodes[i];
+ actualNode = node;
file << actualNode->ID << " ";
for (unsigned int j = 0; j < dimension; j++)
diff --git a/MotionPlanning/Planner/BiRrt.cpp b/MotionPlanning/Planner/BiRrt.cpp
index 79188b0cbfbd31ac8069439fe414ba9bac316453..e77b3af19a2f4ba156a8a85321b2e39b0c3841c9 100644
--- a/MotionPlanning/Planner/BiRrt.cpp
+++ b/MotionPlanning/Planner/BiRrt.cpp
@@ -353,14 +353,14 @@ namespace Saba
// Create the CSpacePath, first start node till bridgeover node, then bridgeover node till goal node
solution.reset(new CSpacePath(cspace));
- for (unsigned int i = 0; i < tmpSol.size(); i++)
+ for (int i : tmpSol)
{
- solution->addPoint(tree->getNode(tmpSol[i])->configuration);
+ solution->addPoint(tree->getNode(i)->configuration);
}
- for (unsigned int i = 0; i < tmpSol2.size(); i++)
+ for (int i : tmpSol2)
{
- solution->addPoint(tree2->getNode(tmpSol2[i])->configuration);
+ solution->addPoint(tree2->getNode(i)->configuration);
}
if (!bQuiet)
diff --git a/MotionPlanning/Planner/GraspRrt.cpp b/MotionPlanning/Planner/GraspRrt.cpp
index 4c56eff29f1a8d27159cccf3557b1532c88436ee..74c84bc7aa9092960924a80b2e3145370070811d 100644
--- a/MotionPlanning/Planner/GraspRrt.cpp
+++ b/MotionPlanning/Planner/GraspRrt.cpp
@@ -912,11 +912,11 @@ namespace Saba
VirtualRobot::EndEffector::ContactInfoVector contacts;
// we only need the targetObject contacts
- for (size_t i = 0; i < contactsAll.size(); i++)
+ for (auto & i : contactsAll)
{
- if (contactsAll[i].obstacle == targetObject)
+ if (i.obstacle == targetObject)
{
- contacts.push_back(contactsAll[i]);
+ contacts.push_back(i);
}
}
@@ -929,9 +929,9 @@ namespace Saba
cout << __FUNCTION__ << ": Low number of contacts -> Zero Grasp Score " << endl;
cout << "Fingers: " ;
- for (int i = 0; i < (int)contacts.size(); i++)
+ for (auto & contact : contacts)
{
- cout << contacts[i].actor->getName() << ", ";
+ cout << contact.actor->getName() << ", ";
}
cout << endl;
diff --git a/MotionPlanning/Visualization/CoinVisualization/CoinRrtWorkspaceVisualization.cpp b/MotionPlanning/Visualization/CoinVisualization/CoinRrtWorkspaceVisualization.cpp
index 507c8d6b4e27024ca19c55484e37138ecd7474f3..13474d576b32d52752be58f391ebd37d6694dac3 100644
--- a/MotionPlanning/Visualization/CoinVisualization/CoinRrtWorkspaceVisualization.cpp
+++ b/MotionPlanning/Visualization/CoinVisualization/CoinRrtWorkspaceVisualization.cpp
@@ -262,9 +262,9 @@ namespace Saba
Eigen::Vector3f p;
Eigen::Vector3f p2;
- for (unsigned int i = 0; i < nodes.size(); i++)
+ for (const auto & node : nodes)
{
- actualNode = nodes[i];
+ actualNode = node;
// get tcp coords:
robot->setJointValues(robotNodeSet, actualNode->configuration);
@@ -278,10 +278,10 @@ namespace Saba
}
- for (unsigned int i = 0; i < nodes.size(); i++)
+ for (const auto & node : nodes)
{
- actualNode = nodes[i];
+ actualNode = node;
parentid = actualNode->parentID;
// create 3D model for nodes
diff --git a/MotionPlanning/examples/GraspRRT/GraspRrtWindow.cpp b/MotionPlanning/examples/GraspRRT/GraspRrtWindow.cpp
index 4d0af86905c0cac2d7c6d281428384a59d1b1478..4033f366b4de47eec8645886955c9e193f6b825a 100644
--- a/MotionPlanning/examples/GraspRRT/GraspRrtWindow.cpp
+++ b/MotionPlanning/examples/GraspRRT/GraspRrtWindow.cpp
@@ -215,10 +215,10 @@ void GraspRrtWindow::buildVisu()
{
SoSeparator* eefVisu = CoinVisualizationFactory::CreateEndEffectorVisualization(eef);
- for (size_t i = 0; i < grasps.size(); i++)
+ for (auto & grasp : grasps)
{
- Eigen::Matrix4f m = grasps[i]->getTcpPoseGlobal(targetObject->getGlobalPose());
+ Eigen::Matrix4f m = grasp->getTcpPoseGlobal(targetObject->getGlobalPose());
SoSeparator* sep1 = new SoSeparator();
SoMatrixTransform* mt = CoinVisualizationFactory::getMatrixTransformScaleMM2M(m);
sep1->addChild(mt);
@@ -309,9 +309,9 @@ void GraspRrtWindow::loadScene()
UI.comboBoxStart->clear();
- for (size_t i = 0; i < configs.size(); i++)
+ for (auto & config : configs)
{
- QString qtext = configs[i]->getName().c_str();
+ QString qtext = config->getName().c_str();
UI.comboBoxStart->addItem(qtext);
}
@@ -330,9 +330,9 @@ void GraspRrtWindow::loadScene()
UI.comboBoxGoal->clear();
- for (size_t i = 0; i < obstacles.size(); i++)
+ for (auto & obstacle : obstacles)
{
- QString qtext = obstacles[i]->getName().c_str();
+ QString qtext = obstacle->getName().c_str();
UI.comboBoxGoal->addItem(qtext);
}
@@ -345,9 +345,9 @@ void GraspRrtWindow::loadScene()
UI.comboBoxColModelEnv->clear();
QString qtext;
- for (size_t i = 0; i < soss.size(); i++)
+ for (auto & sos : soss)
{
- qtext = soss[i]->getName().c_str();
+ qtext = sos->getName().c_str();
UI.comboBoxColModelEnv->addItem(qtext);
}
@@ -384,9 +384,9 @@ void GraspRrtWindow::loadScene()
UI.comboBoxColModelRobotStatic->clear();
UI.comboBoxRNS->clear();
- for (size_t i = 0; i < rnss.size(); i++)
+ for (auto & rns : rnss)
{
- qtext = rnss[i]->getName().c_str();
+ qtext = rns->getName().c_str();
UI.comboBoxColModelRobot->addItem(qtext);
UI.comboBoxColModelRobotStatic->addItem(qtext);
UI.comboBoxRNS->addItem(qtext);
diff --git a/MotionPlanning/examples/IKRRT/IKRRTWindow.cpp b/MotionPlanning/examples/IKRRT/IKRRTWindow.cpp
index a4fe17150cab0557919ac8211bb3c99bcc3c2dfa..9574ca04bd2f096a9f9e7a6964cf09435ff610d5 100644
--- a/MotionPlanning/examples/IKRRT/IKRRTWindow.cpp
+++ b/MotionPlanning/examples/IKRRT/IKRRTWindow.cpp
@@ -311,9 +311,9 @@ void IKRRTWindow::buildVisu()
if (obstacles.size() > 0)
{
- for (size_t i = 0; i < obstacles.size(); i++)
+ for (const auto & obstacle : obstacles)
{
- SoNode* visualisationNode = CoinVisualizationFactory::getCoinVisualization(obstacles[i], colModel);
+ SoNode* visualisationNode = CoinVisualizationFactory::getCoinVisualization(obstacle, colModel);
if (visualisationNode)
{
diff --git a/MotionPlanning/examples/MultiThreadedPlanning/MTPlanningScenery.cpp b/MotionPlanning/examples/MultiThreadedPlanning/MTPlanningScenery.cpp
index 6f8d18e7be1040c0040cede3b42d995a9944f70c..4182a92ff4559f84542e00d1267637cb0a5bf0eb 100644
--- a/MotionPlanning/examples/MultiThreadedPlanning/MTPlanningScenery.cpp
+++ b/MotionPlanning/examples/MultiThreadedPlanning/MTPlanningScenery.cpp
@@ -77,9 +77,9 @@ MTPlanningScenery::~MTPlanningScenery()
void MTPlanningScenery::reset()
{
- for (int i = 0; i < (int)robots.size(); i++)
+ for (auto & robot : robots)
{
- robots[i].reset();
+ robot.reset();
}
robots.clear();
@@ -94,30 +94,30 @@ void MTPlanningScenery::reset()
stopOptimizing();
}
- for (int i = 0; i < (int)planners.size(); i++)
+ for (auto & planner : planners)
{
- planners[i].reset();
+ planner.reset();
}
planners.clear();
- for (int i = 0; i < (int)CSpaces.size(); i++)
+ for (auto & CSpace : CSpaces)
{
- CSpaces[i].reset();
+ CSpace.reset();
}
CSpaces.clear();
- for (int i = 0; i < (int)planningThreads.size(); i++)
+ for (auto & planningThread : planningThreads)
{
- planningThreads[i].reset();
+ planningThread.reset();
}
planningThreads.clear();
- for (int i = 0; i < (int)optimizeThreads.size(); i++)
+ for (auto & optimizeThread : optimizeThreads)
{
- optimizeThreads[i].reset();
+ optimizeThread.reset();
}
optimizeThreads.clear();
@@ -125,11 +125,11 @@ void MTPlanningScenery::reset()
solutions.clear();
optiSolutions.clear();
- for (int i = 0; i < (int)visualisations.size(); i++)
+ for (auto & visualisation : visualisations)
{
- if (visualisations[i] != NULL)
+ if (visualisation != NULL)
{
- sceneSep->removeChild(visualisations[i]);
+ sceneSep->removeChild(visualisation);
}
}
@@ -451,14 +451,14 @@ void MTPlanningScenery::stopPlanning()
{
cout << "Stopping " << planningThreads.size() << " planning threads..." << endl;
- for (unsigned int i = 0; i < planningThreads.size(); i++)
+ for (auto & planningThread : planningThreads)
{
- planningThreads[i]->stop();
+ planningThread->stop();
}
- for (unsigned int i = 0; i < robots.size(); i++)
+ for (auto & robot : robots)
{
- robots[i]->setUpdateVisualization(true);
+ robot->setUpdateVisualization(true);
}
cout << "... done" << endl;
@@ -476,14 +476,14 @@ void MTPlanningScenery::stopOptimizing()
cout << "Stopping " << optimizeThreads.size() << " optimizing threads..." << endl;
- for (int i = 0; i < (int)optimizeThreads.size(); i++)
+ for (auto & optimizeThread : optimizeThreads)
{
- optimizeThreads[i]->stop();
+ optimizeThread->stop();
}
- for (int i = 0; i < (int)robots.size(); i++)
+ for (auto & robot : robots)
{
- robots[i]->setUpdateVisualization(true);
+ robot->setUpdateVisualization(true);
}
cout << "...done" << endl;
@@ -501,14 +501,14 @@ void MTPlanningScenery::startPlanning()
cout << "Starting " << planningThreads.size() << " planning threads..." << endl;
- for (unsigned int i = 0; i < robots.size(); i++)
+ for (auto & robot : robots)
{
- robots[i]->setUpdateVisualization(false);
+ robot->setUpdateVisualization(false);
}
- for (unsigned int i = 0; i < planningThreads.size(); i++)
+ for (auto & planningThread : planningThreads)
{
- planningThreads[i]->start();
+ planningThread->start();
}
cout << "... done" << endl;
@@ -537,9 +537,9 @@ void MTPlanningScenery::startOptimizing()
if (plannersStarted)
{
- for (int i = 0; i < (int)planningThreads.size(); i++)
+ for (auto & planningThread : planningThreads)
{
- if (planningThreads[i]->isRunning())
+ if (planningThread->isRunning())
{
cout << "Planning is not finish!..." << endl;
return;
@@ -564,16 +564,16 @@ void MTPlanningScenery::startOptimizing()
int j = 0;
- for (unsigned int i = 0; i < robots.size(); i++)
+ for (auto & robot : robots)
{
- robots[i]->setUpdateVisualization(false);
+ robot->setUpdateVisualization(false);
}
- for (unsigned int i = 0; i < optimizeThreads.size(); i++)
+ for (auto & optimizeThread : optimizeThreads)
{
- if (optimizeThreads[i])
+ if (optimizeThread)
{
- optimizeThreads[i]->start(SHORTEN_LOOP);
+ optimizeThread->start(SHORTEN_LOOP);
j++;
}
}
@@ -852,10 +852,8 @@ void MTPlanningScenery::getThreadCount(int& nWorking, int& nIdle)
nWorking = 0;
nIdle = 0;
- for (unsigned int i = 0; i < planningThreads.size(); i++)
+ for (auto pThread : planningThreads)
{
- PlanningThreadPtr pThread = planningThreads[i];
-
if (pThread->isRunning())
{
nWorking++;
@@ -873,10 +871,8 @@ void MTPlanningScenery::getOptimizeThreadCount(int& nWorking, int& nIdle)
nWorking = 0;
nIdle = 0;
- for (unsigned int i = 0; i < optimizeThreads.size(); i++)
+ for (auto pOptiThread : optimizeThreads)
{
- PathProcessingThreadPtr pOptiThread = optimizeThreads[i];
-
if (pOptiThread && pOptiThread->isRunning())
{
nWorking++;
diff --git a/MotionPlanning/examples/RrtGui/RrtGuiWindow.cpp b/MotionPlanning/examples/RrtGui/RrtGuiWindow.cpp
index e8e8b3dd4f96c5ffe90434010ad60bfe49c46167..b1be17b31f65b2786743c9c7d93399c99d27af3a 100644
--- a/MotionPlanning/examples/RrtGui/RrtGuiWindow.cpp
+++ b/MotionPlanning/examples/RrtGui/RrtGuiWindow.cpp
@@ -294,9 +294,9 @@ void RrtGuiWindow::loadScene()
UI.comboBoxGoal->clear();
UI.comboBoxStart->clear();
- for (size_t i = 0; i < configs.size(); i++)
+ for (auto & config : configs)
{
- QString qtext = configs[i]->getName().c_str();
+ QString qtext = config->getName().c_str();
UI.comboBoxStart->addItem(qtext);
UI.comboBoxGoal->addItem(qtext);
}
@@ -310,9 +310,9 @@ void RrtGuiWindow::loadScene()
UI.comboBoxColModelEnv->clear();
QString qtext;
- for (size_t i = 0; i < soss.size(); i++)
+ for (auto & sos : soss)
{
- qtext = soss[i]->getName().c_str();
+ qtext = sos->getName().c_str();
UI.comboBoxColModelEnv->addItem(qtext);
}
@@ -324,9 +324,9 @@ void RrtGuiWindow::loadScene()
UI.comboBoxColModelRobotStatic->clear();
UI.comboBoxRNS->clear();
- for (size_t i = 0; i < rnss.size(); i++)
+ for (auto & rns : rnss)
{
- qtext = rnss[i]->getName().c_str();
+ qtext = rns->getName().c_str();
UI.comboBoxColModelRobot->addItem(qtext);
UI.comboBoxColModelRobotStatic->addItem(qtext);
UI.comboBoxRNS->addItem(qtext);
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletEngine.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletEngine.cpp
index b343fc4ee66a88267c75b0b5440c7f0aa96fe18c..cb39d31b3cd763e414fdc1e0c504027852acc2e0 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletEngine.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletEngine.cpp
@@ -429,14 +429,14 @@ namespace SimDynamics
std::vector<BulletRobot::LinkInfo> links = btRobot->getLinks();
std::vector<DynamicsObjectPtr> nodes = btRobot->getDynamicsRobotNodes();
- for (size_t i = 0; i < nodes.size(); i++)
+ for (const auto & node : nodes)
{
- addObject(nodes[i]);
+ addObject(node);
}
- for (size_t i = 0; i < links.size(); i++)
+ for (auto & link : links)
{
- addLink(links[i]);
+ addLink(link);
}
return DynamicsEngine::addRobot(r);
@@ -463,19 +463,19 @@ namespace SimDynamics
e->updateRobots(timeStep);
- for (unsigned int i = 0; i < e->callbacks.size(); i++)
+ for (auto & callback : e->callbacks)
{
- e->callbacks[i].first(e->callbacks[i].second, timeStep);
+ callback.first(callback.second, timeStep);
}
}
void BulletEngine::updateRobots(btScalar timeStep)
{
- for (size_t i = 0; i < robots.size(); i++)
+ for (auto & robot : robots)
{
- robots[i]->actuateJoints(static_cast<double>(timeStep));
- robots[i]->updateSensors(static_cast<double>(timeStep));
+ robot->actuateJoints(static_cast<double>(timeStep));
+ robot->updateSensors(static_cast<double>(timeStep));
}
}
@@ -494,14 +494,14 @@ namespace SimDynamics
std::vector<DynamicsObjectPtr> nodes = btRobot->getDynamicsRobotNodes();
- for (size_t i = 0; i < links.size(); i++)
+ for (auto & link : links)
{
- removeLink(links[i]);
+ removeLink(link);
}
- for (size_t i = 0; i < nodes.size(); i++)
+ for (const auto & node : nodes)
{
- removeObject(nodes[i]);
+ removeObject(node);
}
return DynamicsEngine::removeRobot(r);
@@ -516,9 +516,9 @@ namespace SimDynamics
dynamicsWorld->addConstraint(l.joint.get(), true);
#endif
- for (size_t i = 0; i < l.disabledCollisionPairs.size(); i++)
+ for (auto & disabledCollisionPair : l.disabledCollisionPairs)
{
- this->disableCollision(static_cast<DynamicsObject*>(l.disabledCollisionPairs[i].first.get()), static_cast<DynamicsObject*>(l.disabledCollisionPairs[i].second.get()));
+ this->disableCollision(static_cast<DynamicsObject*>(disabledCollisionPair.first.get()), static_cast<DynamicsObject*>(disabledCollisionPair.second.get()));
}
return true;
@@ -714,9 +714,9 @@ namespace SimDynamics
std::vector<BulletRobot::LinkInfo> links = br->getLinks(bo);
- for (size_t i = 0; i < links.size(); i++)
+ for (auto & link : links)
{
- removeLink(links[i]);
+ removeLink(link);
}
bool res = br->detachObject(object);
@@ -741,9 +741,9 @@ void SimDynamics::BulletEngine::updateAction(btCollisionWorld *collisionWorld, b
updateRobots(deltaTimeStep);
- for (unsigned int i = 0; i < callbacks.size(); i++)
+ for (auto & callback : callbacks)
{
- callbacks[i].first(callbacks[i].second, deltaTimeStep);
+ callback.first(callback.second, deltaTimeStep);
}
std::chrono::duration<double> diff = (std::chrono::system_clock::now()-start);
// cout << "duration: " << diff.count() << endl;
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
index 0e39b0129367495ce8f9a6c879ce1f8b7f0b6a3c..019669871074a940775af92c3817dc65abfd2f38 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
@@ -75,10 +75,9 @@ namespace SimDynamics
robotNodes = robot->getRobotNodes();
- for (size_t i = 0; i < robotNodes.size(); i++)
+ for (auto rn : robotNodes)
{
- RobotNodePtr rn = robotNodes[i];
CollisionModelPtr colModel = rn->getCollisionModel();
if (colModel)
@@ -174,13 +173,13 @@ namespace SimDynamics
BulletObjectPtr drn1 = boost::dynamic_pointer_cast<BulletObject>(dynamicRobotNodes[rn]);
VR_ASSERT(drn1);
- for (size_t i = 0; i < ic.size(); i++)
+ for (const auto & i : ic)
{
- RobotNodePtr rn2 = robot->getRobotNode(ic[i]);
+ RobotNodePtr rn2 = robot->getRobotNode(i);
if (!rn2)
{
- VR_ERROR << "Error while processing robot node <" << rn->getName() << ">: Ignored collision model <" << ic[i] << "> is not part of robot..." << endl;
+ VR_ERROR << "Error while processing robot node <" << rn->getName() << ">: Ignored collision model <" << i << "> is not part of robot..." << endl;
}
else
{
@@ -456,9 +455,9 @@ namespace SimDynamics
{
MutexLockPtr lock = getScopedLock();
- for (size_t i = 0; i < links.size(); i++)
+ for (auto & link : links)
{
- if (links[i].nodeA == node1 && links[i].nodeB == node2)
+ if (link.nodeA == node1 && link.nodeB == node2)
{
return true;
}
@@ -668,9 +667,9 @@ namespace SimDynamics
boost::unordered_set<std::string> contactObjectNames;
// this seems stupid and it is, but that is abstract interfaces for you.
- for (std::vector<SensorPtr>::iterator it = sensors.begin(); it != sensors.end(); it++)
+ for (auto & sensor : sensors)
{
- ContactSensorPtr contactSensor = boost::dynamic_pointer_cast<ContactSensor>(*it);
+ ContactSensorPtr contactSensor = boost::dynamic_pointer_cast<ContactSensor>(sensor);
if (contactSensor)
{
@@ -682,11 +681,8 @@ namespace SimDynamics
std::vector<SimDynamics::DynamicsEngine::DynamicsContactInfo> contacts = world->getEngine()->getContacts();
boost::unordered_map<std::string, VirtualRobot::ContactSensor::ContactFrame> frameMap;
- for (std::vector<SimDynamics::DynamicsEngine::DynamicsContactInfo>::iterator it = contacts.begin();
- it != contacts.end(); it++)
+ for (auto & contact : contacts)
{
- const SimDynamics::DynamicsEngine::DynamicsContactInfo& contact = *it;
-
if (contact.objectAName.empty() || contact.objectBName.empty())
{
continue;
@@ -723,9 +719,9 @@ namespace SimDynamics
}
// Update forces and torques
- for (std::vector<SensorPtr>::iterator it = sensors.begin(); it != sensors.end(); it++)
+ for (auto & sensor : sensors)
{
- ForceTorqueSensorPtr ftSensor = boost::dynamic_pointer_cast<ForceTorqueSensor>(*it);
+ ForceTorqueSensorPtr ftSensor = boost::dynamic_pointer_cast<ForceTorqueSensor>(sensor);
if (ftSensor)
{
@@ -741,7 +737,7 @@ namespace SimDynamics
}
else
{
- ContactSensorPtr contactSensor = boost::dynamic_pointer_cast<ContactSensor>(*it);
+ ContactSensorPtr contactSensor = boost::dynamic_pointer_cast<ContactSensor>(sensor);
if (contactSensor)
{
@@ -758,11 +754,11 @@ namespace SimDynamics
{
MutexLockPtr lock = getScopedLock();
- for (size_t i = 0; i < links.size(); i++)
+ for (auto & link : links)
{
- if (links[i].nodeJoint == node /*|| links[i].nodeJoint2 == node*/)
+ if (link.nodeJoint == node /*|| links[i].nodeJoint2 == node*/)
{
- return links[i];
+ return link;
}
}
@@ -774,11 +770,11 @@ namespace SimDynamics
{
MutexLockPtr lock = getScopedLock();
- for (size_t i = 0; i < links.size(); i++)
+ for (auto & link : links)
{
- if ((links[i].dynNode1 == object1 && links[i].dynNode2 == object2) || (links[i].dynNode1 == object2 && links[i].dynNode2 == object1))
+ if ((link.dynNode1 == object1 && link.dynNode2 == object2) || (link.dynNode1 == object2 && link.dynNode2 == object1))
{
- return links[i];
+ return link;
}
}
@@ -791,11 +787,11 @@ namespace SimDynamics
MutexLockPtr lock = getScopedLock();
std::vector<BulletRobot::LinkInfo> result;
- for (size_t i = 0; i < links.size(); i++)
+ for (auto & link : links)
{
- if (links[i].nodeJoint == node /*|| links[i].nodeJoint2 == node*/ || links[i].nodeA == node || links[i].nodeB == node)
+ if (link.nodeJoint == node /*|| links[i].nodeJoint2 == node*/ || link.nodeA == node || link.nodeB == node)
{
- result.push_back(links[i]);
+ result.push_back(link);
}
}
@@ -807,11 +803,11 @@ namespace SimDynamics
MutexLockPtr lock = getScopedLock();
std::vector<BulletRobot::LinkInfo> result;
- for (size_t i = 0; i < links.size(); i++)
+ for (auto & link : links)
{
- if (links[i].dynNode1 == node || links[i].dynNode2 == node)
+ if (link.dynNode1 == node || link.dynNode2 == node)
{
- result.push_back(links[i]);
+ result.push_back(link);
}
}
@@ -964,9 +960,9 @@ namespace SimDynamics
return true; // not a failure, object is not attached
}
- for (size_t i = 0; i < ls.size(); i++)
+ for (const auto & l : ls)
{
- res = res & removeLink(ls[i]);
+ res = res & removeLink(l);
}
VR_INFO << "Detached object " << object->getName() << " from robot " << robot->getName() << endl;
@@ -977,9 +973,9 @@ namespace SimDynamics
{
MutexLockPtr lock = getScopedLock();
- for (size_t i = 0; i < links.size(); i++)
+ for (auto & link : links)
{
- if (links[i].nodeJoint == node /*|| links[i].nodeJoint2 == node*/)
+ if (link.nodeJoint == node /*|| links[i].nodeJoint2 == node*/)
{
return true;
}
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/SimoxMotionState.cpp b/SimDynamics/DynamicsEngine/BulletEngine/SimoxMotionState.cpp
index cc1e72c6c44fc85e06b69419e0a87122aeb2ece7..04b53c60e9b27549af27b358becb1bb2ef2be94c 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/SimoxMotionState.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/SimoxMotionState.cpp
@@ -138,11 +138,11 @@ namespace SimDynamics
std::vector<BulletRobot::LinkInfo> links = bdr->getLinks(rn);
// update all involved joint values
- for (size_t i = 0; i < links.size(); i++)
+ for (auto & link : links)
{
- if (links[i].nodeJoint)
+ if (link.nodeJoint)
{
- float ja = float(bdr->getJointAngle(links[i].nodeJoint));
+ float ja = float(bdr->getJointAngle(link.nodeJoint));
#ifdef _DEBUG
if (boost::math::isnan(ja))
@@ -152,7 +152,7 @@ namespace SimDynamics
#endif
// we can update the joint value via an RobotNodeActuator
- RobotNodeActuatorPtr rna(new RobotNodeActuator(links[i].nodeJoint));
+ RobotNodeActuatorPtr rna(new RobotNodeActuator(link.nodeJoint));
rna->updateJointAngle(ja);
}
}
diff --git a/SimDynamics/DynamicsEngine/DynamicsEngine.cpp b/SimDynamics/DynamicsEngine/DynamicsEngine.cpp
index 917721c3c371c86a1d5a0da88ef08e05108f564c..9318f44d16a2ca8e5a698c3afd6885e55cfb2375 100644
--- a/SimDynamics/DynamicsEngine/DynamicsEngine.cpp
+++ b/SimDynamics/DynamicsEngine/DynamicsEngine.cpp
@@ -88,9 +88,9 @@ namespace SimDynamics
if (find(robots.begin(), robots.end(), r) == robots.end())
{
- for (size_t i = 0; i < robots.size(); i++)
+ for (auto & robot : robots)
{
- if (robots[i]->getRobot() == r->getRobot())
+ if (robot->getRobot() == r->getRobot())
{
VR_ERROR << "Only one DynamicsWrapper per robot allowed. Robot " << r->getName() << endl;
return false;
@@ -332,11 +332,11 @@ namespace SimDynamics
{
MutexLockPtr lock = getScopedLock();
- for (size_t i = 0; i < objects.size(); i++)
+ for (auto & object : objects)
{
- if (objects[i]->getName() == objectName)
+ if (object->getName() == objectName)
{
- return objects[i];
+ return object;
}
}
@@ -347,9 +347,9 @@ namespace SimDynamics
{
MutexLockPtr lock = getScopedLock();
- for (size_t i = 0; i < objects.size(); i++)
+ for (auto & object : objects)
{
- objects[i]->activate();
+ object->activate();
}
}
@@ -364,11 +364,11 @@ namespace SimDynamics
{
MutexLockPtr lock = getScopedLock();
- for (size_t i = 0; i < robots.size(); i++)
+ for (auto & robot : robots)
{
- if (robots[i]->getRobot() == r)
+ if (robot->getRobot() == r)
{
- return robots[i];
+ return robot;
}
}
@@ -379,11 +379,11 @@ namespace SimDynamics
{
MutexLockPtr lock = getScopedLock();
- for (size_t i = 0; i < robots.size(); i++)
+ for (auto & robot : robots)
{
- if (robots[i]->getName() == robName)
+ if (robot->getName() == robName)
{
- return robots[i];
+ return robot;
}
}
diff --git a/SimDynamics/DynamicsEngine/DynamicsRobot.cpp b/SimDynamics/DynamicsEngine/DynamicsRobot.cpp
index 1558a3b90cb189e3174468e7d9e280557b3bd439..a8a9aa52e397abfc209d1396ff858efaa13069e7 100644
--- a/SimDynamics/DynamicsEngine/DynamicsRobot.cpp
+++ b/SimDynamics/DynamicsEngine/DynamicsRobot.cpp
@@ -454,12 +454,12 @@ namespace SimDynamics
void DynamicsRobot::enableSelfCollisions(bool enable)
{
// deactivate all self collisions
- for (size_t i = 0; i < robotNodes.size(); i++)
+ for (const auto & i : robotNodes)
{
- auto drn1 = getDynamicsRobotNode(robotNodes.at(i));
- for (size_t j = 0; j < robotNodes.size(); j++)
+ auto drn1 = getDynamicsRobotNode(i);
+ for (const auto & robotNode : robotNodes)
{
- auto drn2 = getDynamicsRobotNode(robotNodes.at(j));
+ auto drn2 = getDynamicsRobotNode(robotNode);
if(enable)
DynamicsWorld::GetWorld()->getEngine()->enableCollision(drn1.get(), drn2.get());
else
diff --git a/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp b/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp
index a79e305f98091a8e647c224c4685ecd5087c8f03..1c61f9ac81839e3beddfbe247bb223a541ec408e 100644
--- a/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp
+++ b/SimDynamics/examples/SimDynamicsViewer/simDynamicsWindow.cpp
@@ -236,9 +236,9 @@ void SimDynamicsWindow::buildVisualization()
viewer->addVisualization(dynamicsRobot, colModel);
viewer->addVisualization(dynamicsObject, colModel);
- for (size_t i = 0; i < dynamicsObjects.size(); i++)
+ for (const auto & dynamicsObject : dynamicsObjects)
{
- viewer->addVisualization(dynamicsObjects[i], colModel);
+ viewer->addVisualization(dynamicsObject, colModel);
}
if (dynamicsObject2)
@@ -263,14 +263,14 @@ void SimDynamicsWindow::comVisu()
{
std::vector<RobotNodePtr> n = robot->getRobotNodes();
- for (size_t i = 0; i < n.size(); i++)
+ for (const auto & i : n)
{
SoSeparator* sep = new SoSeparator;
comSep->addChild(sep);
- Eigen::Matrix4f cp = dynamicsRobot->getComGlobal(n[i]);
+ Eigen::Matrix4f cp = dynamicsRobot->getComGlobal(i);
sep->addChild(CoinVisualizationFactory::getMatrixTransformScaleMM2M(cp));
sep->addChild(CoinVisualizationFactory::CreateCoordSystemVisualization(5.0f));
- comVisuMap[n[i]] = sep;
+ comVisuMap[i] = sep;
}
}
}
@@ -319,12 +319,12 @@ void SimDynamicsWindow::updateJoints()
UI.comboBoxRobotNode->clear();
std::vector<RobotNodePtr> nodes = robot->getRobotNodes();
- for (size_t i = 0; i < nodes.size(); i++)
+ for (auto & node : nodes)
{
- if (nodes[i]->isRotationalJoint() || nodes[i]->isTranslationalJoint())
+ if (node->isRotationalJoint() || node->isTranslationalJoint())
{
- robotNodes.push_back(nodes[i]);
- QString qstr(nodes[i]->getName().c_str());
+ robotNodes.push_back(node);
+ QString qstr(node->getName().c_str());
UI.comboBoxRobotNode->addItem(qstr);
}
}
@@ -831,17 +831,17 @@ void SimDynamicsWindow::updateContactVisu()
std::vector<SimDynamics::DynamicsEngine::DynamicsContactInfo> c = dynamicsWorld->getEngine()->getContacts();
- for (size_t i = 0; i < c.size(); i++)
+ for (auto & i : c)
{
- cout << "Contact: " << c[i].objectAName << " + " << c[i].objectBName << endl;
+ cout << "Contact: " << i.objectAName << " + " << i.objectBName << endl;
SoSeparator* normal = new SoSeparator;
SoMatrixTransform* m = new SoMatrixTransform;
SbMatrix ma;
ma.makeIdentity();
- ma.setTranslate(SbVec3f(c[i].posGlobalB(0), c[i].posGlobalB(1), c[i].posGlobalB(2)));
+ ma.setTranslate(SbVec3f(i.posGlobalB(0), i.posGlobalB(1), i.posGlobalB(2)));
m->matrix.setValue(ma);
normal->addChild(m);
- SoSeparator* n = CoinVisualizationFactory::CreateArrow(c[i].normalGlobalB, 50.0f);
+ SoSeparator* n = CoinVisualizationFactory::CreateArrow(i.normalGlobalB, 50.0f);
if (n)
{
@@ -851,10 +851,10 @@ void SimDynamicsWindow::updateContactVisu()
SoSeparator* normal2 = new SoSeparator;
SoMatrixTransform* m2 = new SoMatrixTransform;
ma.makeIdentity();
- ma.setTranslate(SbVec3f(c[i].posGlobalA(0), c[i].posGlobalA(1), c[i].posGlobalA(2)));
+ ma.setTranslate(SbVec3f(i.posGlobalA(0), i.posGlobalA(1), i.posGlobalA(2)));
m2->matrix.setValue(ma);
normal2->addChild(m2);
- SoSeparator* n2 = CoinVisualizationFactory::CreateArrow(-c[i].normalGlobalB, 50.0f);
+ SoSeparator* n2 = CoinVisualizationFactory::CreateArrow(-i.normalGlobalB, 50.0f);
if (n2)
{
diff --git a/VirtualRobot/BoundingBox.cpp b/VirtualRobot/BoundingBox.cpp
index 204855283ecc0231658b4f36f5ed12ca7aa06caa..82277538f8fa0619289ef7b9c59df43d23ccffe5 100644
--- a/VirtualRobot/BoundingBox.cpp
+++ b/VirtualRobot/BoundingBox.cpp
@@ -147,10 +147,10 @@ namespace VirtualRobot
result[7] << max(0), max(1), max(2);
Eigen::Matrix4f m;
- for (int i = 0; i < 8; i++)
+ for (const auto & i : result)
{
m.setIdentity();
- m.block(0, 3, 3, 1) = result[i];
+ m.block(0, 3, 3, 1) = i;
m = pose * m;
result3.push_back(m.block(0, 3, 3, 1));
}
diff --git a/VirtualRobot/CollisionDetection/CDManager.cpp b/VirtualRobot/CollisionDetection/CDManager.cpp
index bd44df1be45622c376b775331e57e90ae1f14702..cfc22f584a230113fd39375cf44a6a3e6a5d51fb 100644
--- a/VirtualRobot/CollisionDetection/CDManager.cpp
+++ b/VirtualRobot/CollisionDetection/CDManager.cpp
@@ -39,11 +39,11 @@ namespace VirtualRobot
VR_WARNING << "CollisionModel of SceneObjectSet '" << m->getName() << "' is linked to a different instance of collision checker than this CollisionManager..." << endl;
}
- for (size_t i = 0; i < colModels.size(); i++)
+ for (const auto & colModel : colModels)
{
- if (m != colModels[i])
+ if (m != colModel)
{
- addCollisionModelPair(colModels[i], m);
+ addCollisionModelPair(colModel, m);
}
}
@@ -73,11 +73,11 @@ namespace VirtualRobot
}
// check all colmodels
- for (unsigned int i = 0; i < colModels.size(); i++)
+ for (const auto & colModel : colModels)
{
- if (m != colModels[i])
+ if (m != colModel)
{
- if (colChecker->checkCollision(colModels[i], m))
+ if (colChecker->checkCollision(colModel, m))
{
return true;
}
@@ -101,11 +101,11 @@ namespace VirtualRobot
}
// check all colmodels
- for (unsigned int i = 0; i < colModels.size(); i++)
+ for (const auto & colModel : colModels)
{
- if (m != colModels[i])
+ if (m != colModel)
{
- tmp = (float)colChecker->calculateDistance(colModels[i], m);
+ tmp = (float)colChecker->calculateDistance(colModel, m);
if (tmp < minDist)
{
@@ -123,9 +123,9 @@ namespace VirtualRobot
{
float minDist = FLT_MAX;
- for (size_t i = 0; i < sets.size(); i++)
+ for (const auto & set : sets)
{
- float tmp = (float)colChecker->calculateDistance(m, sets[i]);
+ float tmp = (float)colChecker->calculateDistance(m, set);
if (tmp < minDist)
{
@@ -172,9 +172,9 @@ namespace VirtualRobot
int _trID1;
int _trID2;
- for (size_t i = 0; i < sets.size(); i++)
+ for (const auto & set : sets)
{
- float tmp = (float)colChecker->calculateDistance(m, sets[i], _P1, _P2, &_trID1, &_trID2);
+ float tmp = (float)colChecker->calculateDistance(m, set, _P1, _P2, &_trID1, &_trID2);
if (tmp < minDist)
{
@@ -247,9 +247,9 @@ namespace VirtualRobot
return -1.0f;
}
- for (unsigned int j = 0; j < colModels.size(); j++)
+ for (const auto & colModel : colModels)
{
- tmp = (float)colChecker->calculateDistance(m, colModels[j], _P1, _P2, &_trID1, &_trID2);
+ tmp = (float)colChecker->calculateDistance(m, colModel, _P1, _P2, &_trID1, &_trID2);
if (tmp < minDist)
{
@@ -272,9 +272,9 @@ namespace VirtualRobot
bool CDManager::isInCollision(SceneObjectSetPtr m, std::vector<SceneObjectSetPtr>& sets)
{
- for (size_t i = 0; i < sets.size(); i++)
+ for (const auto & set : sets)
{
- if (colChecker->checkCollision(m, sets[i]))
+ if (colChecker->checkCollision(m, set))
{
return true;
}
@@ -318,9 +318,9 @@ namespace VirtualRobot
bool CDManager::hasSceneObjectSet(SceneObjectSetPtr m)
{
- for (size_t i = 0; i < colModels.size(); i++)
+ for (const auto & colModel : colModels)
{
- if (colModels[i] == m)
+ if (colModel == m)
{
return true;
}
@@ -331,14 +331,14 @@ namespace VirtualRobot
bool CDManager::_hasSceneObjectSet(SceneObjectSetPtr m)
{
- for (size_t i = 0; i < colModels.size(); i++)
+ for (auto & colModel : colModels)
{
- if (colModels[i] == m)
+ if (colModel == m)
{
return true;
}
- if (m->getSize() == 1 && colModels[i]->getSize() == 1 && colModels[i]->getSceneObject(0) == m->getSceneObject(0))
+ if (m->getSize() == 1 && colModel->getSize() == 1 && colModel->getSceneObject(0) == m->getSceneObject(0))
{
return true;
}
@@ -349,9 +349,9 @@ namespace VirtualRobot
bool CDManager::hasSceneObject(SceneObjectPtr m)
{
- for (size_t i = 0; i < colModels.size(); i++)
+ for (auto & colModel : colModels)
{
- if (colModels[i]->getSize() == 1 && colModels[i]->getSceneObject(0) == m)
+ if (colModel->getSize() == 1 && colModel->getSceneObject(0) == m)
{
return true;
}
diff --git a/VirtualRobot/CollisionDetection/CollisionChecker.cpp b/VirtualRobot/CollisionDetection/CollisionChecker.cpp
index bab06c9efab07e8db72db7dc8e1cd0495fd10d21..24ca3f860bef47bc31a3b1755fc2c6d9377c91eb 100644
--- a/VirtualRobot/CollisionDetection/CollisionChecker.cpp
+++ b/VirtualRobot/CollisionDetection/CollisionChecker.cpp
@@ -391,11 +391,11 @@ namespace VirtualRobot
SceneObjectSetPtr result(new SceneObjectSet(r->getName(), shared_from_this()));
std::vector<RobotNodePtr> cm = r->getRobotNodes();
- for (size_t i = 0; i < cm.size(); i++)
+ for (auto & i : cm)
{
- if (cm[i]->getCollisionModel())
+ if (i->getCollisionModel())
{
- result->addSceneObject(cm[i]);
+ result->addSceneObject(i);
}
}
@@ -779,13 +779,13 @@ namespace VirtualRobot
// bbox was hit, test all points...
std::vector< Eigen::Vector3f > pts = colModel->getModelVeticesGlobal();
- for (std::vector< Eigen::Vector3f >::iterator i = pts.begin(); i != pts.end(); i++)
+ for (auto & pt : pts)
{
- if (MathTools::getDistancePointPlane(*i, p) <= maxDist)
+ if (MathTools::getDistancePointPlane(pt, p) <= maxDist)
{
MathTools::ContactPoint contact;
contact.n = p.n;
- contact.p = *i;
+ contact.p = pt;
storeContatcs.push_back(contact);
}
}
diff --git a/VirtualRobot/CollisionDetection/CollisionModel.cpp b/VirtualRobot/CollisionDetection/CollisionModel.cpp
index 2fc51a4eb80194593a0b1a1501e37a69fff999fe..762d47d4d8ea48450e6eba5b803977a826ac2122 100644
--- a/VirtualRobot/CollisionDetection/CollisionModel.cpp
+++ b/VirtualRobot/CollisionDetection/CollisionModel.cpp
@@ -219,9 +219,9 @@ namespace VirtualRobot
Eigen::Matrix4f t;
t.setIdentity();
- for (std::vector<Eigen::Vector3f >::iterator i = model->vertices.begin(); i != model->vertices.end(); i++)
+ for (auto & vertice : model->vertices)
{
- t.block(0, 3, 3, 1) = *i;
+ t.block(0, 3, 3, 1) = vertice;
t = globalPose * t;
result.push_back(t.block(0, 3, 3, 1));
}
@@ -351,16 +351,16 @@ namespace VirtualRobot
CollisionCheckerPtr colChecker = colModels[0]->getCollisionChecker();
std::vector<VisualizationNodePtr> visus;
- for (size_t i = 0; i < colModels.size(); i++)
+ for (const auto & colModel : colModels)
{
- VisualizationNodePtr v = colModels[i]->getVisualization();
+ VisualizationNodePtr v = colModel->getVisualization();
if (v)
{
visus.push_back(v);
}
- VR_ASSERT(colModels[i]->getCollisionChecker() == colChecker);
+ VR_ASSERT(colModel->getCollisionChecker() == colChecker);
}
if (visus.size() == 0)
diff --git a/VirtualRobot/Compression/tests/CompressionBZip2Test.cpp b/VirtualRobot/Compression/tests/CompressionBZip2Test.cpp
index a97f3a637f5aba7de517c48a70fefd8eda9574d9..09b584e058194f736fd140d9e93030c0443ead06 100644
--- a/VirtualRobot/Compression/tests/CompressionBZip2Test.cpp
+++ b/VirtualRobot/Compression/tests/CompressionBZip2Test.cpp
@@ -62,9 +62,9 @@ BOOST_AUTO_TEST_CASE(testNullBlock)
BOOST_CHECK_EQUAL(ios.eof(), true);
- for (int i = 0; i < BLOCK_SIZE_COMPRESSION_TEST; i++)
+ for (unsigned char i : blockN2)
{
- BOOST_CHECK_EQUAL(blockN2[i], 0);
+ BOOST_CHECK_EQUAL(i, 0);
}
delete bzip2;
@@ -95,9 +95,9 @@ BOOST_AUTO_TEST_CASE(testMultipleRandomBlocks)
bool ok = false;
- for (int j = 0; j < NR_BLOCKS_COMPRESSION_TEST; j++)
+ for (auto & j : blockN)
{
- BOOST_CHECK_NO_THROW(ok = bzip2->write((void*)(blockN[j]), BLOCK_SIZE_COMPRESSION_TEST));
+ BOOST_CHECK_NO_THROW(ok = bzip2->write((void*)j, BLOCK_SIZE_COMPRESSION_TEST));
BOOST_CHECK_EQUAL(ok, true);
}
@@ -115,9 +115,9 @@ BOOST_AUTO_TEST_CASE(testMultipleRandomBlocks)
ok = false;
int nrBytes = 0;
- for (int j = 0; j < NR_BLOCKS_COMPRESSION_TEST; j++)
+ for (auto & j : blockN2)
{
- BOOST_CHECK_NO_THROW(ok = bzip2b->read((void*)(blockN2[j]), BLOCK_SIZE_COMPRESSION_TEST, nrBytes));
+ BOOST_CHECK_NO_THROW(ok = bzip2b->read((void*)j, BLOCK_SIZE_COMPRESSION_TEST, nrBytes));
BOOST_CHECK_EQUAL(ok, true);
BOOST_CHECK_EQUAL(nrBytes, BLOCK_SIZE_COMPRESSION_TEST);
}
@@ -181,9 +181,9 @@ BOOST_AUTO_TEST_CASE(testCorrectEnding)
BOOST_CHECK_EQUAL(ok, true);
- for (int i = 0; i < sizeSmall; i++)
+ for (unsigned char i : blockN2)
{
- BOOST_CHECK_EQUAL(blockN2[i], 0);
+ BOOST_CHECK_EQUAL(i, 0);
}
BOOST_CHECK_EQUAL(ios.eof(), false);
diff --git a/VirtualRobot/EndEffector/EndEffector.cpp b/VirtualRobot/EndEffector/EndEffector.cpp
index 8c2f3ce89e234a16fa9f1042f48fa83ef75a672e..2dfac2961a2d288cae9fa505aa3d889ff4148da3 100644
--- a/VirtualRobot/EndEffector/EndEffector.cpp
+++ b/VirtualRobot/EndEffector/EndEffector.cpp
@@ -38,9 +38,9 @@ namespace VirtualRobot
gcpNode = tcpNode;
}
- for (size_t i = 0; i < preshapes.size(); i++)
+ for (const auto & preshape : preshapes)
{
- registerPreshape(preshapes[i]);
+ registerPreshape(preshape);
}
}
@@ -180,9 +180,9 @@ namespace VirtualRobot
SceneObjectSetPtr cms(new SceneObjectSet(name, colChecker));
cms->addSceneObjects(statics);
- for (std::vector<EndEffectorActorPtr>::iterator i = actors.begin(); i != actors.end(); i++)
+ for (auto & actor : actors)
{
- cms->addSceneObjects((*i)->getRobotNodes());
+ cms->addSceneObjects(actor->getRobotNodes());
}
return cms;
@@ -260,16 +260,16 @@ namespace VirtualRobot
cout << " * Static RobotNodes:" << endl;
- for (size_t i = 0; i < statics.size(); i++)
+ for (auto & i : statics)
{
- cout << " ** " << statics[i]->getName() << endl;
+ cout << " ** " << i->getName() << endl;
}
cout << " * Actors:" << endl;
- for (size_t i = 0; i < actors.size(); i++)
+ for (auto & actor : actors)
{
- actors[i]->print();
+ actor->print();
}
cout << endl;
@@ -386,11 +386,11 @@ namespace VirtualRobot
VirtualRobot::RobotConfigPtr result(new VirtualRobot::RobotConfig(getRobot(), getName()));
std::vector< RobotNodePtr > rn = getAllNodes();
- for (size_t i = 0; i < rn.size(); i++)
+ for (auto & i : rn)
{
- if (rn[i]->isRotationalJoint() || rn[i]->isTranslationalJoint())
+ if (i->isRotationalJoint() || i->isTranslationalJoint())
{
- result->setConfig(rn[i]->getName(), rn[i]->getJointValue());
+ result->setConfig(i->getName(), i->getJointValue());
}
}
@@ -415,9 +415,9 @@ namespace VirtualRobot
{
std::vector< RobotNodePtr > rn = (*iA)->getRobotNodes();
- for (size_t i = 0; i < rn.size(); i++)
+ for (const auto & i : rn)
{
- mapR[rn[i]] = rn[i];
+ mapR[i] = i;
}
iA++;
@@ -491,9 +491,9 @@ namespace VirtualRobot
return false;
}
- for (size_t j = 0; j < actors.size(); j++)
+ for (const auto & actor : actors)
{
- if (!actors[j]->nodesSufficient(nodes))
+ if (!actor->nodesSufficient(nodes))
{
return false;
}
@@ -506,9 +506,9 @@ namespace VirtualRobot
{
float maxActor = 0;
- for (size_t j = 0; j < actors.size(); j++)
+ for (auto & actor : actors)
{
- float al = actors[j]->getApproximatedLength();
+ float al = actor->getApproximatedLength();
if (al > maxActor)
{
@@ -519,11 +519,11 @@ namespace VirtualRobot
BoundingBox bb_all;
- for (size_t j = 0; j < statics.size(); j++)
+ for (auto & j : statics)
{
- if (statics[j]->getCollisionModel())
+ if (j->getCollisionModel())
{
- BoundingBox bb = statics[j]->getCollisionModel()->getBoundingBox();
+ BoundingBox bb = j->getCollisionModel()->getBoundingBox();
bb_all.addPoint(bb.getMin());
bb_all.addPoint(bb.getMax());
}
@@ -608,18 +608,18 @@ namespace VirtualRobot
{
ss << tt << "<Static>" << endl;
- for (size_t i = 0; i < statics.size(); i++)
+ for (auto & i : statics)
{
- ss << ttt << "<Node name='" << statics[i]->getName() << "'/>" << endl;
+ ss << ttt << "<Node name='" << i->getName() << "'/>" << endl;
}
ss << tt << "</Static>" << endl;
}
// Actors
- for (size_t i = 0; i < actors.size(); i++)
+ for (auto & actor : actors)
{
- ss << actors[i]->toXML(ident + 1);
+ ss << actor->toXML(ident + 1);
}
ss << pre << "</EndEffector>" << endl;
@@ -634,10 +634,8 @@ namespace VirtualRobot
int contactCount = 0;
- for (size_t i = 0; i < statics.size(); i++)
+ for (auto n : statics)
{
- RobotNodePtr n = statics[i];
-
if (!n->getCollisionModel())
continue;
int id1, id2;
diff --git a/VirtualRobot/EndEffector/EndEffectorActor.cpp b/VirtualRobot/EndEffector/EndEffectorActor.cpp
index 12f5fc2c12b951e4a305dd5f8bf381cc17097f10..a51a98fc0bbc28440a0f4dc292a39e69e911678f 100644
--- a/VirtualRobot/EndEffector/EndEffectorActor.cpp
+++ b/VirtualRobot/EndEffector/EndEffectorActor.cpp
@@ -46,12 +46,12 @@ namespace VirtualRobot
std::vector<ActorDefinition> newDef;
- for (unsigned int i = 0; i < actors.size(); i++)
+ for (auto & actor : actors)
{
ActorDefinition a;
- a.colMode = actors[i].colMode;
- a.directionAndSpeed = actors[i].directionAndSpeed;
- a.robotNode = newRobot->getRobotNode(actors[i].robotNode->getName());
+ a.colMode = actor.colMode;
+ a.directionAndSpeed = actor.directionAndSpeed;
+ a.robotNode = newRobot->getRobotNode(actor.robotNode->getName());
newDef.push_back(a);
}
@@ -74,13 +74,13 @@ namespace VirtualRobot
VR_ASSERT(robot);
bool res = true;
- for (std::vector<ActorDefinition>::iterator n = actors.begin(); n != actors.end(); n++)
+ for (auto & actor : actors)
{
- float v = n->robotNode->getJointValue() + angle * n->directionAndSpeed;
+ float v = actor.robotNode->getJointValue() + angle * actor.directionAndSpeed;
- if (v <= n->robotNode->getJointLimitHi() && v >= n->robotNode->getJointLimitLo())
+ if (v <= actor.robotNode->getJointLimitHi() && v >= actor.robotNode->getJointLimitLo())
{
- robot->setJointValue(n->robotNode, v);
+ robot->setJointValue(actor.robotNode, v);
//n->robotNode->setJointValue(v);
res = false;
}
@@ -111,16 +111,16 @@ namespace VirtualRobot
- for (std::vector<ActorDefinition>::iterator n = actors.begin(); n != actors.end(); n++)
+ for (auto & actor : actors)
{
- float oldV = n->robotNode->getJointValue();
- float v = oldV + angle * n->directionAndSpeed;
+ float oldV = actor.robotNode->getJointValue();
+ float v = oldV + angle * actor.directionAndSpeed;
- actorStatus[n->robotNode] = eMoving;
+ actorStatus[actor.robotNode] = eMoving;
- if (v <= n->robotNode->getJointLimitHi() && v >= n->robotNode->getJointLimitLo())
+ if (v <= actor.robotNode->getJointLimitHi() && v >= actor.robotNode->getJointLimitLo())
{
- robot->setJointValue(n->robotNode, v);
+ robot->setJointValue(actor.robotNode, v);
//n->robotNode->setJointValue(v);
// check collision
@@ -135,10 +135,10 @@ namespace VirtualRobot
// actors (don't store contacts)
if (!collision)
{
- for (std::vector<EndEffectorActorPtr>::iterator a = eefActors.begin(); a != eefActors.end(); a++)
+ for (auto & eefActor : eefActors)
{
// Don't check for collisions with the actor itself (don't store contacts)
- if (((*a)->getName() != name) && isColliding(*a)) //isColliding(eef,*a,newContacts) )
+ if ((eefActor->getName() != name) && isColliding(eefActor)) //isColliding(eef,*a,newContacts) )
{
collision = true;
}
@@ -148,9 +148,9 @@ namespace VirtualRobot
// static (don't store contacts)
if (!collision)
{
- for (std::vector<RobotNodePtr>::iterator node = eefStatic.begin(); node != eefStatic.end(); node++)
+ for (auto & node : eefStatic)
{
- SceneObjectPtr so = boost::dynamic_pointer_cast<SceneObject>(*node);
+ SceneObjectPtr so = boost::dynamic_pointer_cast<SceneObject>(node);
//(don't store contacts)
//if( isColliding(eef,so,newContacts,eStatic) )
@@ -169,25 +169,25 @@ namespace VirtualRobot
{
// reset last position
//n->robotNode->setJointValue(oldV);
- robot->setJointValue(n->robotNode, oldV);
+ robot->setJointValue(actor.robotNode, oldV);
- actorStatus[n->robotNode] = eCollision;
+ actorStatus[actor.robotNode] = eCollision;
}
} else
{
- actorStatus[n->robotNode] = eFinished;
+ actorStatus[actor.robotNode] = eFinished;
}
}
// update contacts
- for (size_t i = 0; i < newContacts.size(); i++)
+ for (auto & newContact : newContacts)
{
// check for double entries (this may happen since we move all actors to the end and may detecting contacts multiple times)
bool doubleEntry = false;
- for (size_t j = 0; j < storeContacts.size(); j++)
+ for (auto & storeContact : storeContacts)
{
- if (storeContacts[j].robotNode == newContacts[i].robotNode && storeContacts[j].obstacle == newContacts[i].obstacle)
+ if (storeContact.robotNode == newContact.robotNode && storeContact.obstacle == newContact.obstacle)
{
doubleEntry = true;
break;
@@ -197,31 +197,31 @@ namespace VirtualRobot
if (!doubleEntry)
{
int id1, id2;
- newContacts[i].distance = colChecker->calculateDistance(newContacts[i].robotNode->getCollisionModel(), newContacts[i].obstacle->getCollisionModel(), newContacts[i].contactPointFingerGlobal, newContacts[i].contactPointObstacleGlobal, &id1, &id2);
- newContacts[i].contactPointFingerLocal = newContacts[i].obstacle->toLocalCoordinateSystemVec(newContacts[i].contactPointFingerGlobal);
- newContacts[i].contactPointObstacleLocal = newContacts[i].obstacle->toLocalCoordinateSystemVec(newContacts[i].contactPointObstacleGlobal);
+ newContact.distance = colChecker->calculateDistance(newContact.robotNode->getCollisionModel(), newContact.obstacle->getCollisionModel(), newContact.contactPointFingerGlobal, newContact.contactPointObstacleGlobal, &id1, &id2);
+ newContact.contactPointFingerLocal = newContact.obstacle->toLocalCoordinateSystemVec(newContact.contactPointFingerGlobal);
+ newContact.contactPointObstacleLocal = newContact.obstacle->toLocalCoordinateSystemVec(newContact.contactPointObstacleGlobal);
// compute approach direction
// todo: this could be done more elegantly (Jacobian)
RobotConfigPtr config = getConfiguration();
- Eigen::Vector3f contGlobal1 = newContacts[i].contactPointFingerGlobal;
- Eigen::Vector3f contFinger = newContacts[i].robotNode->toLocalCoordinateSystemVec(contGlobal1);
+ Eigen::Vector3f contGlobal1 = newContact.contactPointFingerGlobal;
+ Eigen::Vector3f contFinger = newContact.robotNode->toLocalCoordinateSystemVec(contGlobal1);
this->moveActor(angle);
- Eigen::Vector3f contGlobal2 = newContacts[i].robotNode->toGlobalCoordinateSystemVec(contFinger);
- newContacts[i].approachDirectionGlobal = contGlobal2 - contGlobal1;
- newContacts[i].approachDirectionGlobal.normalize();
+ Eigen::Vector3f contGlobal2 = newContact.robotNode->toGlobalCoordinateSystemVec(contFinger);
+ newContact.approachDirectionGlobal = contGlobal2 - contGlobal1;
+ newContact.approachDirectionGlobal.normalize();
robot->setJointValues(config);
- storeContacts.push_back(newContacts[i]);
+ storeContacts.push_back(newContact);
}
}
// check what we should return
bool res = true;
- for (std::vector<ActorDefinition>::iterator n = actors.begin(); n != actors.end(); n++)
+ for (auto & actor : actors)
{
// if at least one actor is not in collision and not at its joint limits, we are still in the process of closing the fingers
- if (actorStatus[n->robotNode] == eMoving)
+ if (actorStatus[actor.robotNode] == eMoving)
res = false;
}
@@ -235,15 +235,15 @@ namespace VirtualRobot
//Eigen::Vector3f contact;
bool col = false;
- for (std::vector<ActorDefinition>::iterator n = actors.begin(); n != actors.end(); n++)
+ for (auto & actor : actors)
{
- for (std::vector<SceneObjectPtr>::iterator o = colModels.begin(); o != colModels.end(); o++)
+ for (auto & colModel : colModels)
{
- if ((n->colMode & checkColMode) &&
- ((*o)->getCollisionModel()) &&
- n->robotNode->getCollisionModel() &&
- colChecker->checkCollision(n->robotNode->getCollisionModel(), (*o)->getCollisionModel()))
+ if ((actor.colMode & checkColMode) &&
+ (colModel->getCollisionModel()) &&
+ actor.robotNode->getCollisionModel() &&
+ colChecker->checkCollision(actor.robotNode->getCollisionModel(), colModel->getCollisionModel()))
{
col = true;
@@ -251,8 +251,8 @@ namespace VirtualRobot
EndEffector::ContactInfo ci;
ci.eef = eef;
ci.actor = shared_from_this();
- ci.robotNode = n->robotNode;
- ci.obstacle = *o;
+ ci.robotNode = actor.robotNode;
+ ci.obstacle = colModel;
// todo: maybe not needed here: we are in collision, distance makes no sense...
// later the distance is calculated anyway (with slightly opened actors)
@@ -271,9 +271,9 @@ namespace VirtualRobot
bool EndEffectorActor::isColliding(SceneObjectSetPtr obstacles, CollisionMode checkColMode)
{
- for (std::vector<ActorDefinition>::iterator n = actors.begin(); n != actors.end(); n++)
+ for (auto & actor : actors)
{
- if ((n->colMode & checkColMode) && n->robotNode->getCollisionModel() && colChecker->checkCollision(n->robotNode->getCollisionModel(), obstacles))
+ if ((actor.colMode & checkColMode) && actor.robotNode->getCollisionModel() && colChecker->checkCollision(actor.robotNode->getCollisionModel(), obstacles))
{
return true;
}
@@ -289,9 +289,9 @@ namespace VirtualRobot
return false;
}
- for (std::vector<ActorDefinition>::iterator n = actors.begin(); n != actors.end(); n++)
+ for (auto & actor : actors)
{
- if ((n->colMode & checkColMode) && n->robotNode->getCollisionModel() && colChecker->checkCollision(n->robotNode->getCollisionModel(), obstacle->getCollisionModel()))
+ if ((actor.colMode & checkColMode) && actor.robotNode->getCollisionModel() && colChecker->checkCollision(actor.robotNode->getCollisionModel(), obstacle->getCollisionModel()))
{
return true;
}
@@ -302,11 +302,11 @@ namespace VirtualRobot
bool EndEffectorActor::isColliding(EndEffectorActorPtr obstacle)
{
- for (std::vector<ActorDefinition>::iterator n = actors.begin(); n != actors.end(); n++)
+ for (auto & actor : actors)
{
- SceneObjectPtr so = boost::dynamic_pointer_cast<SceneObject>(n->robotNode);
+ SceneObjectPtr so = boost::dynamic_pointer_cast<SceneObject>(actor.robotNode);
- if ((n->colMode & eActors) && obstacle->isColliding(so))
+ if ((actor.colMode & eActors) && obstacle->isColliding(so))
{
return true;
}
@@ -323,18 +323,18 @@ namespace VirtualRobot
std::vector<RobotNodePtr> obstacleStatics;
obstacle->getStatics(obstacleStatics);
- for (std::vector<EndEffectorActorPtr>::iterator actor = obstacleActors.begin(); actor != obstacleActors.end(); actor++)
+ for (auto & obstacleActor : obstacleActors)
{
// Don't check for collisions with the actor itself
- if (((*actor)->getName() != name) && isColliding(*actor))
+ if ((obstacleActor->getName() != name) && isColliding(obstacleActor))
{
return true;
}
}
- for (std::vector<RobotNodePtr>::iterator node = obstacleStatics.begin(); node != obstacleStatics.end(); node++)
+ for (auto & obstacleStatic : obstacleStatics)
{
- SceneObjectPtr so = boost::dynamic_pointer_cast<SceneObject>(*node);
+ SceneObjectPtr so = boost::dynamic_pointer_cast<SceneObject>(obstacleStatic);
if (isColliding(so, EndEffectorActor::eStatic))
{
@@ -353,18 +353,18 @@ namespace VirtualRobot
std::vector<RobotNodePtr> obstacleStatics;
obstacle->getStatics(obstacleStatics);
- for (std::vector<EndEffectorActorPtr>::iterator actor = obstacleActors.begin(); actor != obstacleActors.end(); actor++)
+ for (auto & obstacleActor : obstacleActors)
{
// Don't check for collisions with the actor itself
- if (((*actor)->getName() != name) && isColliding(eef, *actor, storeContacts))
+ if ((obstacleActor->getName() != name) && isColliding(eef, obstacleActor, storeContacts))
{
return true;
}
}
- for (std::vector<RobotNodePtr>::iterator node = obstacleStatics.begin(); node != obstacleStatics.end(); node++)
+ for (auto & obstacleStatic : obstacleStatics)
{
- SceneObjectPtr so = boost::dynamic_pointer_cast<SceneObject>(*node);
+ SceneObjectPtr so = boost::dynamic_pointer_cast<SceneObject>(obstacleStatic);
if (isColliding(eef, so, storeContacts, EndEffectorActor::eStatic))
{
@@ -377,11 +377,11 @@ namespace VirtualRobot
bool EndEffectorActor::isColliding(EndEffectorPtr eef, EndEffectorActorPtr obstacle, EndEffector::ContactInfoVector& storeContacts)
{
- for (std::vector<ActorDefinition>::iterator n = actors.begin(); n != actors.end(); n++)
+ for (auto & actor : actors)
{
- SceneObjectPtr so = boost::dynamic_pointer_cast<SceneObject>(n->robotNode);
+ SceneObjectPtr so = boost::dynamic_pointer_cast<SceneObject>(actor.robotNode);
- if ((n->colMode & eActors) && obstacle->isColliding(eef, so, storeContacts))
+ if ((actor.colMode & eActors) && obstacle->isColliding(eef, so, storeContacts))
{
return true;
}
@@ -401,19 +401,19 @@ namespace VirtualRobot
//Eigen::Vector3f contact;
bool col = false;
- for (std::vector<ActorDefinition>::iterator n = actors.begin(); n != actors.end(); n++)
+ for (auto & actor : actors)
{
- if ((n->colMode & checkColMode) &&
- n->robotNode->getCollisionModel() &&
- colChecker->checkCollision(n->robotNode->getCollisionModel(), obstacle->getCollisionModel()))
+ if ((actor.colMode & checkColMode) &&
+ actor.robotNode->getCollisionModel() &&
+ colChecker->checkCollision(actor.robotNode->getCollisionModel(), obstacle->getCollisionModel()))
{
col = true;
// create contact info
EndEffector::ContactInfo ci;
ci.eef = eef;
ci.actor = shared_from_this();
- ci.robotNode = n->robotNode;
+ ci.robotNode = actor.robotNode;
ci.obstacle = obstacle;
// todo: not needed here, later we calculate the distance with opened actors...
@@ -438,9 +438,9 @@ namespace VirtualRobot
{
std::vector< RobotNodePtr > res;
- for (std::vector<ActorDefinition>::iterator n = actors.begin(); n != actors.end(); n++)
+ for (auto & actor : actors)
{
- res.push_back(n->robotNode);
+ res.push_back(actor.robotNode);
}
return res;
@@ -451,9 +451,9 @@ namespace VirtualRobot
cout << " ****" << endl;
cout << " ** Name:" << name << endl;
- for (size_t i = 0; i < actors.size(); i++)
+ for (auto & actor : actors)
{
- cout << " *** RobotNode: " << actors[i].robotNode->getName() << ", Direction/Speed:" << actors[i].directionAndSpeed << endl;
+ cout << " *** RobotNode: " << actor.robotNode->getName() << ", Direction/Speed:" << actor.directionAndSpeed << endl;
//actors[i].robotNode->print();
}
@@ -512,11 +512,11 @@ namespace VirtualRobot
{
BoundingBox bb_all;
- for (size_t j = 0; j < actors.size(); j++)
+ for (auto & actor : actors)
{
- if (actors[j].robotNode->getCollisionModel())
+ if (actor.robotNode->getCollisionModel())
{
- BoundingBox bb = actors[j].robotNode->getCollisionModel()->getBoundingBox();
+ BoundingBox bb = actor.robotNode->getCollisionModel()->getBoundingBox();
bb_all.addPoint(bb.getMin());
bb_all.addPoint(bb.getMax());
}
@@ -535,11 +535,11 @@ namespace VirtualRobot
std::vector< RobotConfig::Configuration > c;
- for (size_t i = 0; i < actors.size(); i++)
+ for (auto & actor : actors)
{
RobotConfig::Configuration e;
- e.name = actors[i].robotNode->getName();
- e.value = actors[i].robotNode->getJointValue();
+ e.name = actor.robotNode->getName();
+ e.value = actor.robotNode->getJointValue();
c.push_back(e);
}
@@ -562,33 +562,33 @@ namespace VirtualRobot
std::string ttt = tt + t;
ss << pre << "<Actor name='" << name << "'>" << endl;
- for (size_t i = 0; i < actors.size(); i++)
+ for (auto & actor : actors)
{
- ss << tt << "<Node name='" << actors[i].robotNode->getName() << "' ";
+ ss << tt << "<Node name='" << actor.robotNode->getName() << "' ";
- if (actors[i].colMode == eNone)
+ if (actor.colMode == eNone)
{
ss << "ConsiderCollisions='None' ";
}
- if (actors[i].colMode == eAll)
+ if (actor.colMode == eAll)
{
ss << "ConsiderCollisions='All' ";
}
else
{
- if (actors[i].colMode & eActors)
+ if (actor.colMode & eActors)
{
ss << "ConsiderCollisions='Actors' ";
}
- if (actors[i].colMode & eStatic)
+ if (actor.colMode & eStatic)
{
ss << "ConsiderCollisions='Static' ";
}
}
- ss << "Direction='" << actors[i].directionAndSpeed << "'/>" << endl;
+ ss << "Direction='" << actor.directionAndSpeed << "'/>" << endl;
}
ss << pre << "</Actor>" << endl;
diff --git a/VirtualRobot/Grasping/BasicGraspQualityMeasure.cpp b/VirtualRobot/Grasping/BasicGraspQualityMeasure.cpp
index 5c2a130b8d65cea9ee39400c713a63eb8c96a676..fb24cba436df699aae87bd44f86ca0718c456527 100644
--- a/VirtualRobot/Grasping/BasicGraspQualityMeasure.cpp
+++ b/VirtualRobot/Grasping/BasicGraspQualityMeasure.cpp
@@ -147,10 +147,10 @@ namespace VirtualRobot
return p;
}
- for (int i = 0; i < (int)contactPoints.size(); i++)
+ for (auto & contactPoint : contactPoints)
{
- p.p += contactPoints[i].p;
- p.n += contactPoints[i].n;
+ p.p += contactPoint.p;
+ p.n += contactPoint.n;
}
diff --git a/VirtualRobot/Grasping/GraspEditor/GraspEditorWindow.cpp b/VirtualRobot/Grasping/GraspEditor/GraspEditorWindow.cpp
index 939768f4821383a21706a4f7ada93e3546b75c00..a6fb2f7953086178dcf1e39a1a259798489afaab 100644
--- a/VirtualRobot/Grasping/GraspEditor/GraspEditorWindow.cpp
+++ b/VirtualRobot/Grasping/GraspEditor/GraspEditorWindow.cpp
@@ -595,9 +595,9 @@ namespace VirtualRobot
{
UI->comboBoxEEF->clear();
- for (size_t i = 0; i < eefs.size(); i++)
+ for (auto & eef : eefs)
{
- UI->comboBoxEEF->addItem(QString(eefs[i]->getName().c_str()));
+ UI->comboBoxEEF->addItem(QString(eef->getName().c_str()));
}
}
diff --git a/VirtualRobot/Grasping/GraspSet.cpp b/VirtualRobot/Grasping/GraspSet.cpp
index 1703d6fae37f27dd3c9b7b39899aaf726ead7fe9..8c9ec2b73c044157dd7550ccf7e810ca7ebfdc87 100644
--- a/VirtualRobot/Grasping/GraspSet.cpp
+++ b/VirtualRobot/Grasping/GraspSet.cpp
@@ -35,8 +35,8 @@ namespace VirtualRobot
{
VR_ASSERT_MESSAGE(grasp, "NULL grasp");
- for (size_t i = 0; i < grasps.size(); i++)
- if (grasps[i] == grasp)
+ for (const auto & i : grasps)
+ if (i == grasp)
{
return true;
}
@@ -46,9 +46,9 @@ namespace VirtualRobot
bool GraspSet::hasGrasp(const std::string& name)
{
- for (size_t i = 0; i < grasps.size(); i++)
+ for (auto & grasp : grasps)
{
- if (grasps[i]->getName() == name)
+ if (grasp->getName() == name)
{
return true;
}
@@ -67,11 +67,11 @@ namespace VirtualRobot
{
std::vector<GraspPtr> includedGrasp=grasps->getGrasps();
- for(size_t i=0;i<includedGrasp.size();i++)
+ for(const auto & i : includedGrasp)
{
- if(!hasGrasp(includedGrasp.at(i)))
+ if(!hasGrasp(i))
{
- addGrasp(includedGrasp.at(i));
+ addGrasp(i);
}
}
}
@@ -125,11 +125,11 @@ namespace VirtualRobot
VirtualRobot::GraspPtr GraspSet::getGrasp(const std::string& name)
{
- for (size_t i = 0; i < grasps.size(); i++)
+ for (auto & grasp : grasps)
{
- if (grasps[i]->getName() == name)
+ if (grasp->getName() == name)
{
- return grasps[i];
+ return grasp;
}
}
@@ -164,9 +164,9 @@ namespace VirtualRobot
ss << t << "<GraspSet name='" << name << "' RobotType='" << robotType << "' EndEffector='" << eef << "'>\n";
- for (size_t i = 0; i < grasps.size(); i++)
+ for (auto & grasp : grasps)
{
- ss << grasps[i]->toXML(tabs + 1);
+ ss << grasp->toXML(tabs + 1);
}
ss << t << "</GraspSet>\n";
@@ -180,9 +180,9 @@ namespace VirtualRobot
GraspSetPtr res(new GraspSet(name, robotType, eef));
// clone grasps
- for (std::vector< GraspPtr >::iterator i = grasps.begin(); i != grasps.end(); i++)
+ for (auto & grasp : grasps)
{
- res->addGrasp((*i)->clone());
+ res->addGrasp(grasp->clone());
}
return res;
@@ -219,9 +219,9 @@ namespace VirtualRobot
{
std::vector< GraspPtr > res;
- for (size_t i = 0; i < grasps.size(); i++)
+ for (const auto & grasp : grasps)
{
- res.push_back(grasps[i]);
+ res.push_back(grasp);
}
return res;
@@ -229,9 +229,9 @@ namespace VirtualRobot
void GraspSet::setPreshape(const std::string& preshape)
{
- for (size_t i = 0; i < grasps.size(); i++)
+ for (auto & grasp : grasps)
{
- grasps[i]->setPreshape(preshape);
+ grasp->setPreshape(preshape);
}
}
diff --git a/VirtualRobot/IK/AdvancedIKSolver.cpp b/VirtualRobot/IK/AdvancedIKSolver.cpp
index 6584353290072bd32494e321cfa51d4a26e9761a..a91953ec03263f10fe633c2034e3286247de97e0 100644
--- a/VirtualRobot/IK/AdvancedIKSolver.cpp
+++ b/VirtualRobot/IK/AdvancedIKSolver.cpp
@@ -107,9 +107,9 @@ namespace VirtualRobot
robot->getEndEffectors(eefs);
EndEffectorPtr eef;
- for (size_t i = 0; i < eefs.size(); i++)
+ for (auto & i : eefs)
{
- if (eefs[i]->getTcp() == rns->getTCP())
+ if (i->getTcp() == rns->getTCP())
{
if (eef)
{
@@ -117,7 +117,7 @@ namespace VirtualRobot
}
else
{
- eef = eefs[i];
+ eef = i;
}
}
}
diff --git a/VirtualRobot/IK/CoMIK.cpp b/VirtualRobot/IK/CoMIK.cpp
index 49007581c3b341b5ce6f941a2426a3f21e427dd4..46323ec3ec2506f800df240f91e51fa562dddd97 100644
--- a/VirtualRobot/IK/CoMIK.cpp
+++ b/VirtualRobot/IK/CoMIK.cpp
@@ -22,14 +22,14 @@ namespace VirtualRobot
bodyNodes = rnsBodies->getAllRobotNodes();
- for (size_t i = 0; i < bodyNodes.size(); i++)
+ for (auto & bodyNode : bodyNodes)
{
// get all joints that influence the body
- std::vector<RobotNodePtr> parentsN = bodyNodes[i]->getAllParents(rns);
+ std::vector<RobotNodePtr> parentsN = bodyNode->getAllParents(rns);
// maybe this node is joint and body
- if (rnsJoints->hasRobotNode(bodyNodes[i]))
- parentsN.push_back(bodyNodes[i]);
- bodyNodeParents[bodyNodes[i]] = parentsN;
+ if (rnsJoints->hasRobotNode(bodyNode))
+ parentsN.push_back(bodyNode);
+ bodyNodeParents[bodyNode] = parentsN;
}
if (rnsBodies->getMass() == 0)
diff --git a/VirtualRobot/IK/DifferentialIK.cpp b/VirtualRobot/IK/DifferentialIK.cpp
index 2558d30308189d48549d4f25ca1884d9e0a66a6a..1e0961d8b1a43d2f95a0206f8e59154c5708c482 100644
--- a/VirtualRobot/IK/DifferentialIK.cpp
+++ b/VirtualRobot/IK/DifferentialIK.cpp
@@ -30,11 +30,11 @@ namespace VirtualRobot
checkImprovement = false;
nodes = rns->getAllRobotNodes();
- for (size_t i = 0; i < nodes.size(); i++)
+ for (auto & node : nodes)
{
- std::vector<RobotNodePtr> p = nodes[i]->getAllParents(rns);
- p.push_back(nodes[i]);// if the tcp is not fixed, it must be considered for calculating the Jacobian
- parents[nodes[i]] = p;
+ std::vector<RobotNodePtr> p = node->getAllParents(rns);
+ p.push_back(node);// if the tcp is not fixed, it must be considered for calculating the Jacobian
+ parents[node] = p;
}
convertMMtoM = false;
@@ -122,10 +122,8 @@ namespace VirtualRobot
size_t index = 0;
- for (size_t i = 0; i < tcp_set.size(); i++)
+ for (auto tcp : tcp_set)
{
- SceneObjectPtr tcp = tcp_set[i];
-
if (this->targets.find(tcp) != this->targets.end())
{
auto& mode = this->modes[tcp];
@@ -186,10 +184,8 @@ namespace VirtualRobot
// compute error
size_t index = 0;
- for (size_t i = 0; i < tcp_set.size(); i++)
+ for (auto tcp : tcp_set)
{
- SceneObjectPtr tcp = tcp_set[i];
-
if (this->targets.find(tcp) != this->targets.end())
{
//Eigen::VectorXf delta =
@@ -553,9 +549,8 @@ namespace VirtualRobot
partJacobians.clear();
- for (size_t i = 0; i < tcp_set.size(); i++)
+ for (auto tcp : tcp_set)
{
- SceneObjectPtr tcp = tcp_set[i];
int partSize = 0;
if (this->modes[tcp] & IKSolver::X)
@@ -613,9 +608,8 @@ namespace VirtualRobot
cout << "TCPs:" << endl;
- for (size_t t = 0; t < tcp_set.size(); t++)
+ for (auto tcp : tcp_set)
{
- SceneObjectPtr tcp = tcp_set[t];
RobotNodePtr tcpRN = boost::dynamic_pointer_cast<RobotNode>(tcp);
if (!tcpRN)
@@ -830,9 +824,8 @@ namespace VirtualRobot
float res = 0;
- for (size_t i = 0; i < tcp_set.size(); i++)
+ for (auto tcp : tcp_set)
{
- SceneObjectPtr tcp = tcp_set[i];
res += getErrorPosition(tcp);
}
@@ -844,9 +837,8 @@ namespace VirtualRobot
{
bool result = true;
- for (size_t i = 0; i < tcp_set.size(); i++)
+ for (auto tcp : tcp_set)
{
- SceneObjectPtr tcp = tcp_set[i];
float currentErrorPos = getErrorPosition(tcp);
float maxErrorPos = tolerancePosition[tcp];
float currentErrorRot = getErrorRotation(tcp);
diff --git a/VirtualRobot/IK/HierarchicalIKSolver.cpp b/VirtualRobot/IK/HierarchicalIKSolver.cpp
index 8cf7ea9b87baef9f92052815757032957eea24d9..3dfec0767983e71f1f7a8934ee00b901a1a1f1dd 100644
--- a/VirtualRobot/IK/HierarchicalIKSolver.cpp
+++ b/VirtualRobot/IK/HierarchicalIKSolver.cpp
@@ -61,9 +61,9 @@ bool HierarchicalIKSolver::computeSteps(float stepSize, float minChange, int max
bool HierarchicalIKSolver::checkTolerances()
{
- for (size_t i = 0; i < jacobies.size(); i++)
+ for (auto & jacobie : jacobies)
{
- if (!jacobies[i]->checkTolerances())
+ if (!jacobie->checkTolerances())
{
return false;
}
diff --git a/VirtualRobot/IK/StackedIK.cpp b/VirtualRobot/IK/StackedIK.cpp
index 992f0ca96d3a3930ac1489db726a1765f86fd646..1330b50b2e47be5cf2240492f1d4a18e2614db80 100644
--- a/VirtualRobot/IK/StackedIK.cpp
+++ b/VirtualRobot/IK/StackedIK.cpp
@@ -71,11 +71,11 @@ namespace VirtualRobot
int current_row = 0;
- for (size_t i = 0; i < jacDefs.size(); i++)
+ for (const auto & jacDef : jacDefs)
{
- Eigen::MatrixXf J = jacDefs[i]->getJacobianMatrix();
+ Eigen::MatrixXf J = jacDef->getJacobianMatrix();
jacobian.block(current_row, 0, J.rows(), J.cols()) = J;
- error.block(current_row, 0, J.rows(), 1) = jacDefs[i]->getError();
+ error.block(current_row, 0, J.rows(), 1) = jacDef->getError();
current_row += J.rows();
}
diff --git a/VirtualRobot/IK/SupportPolygon.cpp b/VirtualRobot/IK/SupportPolygon.cpp
index b0ae8a139b4973fbcd113c0aa7985448f0d3c766..c47b57536d8ae63f942433d053a52600ba25b1b4 100644
--- a/VirtualRobot/IK/SupportPolygon.cpp
+++ b/VirtualRobot/IK/SupportPolygon.cpp
@@ -38,10 +38,10 @@ namespace VirtualRobot
currentContactPoints2D.clear();
- for (size_t u = 0; u < points.size(); u++)
+ for (auto & point : points)
{
- Eigen::Vector2f pt2d = MathTools::projectPointToPlane2D(points[u].p, floor);
+ Eigen::Vector2f pt2d = MathTools::projectPointToPlane2D(point.p, floor);
currentContactPoints2D.push_back(pt2d);
}
currentContactPoints2D = MathTools::sortPoints(currentContactPoints2D);
diff --git a/VirtualRobot/Import/COLLADA-light/pugixml/pugixml.cpp b/VirtualRobot/Import/COLLADA-light/pugixml/pugixml.cpp
index b7c4803c4400a97c3da085d0f073081e2b15df09..941f2b0a70968a4fba855d0c8e99ecbc8b4aaba4 100644
--- a/VirtualRobot/Import/COLLADA-light/pugixml/pugixml.cpp
+++ b/VirtualRobot/Import/COLLADA-light/pugixml/pugixml.cpp
@@ -9277,12 +9277,12 @@ PUGI__NS_BEGIN
xpath_node_set_raw ls = lhs->eval_node_set(c, stack, nodeset_eval_all);
xpath_node_set_raw rs = rhs->eval_node_set(c, stack, nodeset_eval_all);
- for (const xpath_node* li = ls.begin(); li != ls.end(); ++li)
- for (const xpath_node* ri = rs.begin(); ri != rs.end(); ++ri)
+ for (auto l : ls)
+ for (auto r : rs)
{
xpath_allocator_capture cri(stack.result);
- if (comp(string_value(*li, stack.result), string_value(*ri, stack.result)))
+ if (comp(string_value(l, stack.result), string_value(r, stack.result)))
return true;
}
@@ -9305,11 +9305,11 @@ PUGI__NS_BEGIN
double l = lhs->eval_number(c, stack);
xpath_node_set_raw rs = rhs->eval_node_set(c, stack, nodeset_eval_all);
- for (const xpath_node* ri = rs.begin(); ri != rs.end(); ++ri)
+ for (auto r : rs)
{
xpath_allocator_capture cri(stack.result);
- if (comp(l, convert_string_to_number(string_value(*ri, stack.result).c_str())))
+ if (comp(l, convert_string_to_number(string_value(r, stack.result).c_str())))
return true;
}
@@ -9322,11 +9322,11 @@ PUGI__NS_BEGIN
xpath_string l = lhs->eval_string(c, stack);
xpath_node_set_raw rs = rhs->eval_node_set(c, stack, nodeset_eval_all);
- for (const xpath_node* ri = rs.begin(); ri != rs.end(); ++ri)
+ for (auto r : rs)
{
xpath_allocator_capture cri(stack.result);
- if (comp(l, string_value(*ri, stack.result)))
+ if (comp(l, string_value(r, stack.result)))
return true;
}
@@ -9356,17 +9356,17 @@ PUGI__NS_BEGIN
xpath_node_set_raw ls = lhs->eval_node_set(c, stack, nodeset_eval_all);
xpath_node_set_raw rs = rhs->eval_node_set(c, stack, nodeset_eval_all);
- for (const xpath_node* li = ls.begin(); li != ls.end(); ++li)
+ for (auto li : ls)
{
xpath_allocator_capture cri(stack.result);
- double l = convert_string_to_number(string_value(*li, stack.result).c_str());
+ double l = convert_string_to_number(string_value(li, stack.result).c_str());
- for (const xpath_node* ri = rs.begin(); ri != rs.end(); ++ri)
+ for (auto r : rs)
{
xpath_allocator_capture crii(stack.result);
- if (comp(l, convert_string_to_number(string_value(*ri, stack.result).c_str())))
+ if (comp(l, convert_string_to_number(string_value(r, stack.result).c_str())))
return true;
}
}
@@ -9380,11 +9380,11 @@ PUGI__NS_BEGIN
double l = lhs->eval_number(c, stack);
xpath_node_set_raw rs = rhs->eval_node_set(c, stack, nodeset_eval_all);
- for (const xpath_node* ri = rs.begin(); ri != rs.end(); ++ri)
+ for (auto r : rs)
{
xpath_allocator_capture cri(stack.result);
- if (comp(l, convert_string_to_number(string_value(*ri, stack.result).c_str())))
+ if (comp(l, convert_string_to_number(string_value(r, stack.result).c_str())))
return true;
}
@@ -9397,11 +9397,11 @@ PUGI__NS_BEGIN
xpath_node_set_raw ls = lhs->eval_node_set(c, stack, nodeset_eval_all);
double r = rhs->eval_number(c, stack);
- for (const xpath_node* li = ls.begin(); li != ls.end(); ++li)
+ for (auto l : ls)
{
xpath_allocator_capture cri(stack.result);
- if (comp(convert_string_to_number(string_value(*li, stack.result).c_str()), r))
+ if (comp(convert_string_to_number(string_value(l, stack.result).c_str()), r))
return true;
}
@@ -9939,14 +9939,14 @@ PUGI__NS_BEGIN
// self axis preserves the original order
if (axis == axis_self) ns.set_type(s.type());
- for (const xpath_node* it = s.begin(); it != s.end(); ++it)
+ for (auto it : s)
{
size_t size = ns.size();
// in general, all axes generate elements in a particular order, but there is no order guarantee if axis is applied to two nodes
if (axis != axis_self && size != 0) ns.set_type(xpath_node_set::type_unsorted);
- step_fill(ns, *it, stack.result, once, v);
+ step_fill(ns, it, stack.result, once, v);
if (_right) apply_predicates(ns, size, stack, eval);
}
}
@@ -10222,11 +10222,11 @@ PUGI__NS_BEGIN
xpath_node_set_raw ns = _left->eval_node_set(c, stack, nodeset_eval_all);
- for (const xpath_node* it = ns.begin(); it != ns.end(); ++it)
+ for (auto n : ns)
{
xpath_allocator_capture cri(stack.result);
- r += convert_string_to_number(string_value(*it, stack.result).c_str());
+ r += convert_string_to_number(string_value(n, stack.result).c_str());
}
return r;
@@ -12059,20 +12059,20 @@ namespace pugi
PUGI__FN xpath_variable_set::xpath_variable_set()
{
- for (size_t i = 0; i < sizeof(_data) / sizeof(_data[0]); ++i)
- _data[i] = 0;
+ for (auto & i : _data)
+ i = 0;
}
PUGI__FN xpath_variable_set::~xpath_variable_set()
{
- for (size_t i = 0; i < sizeof(_data) / sizeof(_data[0]); ++i)
- _destroy(_data[i]);
+ for (auto & i : _data)
+ _destroy(i);
}
PUGI__FN xpath_variable_set::xpath_variable_set(const xpath_variable_set& rhs)
{
- for (size_t i = 0; i < sizeof(_data) / sizeof(_data[0]); ++i)
- _data[i] = 0;
+ for (auto & i : _data)
+ i = 0;
_assign(rhs);
}
diff --git a/VirtualRobot/ManipulationObject.cpp b/VirtualRobot/ManipulationObject.cpp
index 6792536ada5526d2c06cf0fe7b9764a4179a0368..dc25836f055f8dd54c2b5e1cdf31d731c300c260 100644
--- a/VirtualRobot/ManipulationObject.cpp
+++ b/VirtualRobot/ManipulationObject.cpp
@@ -71,8 +71,8 @@ namespace VirtualRobot
{
VR_ASSERT_MESSAGE(graspSet, "NULL data");
- for (size_t i = 0; i < graspSets.size(); i++)
- if (graspSets[i] == graspSet)
+ for (const auto & i : graspSets)
+ if (i == graspSet)
{
return true;
}
@@ -82,8 +82,8 @@ namespace VirtualRobot
bool ManipulationObject::hasGraspSet(const std::string& robotType, const std::string& eef)
{
- for (size_t i = 0; i < graspSets.size(); i++)
- if (graspSets[i]->getRobotType() == robotType && graspSets[i]->getEndEffector() == eef)
+ for (auto & graspSet : graspSets)
+ if (graspSet->getRobotType() == robotType && graspSet->getEndEffector() == eef)
{
return true;
}
@@ -102,10 +102,10 @@ namespace VirtualRobot
VirtualRobot::GraspSetPtr ManipulationObject::getGraspSet(const std::string& robotType, const std::string& eefName)
{
- for (size_t i = 0; i < graspSets.size(); i++)
- if (graspSets[i]->getRobotType() == robotType && graspSets[i]->getEndEffector() == eefName)
+ for (auto & graspSet : graspSets)
+ if (graspSet->getRobotType() == robotType && graspSet->getEndEffector() == eefName)
{
- return graspSets[i];
+ return graspSet;
}
return GraspSetPtr();
@@ -113,10 +113,10 @@ namespace VirtualRobot
VirtualRobot::GraspSetPtr ManipulationObject::getGraspSet(const std::string& name)
{
- for (size_t i = 0; i < graspSets.size(); i++)
- if (graspSets[i]->getName() == name)
+ for (auto & graspSet : graspSets)
+ if (graspSet->getName() == name)
{
- return graspSets[i];
+ return graspSet;
}
return GraspSetPtr();
@@ -166,9 +166,9 @@ namespace VirtualRobot
ss << getSceneObjectXMLString(basePath, tabs + 1);
- for (size_t i = 0; i < graspSets.size(); i++)
+ for (auto & graspSet : graspSets)
{
- ss << graspSets[i]->getXMLString(tabs + 1) << "\n";
+ ss << graspSet->getXMLString(tabs + 1) << "\n";
}
}
@@ -208,9 +208,9 @@ namespace VirtualRobot
result->setGlobalPose(getGlobalPose());
- for (size_t i = 0; i < graspSets.size(); i++)
+ for (const auto & graspSet : graspSets)
{
- result->addGraspSet(graspSets[i]->clone());
+ result->addGraspSet(graspSet->clone());
}
return result;
diff --git a/VirtualRobot/MathTools.cpp b/VirtualRobot/MathTools.cpp
index c2e77201448cd5233a35ca1faa403c8cef308c6c..4a9ff054e16fe809747a0b09e850231ae87e5488 100644
--- a/VirtualRobot/MathTools.cpp
+++ b/VirtualRobot/MathTools.cpp
@@ -943,9 +943,9 @@ namespace VirtualRobot
void VIRTUAL_ROBOT_IMPORT_EXPORT MathTools::print(const std::vector<ContactPoint>& points)
{
- for (size_t i = 0; i < points.size(); i++)
+ for (const auto & point : points)
{
- print(points[i]);
+ print(point);
}
}
@@ -1489,21 +1489,21 @@ namespace VirtualRobot
res.x = res.y = res.z = res.w = 0;
- for (size_t i = 0; i < quaternions.size(); i++)
+ for (auto & quaternion : quaternions)
{
- if (getDot(res, quaternions[i]) > 0)
+ if (getDot(res, quaternion) > 0)
{
- res.x += quaternions[i].x;
- res.y += quaternions[i].y;
- res.z += quaternions[i].z;
- res.w += quaternions[i].w;
+ res.x += quaternion.x;
+ res.y += quaternion.y;
+ res.z += quaternion.z;
+ res.w += quaternion.w;
}
else
{
- res.x += -quaternions[i].x;
- res.y += -quaternions[i].y;
- res.z += -quaternions[i].z;
- res.w += -quaternions[i].w;
+ res.x += -quaternion.x;
+ res.y += -quaternion.y;
+ res.z += -quaternion.z;
+ res.w += -quaternion.w;
}
}
diff --git a/VirtualRobot/Nodes/Sensor.cpp b/VirtualRobot/Nodes/Sensor.cpp
index f0af61ac26b4a6b01d9b232af9a6c7756180a39f..9bb817af10d94d271cc3f9ef224bb735f41e2354 100644
--- a/VirtualRobot/Nodes/Sensor.cpp
+++ b/VirtualRobot/Nodes/Sensor.cpp
@@ -112,9 +112,9 @@ namespace VirtualRobot
{
std::vector< SceneObjectPtr > children = this->getChildren();
- for (unsigned int i = 0; i < children.size(); i++)
+ for (auto & i : children)
{
- children[i]->print(true, true);
+ i->print(true, true);
}
}
}
diff --git a/VirtualRobot/Robot.cpp b/VirtualRobot/Robot.cpp
index 857e9fc903ed06f7cf184c79aa14b1ee0c976c2d..2ff32e7afa2f9fd00c62fefdf01f1edcfa5f78bf 100644
--- a/VirtualRobot/Robot.cpp
+++ b/VirtualRobot/Robot.cpp
@@ -36,9 +36,9 @@ namespace VirtualRobot
{
std::vector<SceneObjectPtr> c = it->second->getChildren();
- for (size_t j = 0; j < c.size(); j++)
+ for (const auto & j : c)
{
- it->second->detachChild(c[j]);
+ it->second->detachChild(j);
}
it++;
@@ -75,14 +75,14 @@ namespace VirtualRobot
std::vector< RobotNodePtr > allNodes;
node->collectAllRobotNodes(allNodes);
- for (unsigned int i = 0; i < allNodes.size(); i++)
+ for (auto & allNode : allNodes)
{
- std::string name = allNodes[i]->getName();
+ std::string name = allNode->getName();
if (!this->hasRobotNode(name))
{
VR_WARNING << "Robot node with name <" << name << "> was not registered, adding it to RobotNodeMap" << endl;
- registerRobotNode(allNodes[i]);
+ registerRobotNode(allNode);
}
}
}
@@ -813,13 +813,13 @@ namespace VirtualRobot
std::vector<RobotNodePtr> allNodes;
startJoint->collectAllRobotNodes(allNodes);
- for (size_t i = 0; i < allNodes.size(); i++)
+ for (auto & allNode : allNodes)
{
- RobotNodePtr roN = result->getRobotNode(allNodes[i]->getName());
+ RobotNodePtr roN = result->getRobotNode(allNode->getName());
if (roN)
{
- roN->setJointValueNoUpdate(allNodes[i]->getJointValue());
+ roN->setJointValueNoUpdate(allNode->getJointValue());
}
}
@@ -1043,15 +1043,15 @@ namespace VirtualRobot
VirtualRobot::BoundingBox bbox;
std::vector<RobotNodePtr> rn = getRobotNodes();
- for (size_t i = 0; i < rn.size(); i++)
+ for (auto & i : rn)
{
- if (collisionModel && rn[i]->getCollisionModel())
+ if (collisionModel && i->getCollisionModel())
{
- bbox.addPoints(rn[i]->getCollisionModel()->getBoundingBox());
+ bbox.addPoints(i->getCollisionModel()->getBoundingBox());
}
- else if (!collisionModel && rn[i]->getVisualization())
+ else if (!collisionModel && i->getVisualization())
{
- bbox.addPoints(rn[i]->getVisualization()->getBoundingBox());
+ bbox.addPoints(i->getVisualization()->getBoundingBox());
}
}
@@ -1062,15 +1062,15 @@ namespace VirtualRobot
{
std::vector<RobotNodePtr> rn = getRobotNodes();
- for (size_t i = 0; i < rn.size(); i++)
+ for (auto & i : rn)
{
- std::vector<SensorPtr> sensors = rn[i]->getSensors();
+ std::vector<SensorPtr> sensors = i->getSensors();
- for (std::vector<SensorPtr>::iterator it = sensors.begin(); it != sensors.end(); it++)
+ for (auto & sensor : sensors)
{
- if ((*it)->getName() == name)
+ if (sensor->getName() == name)
{
- return *it;
+ return sensor;
}
}
}
@@ -1083,9 +1083,9 @@ namespace VirtualRobot
std::vector<SensorPtr> result;
std::vector<RobotNodePtr> rn = getRobotNodes();
- for (size_t i = 0; i < rn.size(); i++)
+ for (auto & i : rn)
{
- std::vector<SensorPtr> s = rn[i]->getSensors();
+ std::vector<SensorPtr> s = i->getSensors();
if (s.size() > 0)
{
@@ -1104,9 +1104,9 @@ namespace VirtualRobot
ss << "<Robot Type='" << this->type << "' RootNode='" << this->getRootNode()->getName() << "'>" << endl << endl;
std::vector<RobotNodePtr> nodes = getRobotNodes();
- for (size_t i = 0; i < nodes.size(); i++)
+ for (auto & node : nodes)
{
- ss << nodes[i]->toXML(basePath, modelPath, storeSensors) << endl;
+ ss << node->toXML(basePath, modelPath, storeSensors) << endl;
}
ss << endl;
@@ -1116,9 +1116,9 @@ namespace VirtualRobot
std::vector<RobotNodeSetPtr> rns;
this->getRobotNodeSets(rns);
- for (size_t i = 0; i < rns.size(); i++)
+ for (auto & rn : rns)
{
- ss << rns[i]->toXML(1) << endl;
+ ss << rn->toXML(1) << endl;
}
if (rns.size() > 0)
@@ -1131,9 +1131,9 @@ namespace VirtualRobot
{
std::vector<EndEffectorPtr> eefs = this->getEndEffectors();
- for (size_t i = 0; i < eefs.size(); i++)
+ for (auto & eef : eefs)
{
- ss << eefs[i]->toXML(1) << endl;
+ ss << eef->toXML(1) << endl;
}
if (eefs.size() > 0)
diff --git a/VirtualRobot/RobotConfig.cpp b/VirtualRobot/RobotConfig.cpp
index 2e32d380219d531c692bb489f1684dabb477ee7c..dd0ce49f7c47af379d4ff5b72c1657a523e2ed92 100644
--- a/VirtualRobot/RobotConfig.cpp
+++ b/VirtualRobot/RobotConfig.cpp
@@ -20,9 +20,9 @@ namespace VirtualRobot
{
THROW_VR_EXCEPTION_IF(!robot.lock(), "NULL robot in RobotConfig");
- for (std::vector< Configuration >::const_iterator i = configs.begin(); i != configs.end(); i++)
+ for (const auto & config : configs)
{
- setConfig((*i));
+ setConfig(config);
}
}
@@ -32,9 +32,9 @@ namespace VirtualRobot
{
THROW_VR_EXCEPTION_IF(!robot.lock(), "NULL robot in RobotConfig");
- for (std::map< RobotNodePtr, float >::const_iterator i = configs.begin(); i != configs.end(); i++)
+ for (const auto & config : configs)
{
- setConfig(i->first, i->second);
+ setConfig(config.first, config.second);
}
}
@@ -69,9 +69,9 @@ namespace VirtualRobot
{
cout << " Robot Config <" << name << ">" << endl;
- for (std::map< RobotNodePtr, float >::const_iterator i = configs.begin(); i != configs.end(); i++)
+ for (const auto & config : configs)
{
- cout << " * " << i->first->getName() << ":\t" << i->second << endl;
+ cout << " * " << config.first->getName() << ":\t" << config.second << endl;
}
}
@@ -188,9 +188,9 @@ namespace VirtualRobot
bool RobotConfig::hasConfig(const std::string& name) const
{
- for (std::map< RobotNodePtr, float >::const_iterator i = configs.begin(); i != configs.end(); i++)
+ for (const auto & config : configs)
{
- if (i->first->getName() == name)
+ if (config.first->getName() == name)
{
return true;
}
diff --git a/VirtualRobot/RobotFactory.cpp b/VirtualRobot/RobotFactory.cpp
index 6e2bf1e75a59008f7d1fc883310ad8935bcc9fd9..a0b3bd0dd1e3fd3b4dfc045b1bfee60ad613ce7d 100644
--- a/VirtualRobot/RobotFactory.cpp
+++ b/VirtualRobot/RobotFactory.cpp
@@ -73,10 +73,8 @@ namespace VirtualRobot
std::vector< std::string > childNames = iterC->second;
RobotNodePtr node = iterC->first;
- for (size_t i = 0; i < childNames.size(); i++)
+ for (auto childName : childNames)
{
- std::string childName = childNames[i];
-
if (!robot->hasRobotNode(childName))
{
THROW_VR_EXCEPTION("Robot " << robot->getName() << ": corrupted RobotNode <" << node->getName() << " child :" << childName << " does not exist...");
@@ -92,11 +90,11 @@ namespace VirtualRobot
// register root (performs an initialization of all robot nodes)
robot->setRootNode(rootNode);
- for (size_t i = 0; i < robotNodes.size(); i++)
+ for (auto & robotNode : robotNodes)
{
- if (!robotNodes[i]->getParent() && robotNodes[i] != rootNode)
+ if (!robotNode->getParent() && robotNode != rootNode)
{
- VR_ERROR << "RobotNode " << robotNodes[i]->getName() << " is not connected to kinematic structure..." << endl;
+ VR_ERROR << "RobotNode " << robotNode->getName() << " is not connected to kinematic structure..." << endl;
}
}
@@ -163,11 +161,11 @@ namespace VirtualRobot
edges.push_back(edge);
}
- for (unsigned i = 0; i < children.size(); i++)
+ for (auto & i : children)
{
- if (children[i] != currentEdge.first)
+ if (i != currentEdge.first)
{
- RobotNodePtr childNode = boost::dynamic_pointer_cast<RobotNode>(children[i]);
+ RobotNodePtr childNode = boost::dynamic_pointer_cast<RobotNode>(i);
// not a robot node
if (!childNode)
@@ -175,7 +173,7 @@ namespace VirtualRobot
continue;
}
- rnDef.children.push_back(children[i]->getName());
+ rnDef.children.push_back(i->getName());
rnDef.invertTransformation.push_back(false);
RobotTreeEdge edge;
edge.second = childNode;
@@ -362,15 +360,15 @@ namespace VirtualRobot
std::map<RobotNodePtr, std::vector<SensorPtr> > sensorMap;
std::map<RobotNodePtr, bool> directionInversion;
- for (size_t i = 0; i < newStructure.parentChildMapping.size(); i++)
+ for (auto & i : newStructure.parentChildMapping)
{
- if (!robot->hasRobotNode(newStructure.parentChildMapping[i].name))
+ if (!robot->hasRobotNode(i.name))
{
- VR_ERROR << "Error in parentChildMapping, no node with name " << newStructure.parentChildMapping[i].name << endl;
+ VR_ERROR << "Error in parentChildMapping, no node with name " << i.name << endl;
return RobotPtr();
}
- nodeName = newStructure.parentChildMapping[i].name;
+ nodeName = i.name;
if (newNodes.find(nodeName) == newNodes.end())
{
@@ -379,11 +377,11 @@ namespace VirtualRobot
newNodes[nodeName] = rn;
}
- RobotNodePtr parent = newNodes[newStructure.parentChildMapping[i].name];
+ RobotNodePtr parent = newNodes[i.name];
- for (size_t j = 0; j < newStructure.parentChildMapping[i].children.size(); j++)
+ for (size_t j = 0; j < i.children.size(); j++)
{
- nodeName = newStructure.parentChildMapping[i].children[j];
+ nodeName = i.children[j];
if (!robot->hasRobotNode(nodeName))
{
@@ -402,7 +400,7 @@ namespace VirtualRobot
RobotNodePtr child = newNodes[nodeName];
parent->attachChild(child);
- if (newStructure.parentChildMapping[i].invertTransformation[j])
+ if (i.invertTransformation[j])
{
Eigen::Matrix4f tr = parent->getLocalTransformation().inverse();
localTransformations[child] = tr;
@@ -419,9 +417,9 @@ namespace VirtualRobot
vf->applyDisplacement(v, tr2);
visuMap[parent] = v;
- for (size_t pr = 0; pr < v->primitives.size(); pr++)
+ for (auto & primitive : v->primitives)
{
- v->primitives[pr]->transform = tr * v->primitives[pr]->transform;
+ primitive->transform = tr * primitive->transform;
}
}
@@ -437,9 +435,9 @@ namespace VirtualRobot
c->setVisualization(v);
colMap[parent] = c;
- for (size_t pr = 0; pr < v->primitives.size(); pr++)
+ for (auto & primitive : v->primitives)
{
- v->primitives[pr]->transform = tr * v->primitives[pr]->transform;
+ primitive->transform = tr * primitive->transform;
}
}
@@ -545,38 +543,38 @@ namespace VirtualRobot
std::vector<RobotNodePtr> nodes = newRobot->getRobotNodes();
- for (size_t i = 0; i < nodes.size(); i++)
+ for (auto & node : nodes)
{
- if (visuMap.find(nodes[i]) != visuMap.end())
+ if (visuMap.find(node) != visuMap.end())
{
- nodes[i]->setVisualization(visuMap[nodes[i]]);
+ node->setVisualization(visuMap[node]);
}
else
{
- nodes[i]->setVisualization(VisualizationNodePtr());
+ node->setVisualization(VisualizationNodePtr());
}
- if (colMap.find(nodes[i]) != colMap.end())
+ if (colMap.find(node) != colMap.end())
{
- nodes[i]->setCollisionModel(colMap[nodes[i]]);
+ node->setCollisionModel(colMap[node]);
}
else
{
- nodes[i]->setCollisionModel(CollisionModelPtr());
+ node->setCollisionModel(CollisionModelPtr());
}
- if (physicsMap.find(nodes[i]) != physicsMap.end())
+ if (physicsMap.find(node) != physicsMap.end())
{
- nodes[i]->physics = physicsMap[nodes[i]];
+ node->physics = physicsMap[node];
}
- if (sensorMap.find(nodes[i]) != sensorMap.end())
+ if (sensorMap.find(node) != sensorMap.end())
{
- auto sensors = sensorMap[nodes[i]];
+ auto sensors = sensorMap[node];
for (auto s : sensors)
{
- nodes[i]->registerSensor(s);
+ node->registerSensor(s);
}
}
}
@@ -607,9 +605,8 @@ namespace VirtualRobot
std::vector < SceneObjectPtr > children = nodeA->getChildren();
std::vector<RobotNodePtr> childNodes;
- for (size_t i = 0; i < children.size(); i++)
+ for (auto c : children)
{
- SceneObjectPtr c = children[i];
RobotNodePtr cRN = boost::dynamic_pointer_cast<RobotNode>(c);
if (cRN && cRN != nodeExclude)
@@ -626,9 +623,8 @@ namespace VirtualRobot
std::vector < SceneObjectPtr > children = nodeA->getChildren();
std::vector<RobotNodePtr> childNodes;
- for (size_t i = 0; i < children.size(); i++)
+ for (auto c : children)
{
- SceneObjectPtr c = children[i];
SensorPtr cS = boost::dynamic_pointer_cast<Sensor>(c);
RobotNodePtr cRN = boost::dynamic_pointer_cast<RobotNode>(c);
@@ -709,9 +705,9 @@ namespace VirtualRobot
}
// attach sensors
- for (size_t i = 0; i < sensors.size(); i++)
+ for (const auto & sensor : sensors)
{
- SensorPtr s = sensors[i]->clone(newRN);
+ SensorPtr s = sensor->clone(newRN);
}
return newRN;
@@ -723,19 +719,19 @@ namespace VirtualRobot
float kg = 0;
- for (size_t i = 0; i < nodes.size(); i++)
+ for (const auto & node : nodes)
{
- if (nodes[i]->getVisualization())
+ if (node->getVisualization())
{
- visus.push_back(nodes[i]->getVisualization());
+ visus.push_back(node->getVisualization());
}
- if (nodes[i]->getCollisionModel() && nodes[i]->getCollisionModel()->getVisualization())
+ if (node->getCollisionModel() && node->getCollisionModel()->getVisualization())
{
- colVisus.push_back(nodes[i]->getCollisionModel()->getVisualization());
+ colVisus.push_back(node->getCollisionModel()->getVisualization());
}
- kg += nodes[i]->getMass();
+ kg += node->getMass();
}
if (visus.size() > 0)
@@ -766,11 +762,11 @@ namespace VirtualRobot
newRN->initialize(parentClone);
// attach sensors
- for (size_t i = 0; i < sensors.size(); i++)
+ for (const auto & sensor : sensors)
{
- SensorPtr s = sensors[i]->clone(newRN);
+ SensorPtr s = sensor->clone(newRN);
Eigen::Matrix4f trafoToNewRN = parent?parent->getGlobalPose() * trafo:trafo;
- Eigen::Matrix4f t = trafoToNewRN.inverse() * sensors[i]->getGlobalPose();
+ Eigen::Matrix4f t = trafoToNewRN.inverse() * sensor->getGlobalPose();
s->setRobotNodeToSensorTransformation(t);
}
@@ -816,13 +812,12 @@ namespace VirtualRobot
std::vector< RobotNodePtr > initialNodes = startNode->getAllParents();
// check for static nodes which are not parent of startNode
std::vector< RobotNodePtr > allNodes = robot->getRobotNodes();
- for (size_t i=0;i<allNodes.size();i++)
+ for (auto rn : allNodes)
{
- RobotNodePtr rn = allNodes[i];
bool isFixed = true;
- for (size_t j = 0; j < nodes.size(); j++)
+ for (const auto & node : nodes)
{
- if (rn->hasChild(nodes[j],true))
+ if (rn->hasChild(node,true))
{
isFixed = false;
break;
@@ -847,13 +842,12 @@ namespace VirtualRobot
// collect sensor nodes
std::vector<SensorPtr> childSensorNodes;
- for (size_t i = 0; i < initialNodes.size(); i++)
+ for (auto rn : initialNodes)
{
- RobotNodePtr rn = initialNodes[i];
std::vector<SceneObjectPtr> c = rn->getChildren();
- for (size_t j = 0; j < c.size(); j++)
+ for (const auto & j : c)
{
- SensorPtr s = boost::dynamic_pointer_cast<Sensor>(c[j]);
+ SensorPtr s = boost::dynamic_pointer_cast<Sensor>(j);
if (s)
childSensorNodes.push_back(s);
}
@@ -899,9 +893,9 @@ namespace VirtualRobot
if (uniteWithAllChildren.size() == 0)
return RobotFactory::clone(robot, robot->getName());
- for (size_t i = 0; i < uniteWithAllChildren.size(); i++)
+ for (const auto & i : uniteWithAllChildren)
{
- THROW_VR_EXCEPTION_IF(!robot->hasRobotNode(uniteWithAllChildren[i]), "Could not find RobotNode in robot");
+ THROW_VR_EXCEPTION_IF(!robot->hasRobotNode(i), "Could not find RobotNode in robot");
}
@@ -916,21 +910,19 @@ namespace VirtualRobot
// clone RNS
std::vector<RobotNodeSetPtr> rnsets = robot->getRobotNodeSets();
- for (size_t i = 0; i < rnsets.size(); i++)
+ for (auto rns : rnsets)
{
- RobotNodeSetPtr rns = rnsets[i];
-
bool ok = true;
- for (size_t j = 0; j < uniteWithAllChildren.size(); j++)
+ for (const auto & j : uniteWithAllChildren)
{
- RobotNodePtr rn = robot->getRobotNode(uniteWithAllChildren[j]);
+ RobotNodePtr rn = robot->getRobotNode(j);
std::vector<RobotNodePtr> allChildren;
rn->collectAllRobotNodes(allChildren);
- for (size_t k = 0; k < allChildren.size(); k++)
+ for (auto & k : allChildren)
{
- if (allChildren[k] == rn)
+ if (k == rn)
continue;
- if (rns->hasRobotNode(allChildren[k]->getName()))
+ if (rns->hasRobotNode(k->getName()))
{
ok = false;
break;
@@ -952,11 +944,11 @@ namespace VirtualRobot
std::vector<SceneObjectPtr> c = currentNode->getChildren();
- for (size_t i = 0; i < c.size(); i++)
+ for (auto & i : c)
{
- if (std::find(uniteWithAllChildren.begin(), uniteWithAllChildren.end(), c[i]->getName()) != uniteWithAllChildren.end())
+ if (std::find(uniteWithAllChildren.begin(), uniteWithAllChildren.end(), i->getName()) != uniteWithAllChildren.end())
{
- RobotNodePtr currentRN = boost::dynamic_pointer_cast<RobotNode>(c[i]);
+ RobotNodePtr currentRN = boost::dynamic_pointer_cast<RobotNode>(i);
THROW_VR_EXCEPTION_IF(!currentRN, "Only RN allowed in list");
RobotNodePtr currentRNClone = currentRN->clone(robot, false, currentNodeClone);
@@ -974,7 +966,7 @@ namespace VirtualRobot
}
else
{
- RobotNodePtr currentRN = boost::dynamic_pointer_cast<RobotNode>(c[i]);
+ RobotNodePtr currentRN = boost::dynamic_pointer_cast<RobotNode>(i);
if (currentRN)
{
RobotNodePtr currentRNClone = currentRN->clone(robot, false, currentNodeClone);
@@ -982,12 +974,12 @@ namespace VirtualRobot
}
else
{
- SensorPtr s = boost::dynamic_pointer_cast<Sensor>(c[i]);
+ SensorPtr s = boost::dynamic_pointer_cast<Sensor>(i);
if (s)
{
s->clone(currentNodeClone);
} else
- VR_INFO << "Skipping node " << c[i]->getName() << endl;
+ VR_INFO << "Skipping node " << i->getName() << endl;
}
}
diff --git a/VirtualRobot/RobotNodeSet.cpp b/VirtualRobot/RobotNodeSet.cpp
index 480a8fac63614838422b18b84d138f85480c9067..dd0384187bc013213d06476a1a4669f002c4d2c8 100644
--- a/VirtualRobot/RobotNodeSet.cpp
+++ b/VirtualRobot/RobotNodeSet.cpp
@@ -60,15 +60,15 @@ namespace VirtualRobot
// now, the objects are stored in the parent's (SceneObjectSet) data structure, so that the methods of SceneObjectSet do work
- for (size_t i = 0; i < robotNodes.size(); i++)
+ for (const auto & robotNode : robotNodes)
{
- SceneObjectPtr cm = boost::dynamic_pointer_cast<SceneObject>(robotNodes[i]);
+ SceneObjectPtr cm = boost::dynamic_pointer_cast<SceneObject>(robotNode);
if (cm)
{
if (colChecker != cm->getCollisionChecker())
{
- VR_WARNING << "col model of " << robotNodes[i]->getName() << " belongs to different instance of collision checker, in: " << getName().c_str() << endl;
+ VR_WARNING << "col model of " << robotNode->getName() << " belongs to different instance of collision checker, in: " << getName().c_str() << endl;
}
else
{
@@ -95,10 +95,10 @@ namespace VirtualRobot
}
else
{
- for (unsigned int i = 0; i < robotNodeNames.size(); i++)
+ for (const auto & robotNodeName : robotNodeNames)
{
- RobotNodePtr node = robot->getRobotNode(robotNodeNames[i]);
- THROW_VR_EXCEPTION_IF(!node, "No robot node with name " << robotNodeNames[i] << " found...");
+ RobotNodePtr node = robot->getRobotNode(robotNodeName);
+ THROW_VR_EXCEPTION_IF(!node, "No robot node with name " << robotNodeName << " found...");
robotNodes.push_back(node);
}
}
@@ -249,9 +249,9 @@ namespace VirtualRobot
bool RobotNodeSet::hasRobotNode(RobotNodePtr robotNode) const
{
- for (unsigned int i = 0; i < robotNodes.size(); i++)
+ for (const auto & i : robotNodes)
{
- if (robotNodes[i] == robotNode)
+ if (i == robotNode)
{
return true;
}
@@ -261,9 +261,9 @@ namespace VirtualRobot
bool RobotNodeSet::hasRobotNode(const std::string &nodeName) const
{
- for (unsigned int i = 0; i < robotNodes.size(); i++)
+ for (const auto & robotNode : robotNodes)
{
- if (robotNodes[i]->getName() == nodeName)
+ if (robotNode->getName() == nodeName)
{
return true;
}
@@ -361,9 +361,9 @@ namespace VirtualRobot
{
THROW_VR_EXCEPTION_IF(!fillVector, "NULL data");
- for (size_t i = 0; i < robotNodes.size(); i++)
+ for (const auto & robotNode : robotNodes)
{
- fillVector->setConfig(robotNodes[i]->getName(), robotNodes[i]->getJointValue());
+ fillVector->setConfig(robotNode->getName(), robotNode->getJointValue());
}
}
@@ -463,11 +463,11 @@ namespace VirtualRobot
THROW_VR_EXCEPTION_IF(!rob, "RobotNodeSet::setJointValues: Robot is NULL (The last shared_ptr was deleted)");
WriteLockPtr lock = rob->getWriteLock();
- for (unsigned int i = 0; i < robotNodes.size(); i++)
+ for (auto & robotNode : robotNodes)
{
- if (jointValues->hasConfig(robotNodes[i]->getName()))
+ if (jointValues->hasConfig(robotNode->getName()))
{
- robotNodes[i]->setJointValueNoUpdate(jointValues->getConfig(robotNodes[i]->getName()));
+ robotNode->setJointValueNoUpdate(jointValues->getConfig(robotNode->getName()));
}
}
@@ -744,9 +744,9 @@ namespace VirtualRobot
{
RobotNodePtr node;
VR_ASSERT(robotNode);
- for (size_t i = 0; i < robotNodes.size(); i++)
+ for (const auto & i : robotNodes)
{
- node = robotNodes.at(i);
+ node = i;
if (node != robotNode && !robotNode->hasChild(node, true))
{
@@ -772,9 +772,9 @@ namespace VirtualRobot
ss << pre << "<RobotNodeSet name='" << name << "'>\n";
- for (size_t i = 0; i < robotNodes.size(); i++)
+ for (auto & robotNode : robotNodes)
{
- ss << pre << t << "<Node name='" << robotNodes[i]->getName() << "'/>\n";
+ ss << pre << t << "<Node name='" << robotNode->getName() << "'/>\n";
}
ss << pre << "</RobotNodeSet>\n";
diff --git a/VirtualRobot/RuntimeEnvironment.cpp b/VirtualRobot/RuntimeEnvironment.cpp
index 09048cdd763274834f607ac06f42665a3b3751bf..7ffdb66916c9860ec543b62349234c652433faa1 100644
--- a/VirtualRobot/RuntimeEnvironment.cpp
+++ b/VirtualRobot/RuntimeEnvironment.cpp
@@ -125,9 +125,9 @@ namespace VirtualRobot
// silently skip this error (e.g. device not ready, permission denied etc)
}
- for (size_t i = 0; i < dataPaths.size(); i++)
+ for (auto & dataPath : dataPaths)
{
- boost::filesystem::path p(dataPaths[i]);
+ boost::filesystem::path p(dataPath);
boost::filesystem::path fnComplete = boost::filesystem::operator/(p, fn);
@@ -168,9 +168,9 @@ namespace VirtualRobot
("data-path", boost::program_options::value< std::vector< std::string > >()->composing(), "Set data path. Multiple data paths are allowed.")
;
- for (size_t i = 0; i < processKeys.size(); i++)
+ for (auto & processKey : processKeys)
desc.add_options()
- (processKeys[i].c_str(), boost::program_options::value< std::vector< std::string > >(), processKeys[i].c_str())
+ (processKey.c_str(), boost::program_options::value< std::vector< std::string > >(), processKey.c_str())
;
boost::program_options::parsed_options parsed =
@@ -187,28 +187,28 @@ namespace VirtualRobot
//VR_INFO << "Data paths are: " << endl;
std::vector< std::string > dp = vm["data-path"].as< std::vector< std::string > >();
- for (size_t i = 0; i < dp.size(); i++)
+ for (const auto & i : dp)
{
- addDataPath(dp[i]);
+ addDataPath(i);
//VR_INFO << dp[i] << "\n";
}
}
// process generic keys
- for (size_t i = 0; i < processKeys.size(); i++)
+ for (auto & processKey : processKeys)
{
- if (vm.count(processKeys[i].c_str()))
+ if (vm.count(processKey.c_str()))
{
- std::vector< std::string > dp = vm[processKeys[i].c_str()].as< std::vector< std::string > >();
+ std::vector< std::string > dp = vm[processKey.c_str()].as< std::vector< std::string > >();
if (dp.size() > 1)
{
- VR_WARNING << "More than one parameter for key " << processKeys[i] << ". taking the first one..." << endl;
+ VR_WARNING << "More than one parameter for key " << processKey << ". taking the first one..." << endl;
}
if (dp.size() > 0)
{
- addKeyValuePair(processKeys[i], dp[0]); // take the first one...
+ addKeyValuePair(processKey, dp[0]); // take the first one...
}
}
@@ -217,9 +217,9 @@ namespace VirtualRobot
// collect unrecognized arguments
std::vector<std::string> options = boost::program_options::collect_unrecognized(parsed.options, boost::program_options::include_positional);
- for (size_t i = 0; i < options.size(); i++)
+ for (const auto & option : options)
{
- unrecognizedOptions.push_back(options[i]);
+ unrecognizedOptions.push_back(option);
}
@@ -295,18 +295,18 @@ namespace VirtualRobot
cout << " *********** Simox RuntimeEnvironment ************* " << endl;
cout << "Data paths:" << endl;
- for (size_t i = 0; i < dataPaths.size(); i++)
+ for (const auto & dataPath : dataPaths)
{
- cout << " * " << dataPaths[i] << endl;
+ cout << " * " << dataPath << endl;
}
if (processKeys.size() > 0)
{
cout << "Known keys:" << endl;
- for (size_t i = 0; i < processKeys.size(); i++)
+ for (const auto & processKey : processKeys)
{
- cout << " * " << processKeys[i] << endl;
+ cout << " * " << processKey << endl;
}
}
@@ -326,9 +326,9 @@ namespace VirtualRobot
{
cout << "Unrecognized options:" << endl;
- for (size_t i = 0; i < unrecognizedOptions.size(); i++)
+ for (const auto & unrecognizedOption : unrecognizedOptions)
{
- cout << " * <" << unrecognizedOptions[i] << ">" << endl;
+ cout << " * <" << unrecognizedOption << ">" << endl;
}
}
diff --git a/VirtualRobot/Scene.cpp b/VirtualRobot/Scene.cpp
index 526c13dfa8f0283ac37e46a1659bff12be503b8e..eaa2bb3989fcec274b316e81c8bc02ae4d500500 100644
--- a/VirtualRobot/Scene.cpp
+++ b/VirtualRobot/Scene.cpp
@@ -224,9 +224,9 @@ namespace VirtualRobot
{
THROW_VR_EXCEPTION_IF(!robot, "NULL data");
- for (std::vector< RobotPtr >::const_iterator i = robots.begin(); i != robots.end(); i++)
+ for (const auto & i : robots)
{
- if (*i == robot)
+ if (i == robot)
{
return true;
}
@@ -237,9 +237,9 @@ namespace VirtualRobot
bool Scene::hasRobot(const std::string& name) const
{
- for (std::vector< RobotPtr >::const_iterator i = robots.begin(); i != robots.end(); i++)
+ for (const auto & robot : robots)
{
- if ((*i)->getName() == name)
+ if (robot->getName() == name)
{
return true;
}
@@ -252,9 +252,9 @@ namespace VirtualRobot
{
THROW_VR_EXCEPTION_IF(!obstacle, "NULL data");
- for (std::vector< ObstaclePtr >::const_iterator i = obstacles.begin(); i != obstacles.end(); i++)
+ for (const auto & i : obstacles)
{
- if (*i == obstacle)
+ if (i == obstacle)
{
return true;
}
@@ -265,9 +265,9 @@ namespace VirtualRobot
bool Scene::hasObstacle(const std::string& name) const
{
- for (std::vector< ObstaclePtr >::const_iterator i = obstacles.begin(); i != obstacles.end(); i++)
+ for (const auto & obstacle : obstacles)
{
- if ((*i)->getName() == name)
+ if (obstacle->getName() == name)
{
return true;
}
@@ -282,9 +282,9 @@ namespace VirtualRobot
{
THROW_VR_EXCEPTION_IF(!t, "NULL data");
- for (std::vector< TrajectoryPtr >::const_iterator i = trajectories.begin(); i != trajectories.end(); i++)
+ for (const auto & trajectorie : trajectories)
{
- if (*i == t)
+ if (trajectorie == t)
{
return true;
}
@@ -295,9 +295,9 @@ namespace VirtualRobot
bool Scene::hasTrajectory(const std::string& name) const
{
- for (std::vector< TrajectoryPtr >::const_iterator i = trajectories.begin(); i != trajectories.end(); i++)
+ for (const auto & trajectorie : trajectories)
{
- if ((*i)->getName() == name)
+ if (trajectorie->getName() == name)
{
return true;
}
@@ -311,9 +311,9 @@ namespace VirtualRobot
{
THROW_VR_EXCEPTION_IF(!manipulationObject, "NULL data");
- for (std::vector< ManipulationObjectPtr >::const_iterator i = manipulationObjects.begin(); i != manipulationObjects.end(); i++)
+ for (const auto & i : manipulationObjects)
{
- if (*i == manipulationObject)
+ if (i == manipulationObject)
{
return true;
}
@@ -324,9 +324,9 @@ namespace VirtualRobot
bool Scene::hasManipulationObject(const std::string& name) const
{
- for (std::vector< ManipulationObjectPtr >::const_iterator i = manipulationObjects.begin(); i != manipulationObjects.end(); i++)
+ for (const auto & manipulationObject : manipulationObjects)
{
- if ((*i)->getName() == name)
+ if (manipulationObject->getName() == name)
{
return true;
}
@@ -406,9 +406,9 @@ namespace VirtualRobot
void Scene::registerRobotConfig(RobotPtr robot, std::vector<RobotConfigPtr> configs)
{
- for (size_t i = 0; i < configs.size(); i++)
+ for (const auto & config : configs)
{
- registerRobotConfig(robot, configs[i]);
+ registerRobotConfig(robot, config);
}
}
@@ -463,9 +463,9 @@ namespace VirtualRobot
THROW_VR_EXCEPTION_IF(!config, "NULL data");
std::vector< RobotConfigPtr > configs = robotConfigs[robot];
- for (std::vector< RobotConfigPtr >::iterator i = configs.begin(); i != configs.end(); i++)
+ for (auto & i : configs)
{
- if (*i == config)
+ if (i == config)
{
return true;
}
@@ -479,9 +479,9 @@ namespace VirtualRobot
THROW_VR_EXCEPTION_IF(!robot, "NULL data");
std::vector< RobotConfigPtr > configs = robotConfigs[robot];
- for (std::vector< RobotConfigPtr >::iterator i = configs.begin(); i != configs.end(); i++)
+ for (auto & config : configs)
{
- if ((*i)->getName() == name)
+ if (config->getName() == name)
{
return true;
}
@@ -493,11 +493,11 @@ namespace VirtualRobot
VirtualRobot::RobotConfigPtr Scene::getRobotConfig(const std::string& robotName, const std::string& name)
{
- for (std::map< RobotPtr, std::vector< RobotConfigPtr > >::iterator i = robotConfigs.begin(); i != robotConfigs.end(); i++)
+ for (auto & robotConfig : robotConfigs)
{
- if (i->first->getName() == robotName)
+ if (robotConfig.first->getName() == robotName)
{
- return getRobotConfig(i->first, name);
+ return getRobotConfig(robotConfig.first, name);
}
}
@@ -510,11 +510,11 @@ namespace VirtualRobot
THROW_VR_EXCEPTION_IF(!robot, "NULL data");
std::vector< RobotConfigPtr > configs = robotConfigs[robot];
- for (std::vector< RobotConfigPtr >::iterator i = configs.begin(); i != configs.end(); i++)
+ for (auto & config : configs)
{
- if ((*i)->getName() == name)
+ if (config->getName() == name)
{
- return *i;
+ return config;
}
}
@@ -546,11 +546,11 @@ namespace VirtualRobot
{
std::vector< TrajectoryPtr > res;
- for (size_t i = 0; i < trajectories.size(); i++)
+ for (auto & trajectorie : trajectories)
{
- if (trajectories[i]->getRobotName() == robotName)
+ if (trajectorie->getRobotName() == robotName)
{
- res.push_back(trajectories[i]);
+ res.push_back(trajectorie);
}
}
@@ -642,9 +642,9 @@ namespace VirtualRobot
{
THROW_VR_EXCEPTION_IF(!sos, "NULL data");
- for (std::vector< SceneObjectSetPtr >::const_iterator i = sceneObjectSets.begin(); i != sceneObjectSets.end(); i++)
+ for (const auto & sceneObjectSet : sceneObjectSets)
{
- if (*i == sos)
+ if (sceneObjectSet == sos)
{
return true;
}
@@ -655,9 +655,9 @@ namespace VirtualRobot
bool Scene::hasSceneObjectSet(const std::string& name) const
{
- for (std::vector< SceneObjectSetPtr >::const_iterator i = sceneObjectSets.begin(); i != sceneObjectSets.end(); i++)
+ for (const auto & sceneObjectSet : sceneObjectSets)
{
- if ((*i)->getName() == name)
+ if (sceneObjectSet->getName() == name)
{
return true;
}
@@ -698,12 +698,12 @@ namespace VirtualRobot
ss << "\n";
// process robots
- for (size_t i = 0; i < robots.size(); i++)
+ for (auto & robot : robots)
{
- std::string rob = robots[i]->getName();
- RobotConfigPtr currentConfig = robots[i]->getConfig();
+ std::string rob = robot->getName();
+ RobotConfigPtr currentConfig = robot->getConfig();
ss << "\t<Robot name='" << rob << "' initConfig='" << currentConfig->getName() << "'>\n";
- std::string robFile = robots[i]->getFilename();
+ std::string robFile = robot->getFilename();
if (!basePath.empty())
{
@@ -713,7 +713,7 @@ namespace VirtualRobot
ss << "\t\t<File>" << robFile << "</File>\n";
// store global pose (if not identity)
- Eigen::Matrix4f gp = robots[i]->getGlobalPose();
+ Eigen::Matrix4f gp = robot->getGlobalPose();
if (!gp.isIdentity())
{
@@ -728,11 +728,11 @@ namespace VirtualRobot
ss << currentConfig->toXML(2);
// store all other configs for robot
- std::vector<RobotConfigPtr> rc = getRobotConfigs(robots[i]);
+ std::vector<RobotConfigPtr> rc = getRobotConfigs(robot);
- for (size_t j = 0; j < rc.size(); j++)
+ for (auto & j : rc)
{
- ss << rc[j]->toXML(2);
+ ss << j->toXML(2);
}
ss << "\t</Robot>\n";
@@ -740,30 +740,30 @@ namespace VirtualRobot
}
// process manipulation objects
- for (size_t i = 0; i < manipulationObjects.size(); i++)
+ for (auto & manipulationObject : manipulationObjects)
{
- ss << manipulationObjects[i]->toXML(basePath, 1, true);
+ ss << manipulationObject->toXML(basePath, 1, true);
ss << "\n";
}
// process obstacles
- for (size_t i = 0; i < obstacles.size(); i++)
+ for (auto & obstacle : obstacles)
{
- ss << obstacles[i]->toXML(basePath, 1);
+ ss << obstacle->toXML(basePath, 1);
ss << "\n";
}
// process sceneObjectSets
- for (size_t i = 0; i < sceneObjectSets.size(); i++)
+ for (auto & sceneObjectSet : sceneObjectSets)
{
- ss << sceneObjectSets[i]->toXML(1);
+ ss << sceneObjectSet->toXML(1);
ss << "\n";
}
// process trajectories
- for (size_t i = 0; i < trajectories.size(); i++)
+ for (auto & trajectorie : trajectories)
{
- ss << trajectories[i]->toXML(1);
+ ss << trajectorie->toXML(1);
ss << "\n";
}
diff --git a/VirtualRobot/SceneObjectSet.cpp b/VirtualRobot/SceneObjectSet.cpp
index 1b5dae76fc726989e1468d1f76133ad7947d0227..1ebbc663bf86db359f3bebdfe7e8e49e5ea17b7f 100644
--- a/VirtualRobot/SceneObjectSet.cpp
+++ b/VirtualRobot/SceneObjectSet.cpp
@@ -62,8 +62,8 @@ namespace VirtualRobot
return false;
}
- for (unsigned i = 0; i < sceneObjects.size(); i++)
- if (sceneObjects[i] == sceneObject)
+ for (const auto & i : sceneObjects)
+ if (i == sceneObject)
{
VR_WARNING << "col model already added, in: " << name << endl;
return false;
@@ -91,9 +91,9 @@ namespace VirtualRobot
std::vector< SceneObjectPtr > so = sceneObjectSet->getSceneObjects();
- for (size_t i = 0; i < so.size(); i++)
+ for (const auto & i : so)
{
- if (!addSceneObject(so[i]))
+ if (!addSceneObject(i))
{
return false;
}
@@ -116,15 +116,15 @@ namespace VirtualRobot
bool SceneObjectSet::addSceneObjects(std::vector<RobotNodePtr> robotNodes)
{
- for (size_t i = 0; i < robotNodes.size(); i++)
+ for (auto & robotNode : robotNodes)
{
- SceneObjectPtr cm = boost::dynamic_pointer_cast<SceneObject>(robotNodes[i]);
+ SceneObjectPtr cm = boost::dynamic_pointer_cast<SceneObject>(robotNode);
if (cm)
{
if (colChecker != cm->getCollisionChecker())
{
- VR_WARNING << "col model of " << robotNodes[i]->getName() << " belongs to different instance of collision checker, in: " << getName().c_str() << endl;
+ VR_WARNING << "col model of " << robotNode->getName() << " belongs to different instance of collision checker, in: " << getName().c_str() << endl;
}
else
{
@@ -221,9 +221,9 @@ namespace VirtualRobot
bool SceneObjectSet::getCurrentSceneObjectConfig(std::map< SceneObjectPtr, Eigen::Matrix4f >& storeConfig)
{
- for (std::vector< SceneObjectPtr >::iterator iter = sceneObjects.begin(); iter != sceneObjects.end(); iter++)
+ for (auto & sceneObject : sceneObjects)
{
- storeConfig[(*iter)] = (*iter)->getGlobalPose();
+ storeConfig[sceneObject] = sceneObject->getGlobalPose();
}
return true;
@@ -231,9 +231,9 @@ namespace VirtualRobot
bool SceneObjectSet::hasSceneObject(SceneObjectPtr sceneObject)
{
- for (std::vector< SceneObjectPtr >::iterator iter = sceneObjects.begin(); iter != sceneObjects.end(); iter++)
+ for (auto & iter : sceneObjects)
{
- if ((*iter) == sceneObject)
+ if (iter == sceneObject)
{
return true;
}
@@ -246,11 +246,11 @@ namespace VirtualRobot
{
std::vector< CollisionModelPtr > result;
- for (size_t i = 0; i < sceneObjects.size(); i++)
+ for (auto & sceneObject : sceneObjects)
{
- if (sceneObjects[i]->getCollisionModel())
+ if (sceneObject->getCollisionModel())
{
- result.push_back(sceneObjects[i]->getCollisionModel());
+ result.push_back(sceneObject->getCollisionModel());
}
}
@@ -286,9 +286,9 @@ namespace VirtualRobot
ss << pre << "<SceneObjectSet name='" << name << "'>\n";
- for (size_t i = 0; i < sceneObjects.size(); i++)
+ for (auto & sceneObject : sceneObjects)
{
- ss << pre << t << "<SceneObject name='" << sceneObjects[i]->getName() << "'/>\n";
+ ss << pre << t << "<SceneObject name='" << sceneObject->getName() << "'/>\n";
}
ss << pre << "</SceneObjectSet>\n";
@@ -299,9 +299,9 @@ namespace VirtualRobot
{
SceneObjectSetPtr result(new SceneObjectSet(newName, colChecker));
- for (size_t i = 0; i < sceneObjects.size(); i++)
+ for (const auto & sceneObject : sceneObjects)
{
- result->addSceneObject(sceneObjects[i]);
+ result->addSceneObject(sceneObject);
}
return result;
@@ -312,9 +312,9 @@ namespace VirtualRobot
{
SceneObjectSetPtr result(new SceneObjectSet(newName, newColChecker));
- for (size_t i = 0; i < sceneObjects.size(); i++)
+ for (auto & sceneObject : sceneObjects)
{
- SceneObjectPtr o = sceneObjects[i]->clone(sceneObjects[i]->getName(), newColChecker);
+ SceneObjectPtr o = sceneObject->clone(sceneObject->getName(), newColChecker);
result->addSceneObject(o);
}
@@ -327,16 +327,16 @@ namespace VirtualRobot
std::vector<VisualizationNodePtr> visus;
std::vector<CollisionModelPtr> cols;
- for (size_t i = 0; i < sceneObjects.size(); i++)
+ for (auto & sceneObject : sceneObjects)
{
- if (sceneObjects[i]->getVisualization())
+ if (sceneObject->getVisualization())
{
- visus.push_back(sceneObjects[i]->getVisualization());
+ visus.push_back(sceneObject->getVisualization());
}
- if (sceneObjects[i]->getCollisionModel())
+ if (sceneObject->getCollisionModel())
{
- cols.push_back(sceneObjects[i]->getCollisionModel());
+ cols.push_back(sceneObject->getCollisionModel());
}
}
diff --git a/VirtualRobot/SphereApproximator.cpp b/VirtualRobot/SphereApproximator.cpp
index 1a4a7c1b314a547d11ac2c03a437be4715292b17..c3b9af9f6cb47e4e5d27a9b37b7e85fff4724ebc 100644
--- a/VirtualRobot/SphereApproximator.cpp
+++ b/VirtualRobot/SphereApproximator.cpp
@@ -122,9 +122,9 @@ namespace VirtualRobot
setVec(v[2], -fSqrt3, fSqrt3, -fSqrt3);
setVec(v[3], fSqrt3, -fSqrt3, -fSqrt3);
- for (int i = 0 ; i < 4 ; i++)
+ for (const auto & i : v)
{
- gd.vertices.push_back(v[i]);
+ gd.vertices.push_back(i);
}
// structure describing a tetrahedron
@@ -134,12 +134,12 @@ namespace VirtualRobot
f[2].set(3, 2, 4);
f[3].set(4, 1, 3);
- for (int i = 0 ; i < 4 ; i++)
+ for (auto & i : f)
{
- f[i].id1--;
- f[i].id2--;
- f[i].id3--;
- gd.faces.push_back(f[i]);
+ i.id1--;
+ i.id2--;
+ i.id3--;
+ gd.faces.push_back(i);
}
}
@@ -154,9 +154,9 @@ namespace VirtualRobot
setVec(v[4], 0, 0, 1);
setVec(v[5], 0, 0, -1);
- for (int i = 0 ; i < 6 ; i++)
+ for (const auto & i : v)
{
- gd.vertices.push_back(v[i]);
+ gd.vertices.push_back(i);
}
// Join vertices to create a unit octahedron
@@ -170,12 +170,12 @@ namespace VirtualRobot
f[6].set(2, 4, 6);
f[7].set(4, 1, 6);
- for (int i = 0 ; i < 8 ; i++)
+ for (auto & i : f)
{
- f[i].id1--;
- f[i].id2--;
- f[i].id3--;
- gd.faces.push_back(f[i]);
+ i.id1--;
+ i.id2--;
+ i.id3--;
+ gd.faces.push_back(i);
}
}
@@ -200,9 +200,9 @@ namespace VirtualRobot
setVec(v[10], 0, -tau, -one);
setVec(v[11], 0, tau, -one);
- for (int i = 0 ; i < 12 ; i++)
+ for (const auto & i : v)
{
- gd.vertices.push_back(v[i]);
+ gd.vertices.push_back(i);
}
@@ -229,12 +229,12 @@ namespace VirtualRobot
f[18].set(8, 10, 3);
f[19].set(7, 3, 11);
- for (int i = 0 ; i < 20 ; i++)
+ for (auto & i : f)
{
- f[i].id1--;
- f[i].id2--;
- f[i].id3--;
- gd.faces.push_back(f[i]);
+ i.id1--;
+ i.id2--;
+ i.id3--;
+ gd.faces.push_back(i);
}
}
@@ -319,9 +319,9 @@ namespace VirtualRobot
fa[2].set(nC_m, nB_m, nC);
fa[3].set(nA_m, nB_m, nC_m);
- for (int i = 0 ; i < 4 ; i++)
+ for (const auto & i : fa)
{
- newFaces.push_back(fa[i]);
+ newFaces.push_back(i);
}
}
diff --git a/VirtualRobot/TimeOptimalTrajectory/Path.cpp b/VirtualRobot/TimeOptimalTrajectory/Path.cpp
index d6398d49630e176d239dd6f13c0a915b3483301b..fe51f30425a256a40943b5cca2baa67f646b50f6 100644
--- a/VirtualRobot/TimeOptimalTrajectory/Path.cpp
+++ b/VirtualRobot/TimeOptimalTrajectory/Path.cpp
@@ -205,13 +205,13 @@ namespace VirtualRobot
}
// create list of switching point candidates, calculate total path length and absolute positions of path segments
- for(list<PathSegment*>::iterator segment = pathSegments.begin(); segment != pathSegments.end(); segment++) {
- (*segment)->position = length;
- list<double> localSwitchingPoints = (*segment)->getSwitchingPoints();
+ for(auto & pathSegment : pathSegments) {
+ pathSegment->position = length;
+ list<double> localSwitchingPoints = pathSegment->getSwitchingPoints();
for(list<double>::const_iterator point = localSwitchingPoints.begin(); point != localSwitchingPoints.end(); point++) {
switchingPoints.push_back(make_pair(length + *point, false));
}
- length += (*segment)->getLength();
+ length += pathSegment->getLength();
while(!switchingPoints.empty() && switchingPoints.back().first >= length)
switchingPoints.pop_back();
switchingPoints.push_back(make_pair(length, true));
@@ -223,14 +223,14 @@ namespace VirtualRobot
length(path.length),
switchingPoints(path.switchingPoints)
{
- for(list<PathSegment*>::const_iterator it = path.pathSegments.begin(); it != path.pathSegments.end(); it++) {
- pathSegments.push_back((*it)->clone());
+ for(auto pathSegment : path.pathSegments) {
+ pathSegments.push_back(pathSegment->clone());
}
}
Path::~Path() {
- for(list<PathSegment*>::iterator it = pathSegments.begin(); it != pathSegments.end(); it++) {
- delete *it;
+ for(auto & pathSegment : pathSegments) {
+ delete pathSegment;
}
}
diff --git a/VirtualRobot/TimeOptimalTrajectory/TimeOptimalTrajectory.cpp b/VirtualRobot/TimeOptimalTrajectory/TimeOptimalTrajectory.cpp
index 9ed6c1ae841690d883d25e33147bfd7b81e64fe3..1498d88f7a8fc18220b6a7234b77861fca282b2e 100644
--- a/VirtualRobot/TimeOptimalTrajectory/TimeOptimalTrajectory.cpp
+++ b/VirtualRobot/TimeOptimalTrajectory/TimeOptimalTrajectory.cpp
@@ -106,11 +106,11 @@ namespace VirtualRobot
file1.close();
ofstream file2("trajectory.txt");
- for(list<TimeOptimalTrajectoryStep>::const_iterator it = trajectory.begin(); it != trajectory.end(); it++) {
- file2 << it->pathPos << " " << it->pathVel << endl;
+ for(const auto & it : trajectory) {
+ file2 << it.pathPos << " " << it.pathVel << endl;
}
- for(list<TimeOptimalTrajectoryStep>::const_iterator it = endTrajectory.begin(); it != endTrajectory.end(); it++) {
- file2 << it->pathPos << " " << it->pathVel << endl;
+ for(const auto & it : endTrajectory) {
+ file2 << it.pathPos << " " << it.pathVel << endl;
}
file2.close();
}
diff --git a/VirtualRobot/Tools/Gravity.cpp b/VirtualRobot/Tools/Gravity.cpp
index 28e83045d3f8f0c8cb236bfb8bbf56e54ec3cd4d..b6c8d44fface6ffee21eb5500d4ab9beac4356c4 100644
--- a/VirtualRobot/Tools/Gravity.cpp
+++ b/VirtualRobot/Tools/Gravity.cpp
@@ -134,8 +134,8 @@ void Gravity::GravityData::init(SceneObjectPtr node, const std::vector<RobotNode
}
}
- for (size_t i = 0; i < bodies.size(); ++i) {
- if(thisNode == bodies.at(i)){
+ for (const auto & bodie : bodies) {
+ if(thisNode == bodie){
computeCoM = true;
// VR_INFO << "Computing com for " << thisNode->getName() << std::endl;
}
diff --git a/VirtualRobot/Util/xml/tinyxml2.cpp b/VirtualRobot/Util/xml/tinyxml2.cpp
old mode 100755
new mode 100644
index fd27f7888d279e8f66d4fda506945f38a909bad8..8fff487289802cddc4924c9f6973cdb72c0924bb
--- a/VirtualRobot/Util/xml/tinyxml2.cpp
+++ b/VirtualRobot/Util/xml/tinyxml2.cpp
@@ -326,8 +326,7 @@ const char* StrPair::GetStr()
}
else {
bool entityFound = false;
- for( int i = 0; i < NUM_ENTITIES; ++i ) {
- const Entity& entity = entities[i];
+ for(auto entity : entities) {
if ( strncmp( p + 1, entity.pattern, entity.length ) == 0
&& *( p + entity.length + 1 ) == ';' ) {
// Found an entity - convert.
@@ -2422,8 +2421,8 @@ XMLPrinter::XMLPrinter( FILE* file, bool compact, int depth ) :
_entityFlag[i] = false;
_restrictedEntityFlag[i] = false;
}
- for( int i=0; i<NUM_ENTITIES; ++i ) {
- const char entityValue = entities[i].value;
+ for(auto entitie : entities) {
+ const char entityValue = entitie.value;
const unsigned char flagIndex = (unsigned char)entityValue;
TIXMLASSERT( flagIndex < ENTITY_RANGE );
_entityFlag[flagIndex] = true;
@@ -2513,10 +2512,10 @@ void XMLPrinter::PrintString( const char* p, bool restricted )
p += toPrint;
}
bool entityPatternPrinted = false;
- for( int i=0; i<NUM_ENTITIES; ++i ) {
- if ( entities[i].value == *q ) {
+ for(auto entitie : entities) {
+ if ( entitie.value == *q ) {
Putc( '&' );
- Write( entities[i].pattern, entities[i].length );
+ Write( entitie.pattern, entitie.length );
Putc( ';' );
entityPatternPrinted = true;
break;
diff --git a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
index 72c1a89cbb3edaee8708e63563ffc2717be9c5e0..70bb6911a0f4fb34cf3d98fd9c3b3afa100fae8f 100644
--- a/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
+++ b/VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.cpp
@@ -141,9 +141,8 @@ namespace VirtualRobot
Eigen::Matrix4f currentTransform = Eigen::Matrix4f::Identity();
- for (std::vector<Primitive::PrimitivePtr>::const_iterator it = primitives.begin(); it != primitives.end(); it++)
+ for (auto p : primitives)
{
- Primitive::PrimitivePtr p = *it;
currentTransform *= p->transform;
SoSeparator* soSep = new SoSeparator();
SoNode* pNode = GetNodeFromPrimitive(p, boundingBox, color);
@@ -1535,9 +1534,9 @@ namespace VirtualRobot
SoSeparator* res = new SoSeparator;
res->ref();
- for (size_t i = 0; i < contacts.size(); i++)
+ for (auto & contact : contacts)
{
- res->addChild(getCoinVisualization(contacts[i], frictionConeHeight, frictionConeRadius, scaleAccordingToApproachDir));
+ res->addChild(getCoinVisualization(contact, frictionConeHeight, frictionConeRadius, scaleAccordingToApproachDir));
}
res->unrefNoDelete();
@@ -4028,9 +4027,9 @@ namespace VirtualRobot
std::vector<MathTools::Segment> s = oobb.getSegments();
- for (size_t i = 0; i < s.size(); i++)
+ for (const auto & i : s)
{
- sep->addChild(CreateSegmentVisualization(s[i], colorLine, lineSize));
+ sep->addChild(CreateSegmentVisualization(i, colorLine, lineSize));
}
res->addChild(sep);
@@ -4339,10 +4338,9 @@ namespace VirtualRobot
SoNode* result = n->copy(TRUE);
// reset the changed ones back
- for (std::vector<SoSFImage*>::iterator it = changedImages.begin();
- it != changedImages.end(); it++)
+ for (auto & changedImage : changedImages)
{
- (*it)->setDefault(TRUE);
+ changedImage->setDefault(TRUE);
}
return result;
diff --git a/VirtualRobot/Visualization/TriMeshModel.cpp b/VirtualRobot/Visualization/TriMeshModel.cpp
index 941ab1a65ff4eec805c015e08de23ec6fa91c085..a7d5aaaf9f2b4581847cf287cf4e1c1746d06f79 100644
--- a/VirtualRobot/Visualization/TriMeshModel.cpp
+++ b/VirtualRobot/Visualization/TriMeshModel.cpp
@@ -25,9 +25,9 @@ namespace VirtualRobot
TriMeshModel::TriMeshModel(std::vector <triangle>& triangles)
{
- for (size_t i = 0; i < triangles.size(); i++)
+ for (auto & triangle : triangles)
{
- addTriangleWithFace(triangles[i].vertex1, triangles[i].vertex2, triangles[i].vertex3);
+ addTriangleWithFace(triangle.vertex1, triangle.vertex2, triangle.vertex3);
}
}
@@ -794,9 +794,9 @@ namespace VirtualRobot
{
cout << "TriMeshModel Normals:" << endl;
std::streamsize pr = cout.precision(2);
- for (size_t i = 0; i < faces.size(); i++)
+ for (auto & face : faces)
{
- cout << "<" << faces[i].normal(0) << "," << faces[i].normal(1) << "," << faces[i].normal(2) << ">,";
+ cout << "<" << face.normal(0) << "," << face.normal(1) << "," << face.normal(2) << ">,";
}
cout.precision(pr);
}
@@ -816,9 +816,9 @@ namespace VirtualRobot
{
cout << "TriMeshModel Faces (vertex indices):" << endl;
std::streamsize pr = cout.precision(2);
- for (size_t i = 0; i < faces.size(); i++)
+ for (auto & face : faces)
{
- cout << faces[i].id1 << "," << faces[i].id2 << "," << faces[i].id3 << endl;
+ cout << face.id1 << "," << face.id2 << "," << face.id3 << endl;
}
cout.precision(pr);
}
diff --git a/VirtualRobot/Workspace/WorkspaceGrid.cpp b/VirtualRobot/Workspace/WorkspaceGrid.cpp
index 2b9c67d8ff90d2ee1a3ec670862c16b4165139ab..932987cc5f82eda43cb7eefeff77f58d60dcf832 100644
--- a/VirtualRobot/Workspace/WorkspaceGrid.cpp
+++ b/VirtualRobot/Workspace/WorkspaceGrid.cpp
@@ -275,13 +275,13 @@ namespace VirtualRobot
float x, y;
- for (int i = 0; i < (int)wsData.size(); i++)
+ for (auto & i : wsData)
{
- Eigen::Matrix4f tmpPos2 = graspGlobal * wsData[i]->transformation.inverse();
+ Eigen::Matrix4f tmpPos2 = graspGlobal * i->transformation.inverse();
x = tmpPos2(0, 3);
y = tmpPos2(1, 3);
- setEntryCheckNeighbors(x, y, wsData[i]->value, grasp);
+ setEntryCheckNeighbors(x, y, i->value, grasp);
//setEntry(x,y,vData[i].value);
}
}
diff --git a/VirtualRobot/Workspace/WorkspaceRepresentation.cpp b/VirtualRobot/Workspace/WorkspaceRepresentation.cpp
index cfb3b81b2f466cc430bf16448bc4b2a475175bf3..4de5f5329d23cdf3de71a536b356e0a34f2b1162 100644
--- a/VirtualRobot/Workspace/WorkspaceRepresentation.cpp
+++ b/VirtualRobot/Workspace/WorkspaceRepresentation.cpp
@@ -251,16 +251,16 @@ namespace VirtualRobot
// Check joint limits
std::vector<RobotNodePtr> nodes = nodeSet->getAllRobotNodes();
- for (std::vector<RobotNodePtr>::iterator n = nodes.begin(); n != nodes.end(); n++)
+ for (auto & node : nodes)
{
float limits[2];
FileIO::readArray<float>(limits, 2, file);
//limits[0] = (int)(FileIO::read<ioIntTypeRead>(file));
//limits[1] = (int)(FileIO::read<ioIntTypeRead>(file));
- if (fabs((*n)->getJointLimitLo() - limits[0]) > 0.01 || fabs((*n)->getJointLimitHi() - limits[1]) > 0.01)
+ if (fabs(node->getJointLimitLo() - limits[0]) > 0.01 || fabs(node->getJointLimitHi() - limits[1]) > 0.01)
{
- VR_WARNING << "Joint limit mismatch for " << (*n)->getName() << ", min: " << (*n)->getJointLimitLo() << " / " << limits[0] << ", max: " << (*n)->getJointLimitHi() << " / " << limits[1] << std::endl;
+ VR_WARNING << "Joint limit mismatch for " << node->getName() << ", min: " << node->getJointLimitLo() << " / " << limits[0] << ", max: " << node->getJointLimitHi() << " / " << limits[1] << std::endl;
}
}
}
@@ -308,9 +308,9 @@ namespace VirtualRobot
discretizeStepTranslation = FileIO::read<float>(file);
discretizeStepRotation = FileIO::read<float>(file);
- for (int i = 0; i < 6; i++)
+ for (int & numVoxel : numVoxels)
{
- numVoxels[i] = (int)(FileIO::read<ioIntTypeRead>(file));
+ numVoxel = (int)(FileIO::read<ioIntTypeRead>(file));
}
//FileIO::readArray<int>(numVoxels, 6, file);
@@ -529,10 +529,10 @@ namespace VirtualRobot
const std::vector<RobotNodePtr> nodes = nodeSet->getAllRobotNodes();
FileIO::write<ioIntTypeWrite>(file, (ioIntTypeWrite)(nodes.size()));
- for (std::vector<RobotNodePtr>::const_iterator n = nodes.begin(); n != nodes.end(); n++)
+ for (const auto & node : nodes)
{
- FileIO::write<float>(file, (*n)->getJointLimitLo());
- FileIO::write<float>(file, (*n)->getJointLimitHi());
+ FileIO::write<float>(file, node->getJointLimitLo());
+ FileIO::write<float>(file, node->getJointLimitHi());
}
// TCP name
@@ -576,9 +576,9 @@ namespace VirtualRobot
// Number of voxels
//FileIO::writeArray<ioIntTypeWrite>(file, numVoxels, 6);
- for (int i = 0; i < 6; i++)
+ for (int & numVoxel : numVoxels)
{
- FileIO::write<ioIntTypeWrite>(file, (ioIntTypeWrite)(numVoxels[i]));
+ FileIO::write<ioIntTypeWrite>(file, (ioIntTypeWrite)numVoxel);
}
FileIO::write<ioIntTypeWrite>(file, (ioIntTypeWrite)(data->getVoxelFilledCount()));
@@ -1056,34 +1056,34 @@ namespace VirtualRobot
cout << type << " workspace extend (as defined on construction):" << endl;
cout << "Min boundary (local): ";
- for (int i = 0; i < 6; i++)
+ for (float minBound : minBounds)
{
- cout << minBounds[i] << ",";
+ cout << minBound << ",";
}
cout << endl;
cout << "Max boundary (local): ";
- for (int i = 0; i < 6; i++)
+ for (float maxBound : maxBounds)
{
- cout << maxBounds[i] << ",";
+ cout << maxBound << ",";
}
cout << endl;
cout << "6D values achieved during buildup:" << endl;
cout << "Minimum 6D values: ";
- for (int i = 0; i < 6; i++)
+ for (float achievedMinValue : achievedMinValues)
{
- cout << achievedMinValues[i] << ",";
+ cout << achievedMinValue << ",";
}
cout << endl;
cout << "Maximum 6D values: ";
- for (int i = 0; i < 6; i++)
+ for (float achievedMaxValue : achievedMaxValues)
{
- cout << achievedMaxValues[i] << ",";
+ cout << achievedMaxValue << ",";
}
cout << endl;
@@ -1397,9 +1397,9 @@ namespace VirtualRobot
int sum = 0;
int count = 0;
- for (int i = 0; i < 6; i++)
+ for (unsigned int & i : x)
{
- x[i]--;
+ i--;
if (isCovered(x))
{
@@ -1407,8 +1407,8 @@ namespace VirtualRobot
count++;
}
- x[i]++;
- x[i]++;
+ i++;
+ i++;
if (isCovered(x))
{
@@ -1416,7 +1416,7 @@ namespace VirtualRobot
count++;
}
- x[i]--;
+ i--;
}
if (count >= (int)minNeighbors)
@@ -1768,18 +1768,18 @@ namespace VirtualRobot
storeMinBBox = quadPos[0];
storeMaxBBox = quadPos[0];
- for (int k = 0; k < 8; k++)
+ for (auto & quadPo : quadPos)
{
for (int i = 0; i < 3; i++)
{
- if (quadPos[k](i) < storeMinBBox(i))
+ if (quadPo(i) < storeMinBBox(i))
{
- storeMinBBox(i) = quadPos[k](i);
+ storeMinBBox(i) = quadPo(i);
}
- if (quadPos[k](i) > storeMaxBBox(i))
+ if (quadPo(i) > storeMaxBBox(i))
{
- storeMaxBBox(i) = quadPos[k](i);
+ storeMaxBBox(i) = quadPo(i);
}
}
}
diff --git a/VirtualRobot/Workspace/tests/VoxelTreeTest.cpp b/VirtualRobot/Workspace/tests/VoxelTreeTest.cpp
index dd9ca457ebfbba9104f51b50bedd85bd2680aaa0..e337daf8ad827f8bc7fe2210b5c49c2fd5012038 100644
--- a/VirtualRobot/Workspace/tests/VoxelTreeTest.cpp
+++ b/VirtualRobot/Workspace/tests/VoxelTreeTest.cpp
@@ -66,9 +66,9 @@ BOOST_AUTO_TEST_CASE(VoxelTreeEntriesTest)
VirtualRobot::VoxelTree6D<unsigned char> v(minB, maxB, 20.0f, 1.0f);
float pos[6];
- for (int i = 0; i < 6; i++)
+ for (float & po : pos)
{
- pos[i] = 0;
+ po = 0;
}
unsigned char* c = v.getEntry(pos);
@@ -101,9 +101,9 @@ BOOST_AUTO_TEST_CASE(VoxelTreeNDEntriesTest)
VirtualRobot::VoxelTreeND<unsigned char, N> v(minB, maxB, discr, true);
float pos[N];
- for (unsigned int i = 0; i < N; i++)
+ for (float & po : pos)
{
- pos[i] = 0;
+ po = 0;
}
unsigned char* c = v.getEntry(pos);
@@ -149,17 +149,17 @@ BOOST_AUTO_TEST_CASE(VoxelTreeNDSaveLoad)
for (unsigned int i = 0; i < TEST_LOOPS; i++)
{
- for (unsigned int j = 0; j < N; j++)
+ for (float & po : pos)
{
- pos[j] = float(rand() % 10000) / 10000.0f * 200.0f - 100.0f;
+ po = float(rand() % 10000) / 10000.0f * 200.0f - 100.0f;
}
v.setEntry(pos, rand() % 255);
}
- for (unsigned int i = 0; i < N; i++)
+ for (float & po : pos)
{
- pos[i] = 17.0f;
+ po = 17.0f;
}
v.setEntry(pos, 10);
@@ -194,14 +194,14 @@ BOOST_AUTO_TEST_CASE(VoxelTreeNDIterator)
const int TEST_LOOPS = 10000;
float pos[TEST_LOOPS][N];
- for (int i = 0; i < TEST_LOOPS; i++)
+ for (auto & po : pos)
{
- for (unsigned int j = 0; j < N; j++)
+ for (float & j : po)
{
- pos[i][j] = float(rand() % 10000) / 10000.0f * 200.0f - 100.0f;
+ j = float(rand() % 10000) / 10000.0f * 200.0f - 100.0f;
}
- v.setEntry(pos[i], rand() % 255);
+ v.setEntry(po, rand() % 255);
}
VirtualRobot::VoxelTreeND<unsigned char, N>::ElementIterator it;
@@ -237,9 +237,9 @@ BOOST_AUTO_TEST_CASE(VoxelTreeNDMem)
float pos[N];
- for (unsigned int j = 0; j < N; j++)
+ for (float & po : pos)
{
- pos[j] = float(rand() % 10000) / 10000.0f * 200.0f - 100.0f;
+ po = float(rand() % 10000) / 10000.0f * 200.0f - 100.0f;
}
v.setEntry(pos, rand() % 255);
diff --git a/VirtualRobot/XML/BaseIO.cpp b/VirtualRobot/XML/BaseIO.cpp
index b6b389f622e0e2c8c6dcf639f89136571de62a85..84ff2937bccbea709663e40ac8b303e8fa655f1c 100644
--- a/VirtualRobot/XML/BaseIO.cpp
+++ b/VirtualRobot/XML/BaseIO.cpp
@@ -356,16 +356,16 @@ namespace VirtualRobot
Units uAngle("rad");
Units uLength("mm");
- for (size_t i = 0; i < unitsAttr.size(); i++)
+ for (auto & i : unitsAttr)
{
- if (unitsAttr[i].isAngle())
+ if (i.isAngle())
{
- uAngle = unitsAttr[i];
+ uAngle = i;
}
- if (unitsAttr[i].isLength())
+ if (i.isLength())
{
- uLength = unitsAttr[i];
+ uLength = i;
}
}
@@ -457,9 +457,9 @@ namespace VirtualRobot
getAllAttributes(node, "unitsAngle", attrStr);
getAllAttributes(node, "unitsTime", attrStr);
- for (size_t i = 0; i < attrStr.size(); i++)
+ for (auto & i : attrStr)
{
- Units unitsAttribute(getLowerCase(attrStr[i].c_str()));
+ Units unitsAttribute(getLowerCase(i.c_str()));
result.push_back(unitsAttribute);
}
@@ -1343,16 +1343,16 @@ namespace VirtualRobot
Units uWeight("kg");
Units uLength("m");
- for (size_t i = 0; i < unitsAttr.size(); i++)
+ for (auto & i : unitsAttr)
{
- if (unitsAttr[i].isWeight())
+ if (i.isWeight())
{
- uWeight = unitsAttr[i];
+ uWeight = i;
}
- if (unitsAttr[i].isLength())
+ if (i.isLength())
{
- uLength = unitsAttr[i];
+ uLength = i;
}
}
@@ -1737,11 +1737,11 @@ namespace VirtualRobot
RobotPtr r;
- for (size_t i = 0; i < robots.size(); i++)
+ for (auto & robot : robots)
{
- if (robots[i]->getType() == robotName)
+ if (robot->getType() == robotName)
{
- r = robots[i];
+ r = robot;
break;
}
}
diff --git a/VirtualRobot/XML/ObjectIO.cpp b/VirtualRobot/XML/ObjectIO.cpp
index 058b311e2e40bc1329d638e09e6a1cb77c06b6d8..34c3138b61da7cf5c5443107b33dae0f279b0bc2 100644
--- a/VirtualRobot/XML/ObjectIO.cpp
+++ b/VirtualRobot/XML/ObjectIO.cpp
@@ -135,9 +135,9 @@ namespace VirtualRobot
// create & register configs
std::map< std::string, float > rc;
- for (size_t i = 0; i < configDefinitions.size(); i++)
+ for (auto & configDefinition : configDefinitions)
{
- rc[ configDefinitions[i].name ] = configDefinitions[i].value;
+ rc[ configDefinition.name ] = configDefinition.value;
}
grasp->setConfiguration(rc);
@@ -344,9 +344,9 @@ namespace VirtualRobot
// build object
ManipulationObjectPtr object(new ManipulationObject(objName, visualizationNode, collisionModel, physics));
- for (size_t i = 0; i < graspSets.size(); i++)
+ for (const auto & graspSet : graspSets)
{
- object->addGraspSet(graspSets[i]);
+ object->addGraspSet(graspSet);
}
object->setGlobalPose(globalPose);
diff --git a/VirtualRobot/XML/RobotIO.cpp b/VirtualRobot/XML/RobotIO.cpp
index c35b7c364a1b99f733a73eb6ff921157834f9285..812f1209cc9e82870dbe056ec9582c8753c27175 100644
--- a/VirtualRobot/XML/RobotIO.cpp
+++ b/VirtualRobot/XML/RobotIO.cpp
@@ -335,21 +335,21 @@ namespace VirtualRobot
Units uLength("m");
Units uAngle("rad");
- for (size_t i = 0; i < unitsAttr.size(); i++)
+ for (auto & i : unitsAttr)
{
- if (unitsAttr[i].isTime())
+ if (i.isTime())
{
- uTime = unitsAttr[i];
+ uTime = i;
}
- if (unitsAttr[i].isLength())
+ if (i.isLength())
{
- uLength = unitsAttr[i];
+ uLength = i;
}
- if (unitsAttr[i].isAngle())
+ if (i.isAngle())
{
- uAngle = unitsAttr[i];
+ uAngle = i;
}
}
@@ -388,21 +388,21 @@ namespace VirtualRobot
Units uLength("m");
Units uAngle("rad");
- for (size_t i = 0; i < unitsAttr.size(); i++)
+ for (auto & i : unitsAttr)
{
- if (unitsAttr[i].isTime())
+ if (i.isTime())
{
- uTime = unitsAttr[i];
+ uTime = i;
}
- if (unitsAttr[i].isLength())
+ if (i.isLength())
{
- uLength = unitsAttr[i];
+ uLength = i;
}
- if (unitsAttr[i].isAngle())
+ if (i.isAngle())
{
- uAngle = unitsAttr[i];
+ uAngle = i;
}
}
@@ -438,11 +438,11 @@ namespace VirtualRobot
std::vector< Units > unitsAttr = getUnitsAttributes(node);
Units uLength("m");
- for (size_t i = 0; i < unitsAttr.size(); i++)
+ for (auto & i : unitsAttr)
{
- if (unitsAttr[i].isLength())
+ if (i.isLength())
{
- uLength = unitsAttr[i];
+ uLength = i;
}
}
@@ -738,9 +738,9 @@ namespace VirtualRobot
robotNode = processJointNode(jointNodeXML, robotNodeName, robo, visualizationNode, collisionModel, physics, rntype, transformMatrix);
// process sensors
- for (size_t i = 0; i < sensorTags.size(); i++)
+ for (auto & sensorTag : sensorTags)
{
- processSensor(robotNode, sensorTags[i], loadMode, basePath);
+ processSensor(robotNode, sensorTag, loadMode, basePath);
}
return robotNode;
@@ -828,9 +828,9 @@ namespace VirtualRobot
std::vector< ChildFromRobotDef > childrenFromRobot = iter->second;
RobotNodePtr node = iter->first;
- for (unsigned int i = 0; i < childrenFromRobot.size(); i++)
+ for (auto & i : childrenFromRobot)
{
- boost::filesystem::path filenameNew(childrenFromRobot[i].filename);
+ boost::filesystem::path filenameNew(i.filename);
boost::filesystem::path filenameBasePath(basePath);
boost::filesystem::path filenameNewComplete = boost::filesystem::operator/(filenameBasePath, filenameNew);
@@ -846,27 +846,27 @@ namespace VirtualRobot
}
RobotPtr r = loadRobot(filenameNewComplete.string(), loadMode);
- THROW_VR_EXCEPTION_IF(!r, "Could not add child-from-robot due to failed loading of robot from file" << childrenFromRobot[i].filename);
+ THROW_VR_EXCEPTION_IF(!r, "Could not add child-from-robot due to failed loading of robot from file" << i.filename);
RobotNodePtr root = r->getRootNode();
- THROW_VR_EXCEPTION_IF(!root, "Could not add child-from-robot. No root node in file" << childrenFromRobot[i].filename);
+ THROW_VR_EXCEPTION_IF(!root, "Could not add child-from-robot. No root node in file" << i.filename);
RobotNodePtr rootNew = root->clone(robo, true, node);
- THROW_VR_EXCEPTION_IF(!rootNew, "Clone failed. Could not add child-from-robot from file " << childrenFromRobot[i].filename);
+ THROW_VR_EXCEPTION_IF(!rootNew, "Clone failed. Could not add child-from-robot from file " << i.filename);
std::vector<EndEffectorPtr> eefs;
r->getEndEffectors(eefs);
- for (std::vector<EndEffectorPtr>::iterator eef = eefs.begin(); eef != eefs.end(); eef++)
+ for (auto & eef : eefs)
{
- (*eef)->clone(robo);
+ eef->clone(robo);
}
std::vector<RobotNodeSetPtr> nodeSets;
r->getRobotNodeSets(nodeSets);
- for (std::vector<RobotNodeSetPtr>::iterator ns = nodeSets.begin(); ns != nodeSets.end(); ns++)
+ for (auto & nodeSet : nodeSets)
{
- (*ns)->clone(robo);
+ nodeSet->clone(robo);
}
// already performed in root->clone
@@ -877,17 +877,17 @@ namespace VirtualRobot
}
//std::vector<RobotNodeSetPtr> robotNodeSets
- for (unsigned int i = 0; i < endeffectorNodes.size(); ++i)
+ for (auto & endeffectorNode : endeffectorNodes)
{
- EndEffectorPtr eef = processEndeffectorNode(endeffectorNodes[i], robo);
+ EndEffectorPtr eef = processEndeffectorNode(endeffectorNode, robo);
robo->registerEndEffector(eef);
}
int rnsCounter = 0;
- for (std::size_t i = 0; i < robotNodeSetNodes.size(); ++i)
+ for (auto & robotNodeSetNode : robotNodeSetNodes)
{
- RobotNodeSetPtr rns = processRobotNodeSet(robotNodeSetNodes[i], robo, robotRoot, rnsCounter);
+ RobotNodeSetPtr rns = processRobotNodeSet(robotNodeSetNode, robo, robotRoot, rnsCounter);
//nodeSets.push_back(rns);
}
@@ -895,11 +895,11 @@ namespace VirtualRobot
robo->getRobotNodes(nodes);
RobotNodePtr root = robo->getRootNode();
- for (size_t i = 0; i < nodes.size(); i++)
+ for (auto & node : nodes)
{
- if (nodes[i] != root && !(nodes[i]->getParent()))
+ if (node != root && !(node->getParent()))
{
- THROW_VR_EXCEPTION("Node without parent: " << nodes[i]->getName());
+ THROW_VR_EXCEPTION("Node without parent: " << node->getName());
}
}
@@ -1038,9 +1038,9 @@ namespace VirtualRobot
else
{
// double name check
- for (unsigned int i = 0; i < robotNodes.size(); i++)
+ for (auto & robotNode : robotNodes)
{
- THROW_VR_EXCEPTION_IF((robotNodes[i]->getName() == n->getName()), "At least two RobotNodes with name <" << n->getName() << "> defined in robot definition");
+ THROW_VR_EXCEPTION_IF((robotNode->getName() == n->getName()), "At least two RobotNodes with name <" << n->getName() << "> defined in robot definition");
}
childrenMap[n] = childrenNames;
@@ -1506,9 +1506,9 @@ namespace VirtualRobot
{
std::vector<RobotNodePtr> nodes = robot->getRobotNodes();
- for (size_t i = 0; i < nodes.size(); i++)
+ for (auto & node : nodes)
{
- nodes[i]->saveModelFiles(modelDirComplete.string(), true);
+ node->saveModelFiles(modelDirComplete.string(), true);
}
}
diff --git a/VirtualRobot/XML/SceneIO.cpp b/VirtualRobot/XML/SceneIO.cpp
index d573bf1c45d0d347a68039ef6bc7086910c9b026..05a9c6d5ffdf55aad7ce871978cc0b6935007fdc 100644
--- a/VirtualRobot/XML/SceneIO.cpp
+++ b/VirtualRobot/XML/SceneIO.cpp
@@ -123,10 +123,10 @@ namespace VirtualRobot
// create & register node sets
int rnsNr = 0;
- for (size_t i = 0; i < rnsNodes.size(); i++)
+ for (auto & rnsNode : rnsNodes)
{
// registers rns to robot
- RobotNodeSetPtr r = processRobotNodeSet(rnsNodes[i], robot, robot->getRootNode()->getName(), rnsNr);
+ RobotNodeSetPtr r = processRobotNodeSet(rnsNode, robot, robot->getRootNode()->getName(), rnsNr);
THROW_VR_EXCEPTION_IF(!r, "Invalid RobotNodeSet definition " << endl);
}
@@ -316,9 +316,9 @@ namespace VirtualRobot
}
// process all sceneSetNodes
- for (size_t i = 0; i < sceneSetNodes.size(); i++)
+ for (auto & sceneSetNode : sceneSetNodes)
{
- bool r = processSceneObjectSet(sceneSetNodes[i], scene);
+ bool r = processSceneObjectSet(sceneSetNode, scene);
if (!r)
{
@@ -329,9 +329,9 @@ namespace VirtualRobot
// process all trajectories
- for (size_t i = 0; i < trajectoryNodes.size(); i++)
+ for (auto & trajectoryNode : trajectoryNodes)
{
- bool r = processSceneTrajectory(trajectoryNodes[i], scene);
+ bool r = processSceneTrajectory(trajectoryNode, scene);
if (!r)
{
diff --git a/VirtualRobot/examples/CameraViewer/showCamWindow.cpp b/VirtualRobot/examples/CameraViewer/showCamWindow.cpp
index 4e3cc38beccdedf675f7abf8cb855cfc7e3a172c..5fea4e9cf88e2ada3186d24822f38ac5982f2424 100644
--- a/VirtualRobot/examples/CameraViewer/showCamWindow.cpp
+++ b/VirtualRobot/examples/CameraViewer/showCamWindow.cpp
@@ -256,9 +256,9 @@ void showCamWindow::updateJointBox()
{
UI.comboBoxJoint->clear();
- for (unsigned int i = 0; i < currentRobotNodes.size(); i++)
+ for (auto & currentRobotNode : currentRobotNodes)
{
- UI.comboBoxJoint->addItem(QString(currentRobotNodes[i]->getName().c_str()));
+ UI.comboBoxJoint->addItem(QString(currentRobotNode->getName().c_str()));
}
}
@@ -275,9 +275,9 @@ void showCamWindow::updateRNSBox()
UI.comboBoxRobotNodeSet->clear();
UI.comboBoxRobotNodeSet->addItem(QString("<All>"));
- for (unsigned int i = 0; i < robotNodeSets.size(); i++)
+ for (auto & robotNodeSet : robotNodeSets)
{
- UI.comboBoxRobotNodeSet->addItem(QString(robotNodeSets[i]->getName().c_str()));
+ UI.comboBoxRobotNodeSet->addItem(QString(robotNodeSet->getName().c_str()));
}
}
diff --git a/VirtualRobot/examples/ConstrainedIK/ConstrainedIKWindow.cpp b/VirtualRobot/examples/ConstrainedIK/ConstrainedIKWindow.cpp
index 3237ac7f26394a4e2acaa9fb3e2242167555da8e..d034722ffd7965dd9dcfc475dcd10ec643737fcf 100644
--- a/VirtualRobot/examples/ConstrainedIK/ConstrainedIKWindow.cpp
+++ b/VirtualRobot/examples/ConstrainedIK/ConstrainedIKWindow.cpp
@@ -216,12 +216,12 @@ void ConstrainedIKWindow::updateKCBox()
robot->getRobotNodeSets(rns);
kinChains.clear();
- for (unsigned int i = 0; i < rns.size(); i++)
+ for (auto & rn : rns)
{
- if (rns[i]->isKinematicChain())
+ if (rn->isKinematicChain())
{
- UI.comboBoxKC->addItem(QString(rns[i]->getName().c_str()));
- kinChains.push_back(rns[i]);
+ UI.comboBoxKC->addItem(QString(rn->getName().c_str()));
+ kinChains.push_back(rn);
}
}
}
diff --git a/VirtualRobot/examples/GenericIK/GenericIKWindow.cpp b/VirtualRobot/examples/GenericIK/GenericIKWindow.cpp
index c5cc008d624e97570b70399befdbfedcbbcf891a..f3fff8b02f78b6b9b21377681e42ab997bdce400 100644
--- a/VirtualRobot/examples/GenericIK/GenericIKWindow.cpp
+++ b/VirtualRobot/examples/GenericIK/GenericIKWindow.cpp
@@ -246,12 +246,12 @@ void GenericIKWindow::updateKCBox()
robot->getRobotNodeSets(rns);
kinChains.clear();
- for (unsigned int i = 0; i < rns.size(); i++)
+ for (auto & rn : rns)
{
- if (rns[i]->isKinematicChain())
+ if (rn->isKinematicChain())
{
- UI.comboBoxKC->addItem(QString(rns[i]->getName().c_str()));
- kinChains.push_back(rns[i]);
+ UI.comboBoxKC->addItem(QString(rn->getName().c_str()));
+ kinChains.push_back(rn);
}
}
}
@@ -428,9 +428,9 @@ void GenericIKWindow::solve()
cout << "Joint values:" << endl;
std::vector<RobotNodePtr> nodes = kc->getAllRobotNodes();
- for (size_t i = 0; i < nodes.size(); i++)
+ for (auto & node : nodes)
{
- cout << nodes[i]->getJointValue() << endl;
+ cout << node->getJointValue() << endl;
}
/*
diff --git a/VirtualRobot/examples/Jacobi/JacobiWindow.cpp b/VirtualRobot/examples/Jacobi/JacobiWindow.cpp
index 6fa2a35f5367cea99f29e0be98fbf1d1bf0ecf87..f858dbf878fd5a681fd8c445da05f1f597463538 100644
--- a/VirtualRobot/examples/Jacobi/JacobiWindow.cpp
+++ b/VirtualRobot/examples/Jacobi/JacobiWindow.cpp
@@ -330,12 +330,12 @@ void JacobiWindow::updateKCBox()
robot->getRobotNodeSets(rns);
kinChains.clear();
- for (unsigned int i = 0; i < rns.size(); i++)
+ for (auto & rn : rns)
{
- if (rns[i]->isKinematicChain())
+ if (rn->isKinematicChain())
{
- UI.comboBoxKC->addItem(QString(rns[i]->getName().c_str()));
- kinChains.push_back(rns[i]);
+ UI.comboBoxKC->addItem(QString(rn->getName().c_str()));
+ kinChains.push_back(rn);
}
}
}
@@ -369,26 +369,26 @@ void JacobiWindow::selectKC(int nr)
std::vector<RobotNodePtr> nodes = kc->getAllRobotNodes();
elbow.reset();
- for (size_t i = 0; i < nodes.size(); i++)
+ for (auto & node : nodes)
{
- if ((nodes[i])->getName() == std::string("Elbow L"))
+ if (node->getName() == std::string("Elbow L"))
{
- elbow = nodes[i];
+ elbow = node;
}
- if ((nodes[i])->getName() == std::string("Elbow R"))
+ if (node->getName() == std::string("Elbow R"))
{
- elbow = nodes[i];
+ elbow = node;
}
- if ((nodes[i])->getName() == std::string("TCP L"))
+ if (node->getName() == std::string("TCP L"))
{
- elbow = nodes[i];
+ elbow = node;
}
- if ((nodes[i])->getName() == std::string("TCP R"))
+ if (node->getName() == std::string("TCP R"))
{
- elbow = nodes[i];
+ elbow = node;
}
}
diff --git a/VirtualRobot/examples/ReachabilityMap/ReachabilityMapWindow.cpp b/VirtualRobot/examples/ReachabilityMap/ReachabilityMapWindow.cpp
index 4c2d65fd0d1eae321222a6d165fab203a752c3f8..b1b7b4c3a94cd6561907a5de4ffbed2f811068fd 100644
--- a/VirtualRobot/examples/ReachabilityMap/ReachabilityMapWindow.cpp
+++ b/VirtualRobot/examples/ReachabilityMap/ReachabilityMapWindow.cpp
@@ -485,9 +485,9 @@ void ReachabilityMapWindow::updateEEFBox()
std::vector<EndEffectorPtr> eefs = robot->getEndEffectors();
- for (unsigned int i = 0; i < eefs.size(); i++)
+ for (auto & eef : eefs)
{
- UI.comboBoxEEF->addItem(QString(eefs[i]->getName().c_str()));
+ UI.comboBoxEEF->addItem(QString(eef->getName().c_str()));
}
selectEEF(0);
diff --git a/VirtualRobot/examples/RobotViewer/showRobotWindow.cpp b/VirtualRobot/examples/RobotViewer/showRobotWindow.cpp
index e17e88ed7a3f8543e1a22c196c6f789f371c4533..0b0a9d9de2176b186e9352c62072c7c126d88d34 100644
--- a/VirtualRobot/examples/RobotViewer/showRobotWindow.cpp
+++ b/VirtualRobot/examples/RobotViewer/showRobotWindow.cpp
@@ -287,10 +287,10 @@ void showRobotWindow::showSensors()
std::vector<SensorPtr> sensors = robot->getSensors();
- for (size_t i = 0; i < sensors.size(); i++)
+ for (auto & sensor : sensors)
{
- sensors[i]->setupVisualization(showSensors, showSensors);
- sensors[i]->showCoordinateSystem(showSensors);
+ sensor->setupVisualization(showSensors, showSensors);
+ sensor->showCoordinateSystem(showSensors);
}
// rebuild visualization
@@ -547,9 +547,9 @@ void showRobotWindow::updateJointBox()
{
UI.comboBoxJoint->clear();
- for (unsigned int i = 0; i < currentRobotNodes.size(); i++)
+ for (auto & currentRobotNode : currentRobotNodes)
{
- UI.comboBoxJoint->addItem(QString(currentRobotNodes[i]->getName().c_str()));
+ UI.comboBoxJoint->addItem(QString(currentRobotNode->getName().c_str()));
}
}
@@ -558,9 +558,9 @@ void showRobotWindow::updateRNSBox()
UI.comboBoxRobotNodeSet->clear();
UI.comboBoxRobotNodeSet->addItem(QString("<All>"));
- for (unsigned int i = 0; i < robotNodeSets.size(); i++)
+ for (auto & robotNodeSet : robotNodeSets)
{
- UI.comboBoxRobotNodeSet->addItem(QString(robotNodeSets[i]->getName().c_str()));
+ UI.comboBoxRobotNodeSet->addItem(QString(robotNodeSet->getName().c_str()));
}
}
@@ -1075,9 +1075,9 @@ void showRobotWindow::selectEEF(int nr)
std::vector<std::string> ps = currentEEF->getPreshapes();
UI.comboBoxEndEffectorPS->addItem(QString("none"));
- for (unsigned int i = 0; i < ps.size(); i++)
+ for (auto & p : ps)
{
- UI.comboBoxEndEffectorPS->addItem(QString(ps[i].c_str()));
+ UI.comboBoxEndEffectorPS->addItem(QString(p.c_str()));
}
}
@@ -1105,8 +1105,8 @@ void showRobotWindow::updateEEFBox()
{
UI.comboBoxEndEffector->clear();
- for (unsigned int i = 0; i < eefs.size(); i++)
+ for (auto & eef : eefs)
{
- UI.comboBoxEndEffector->addItem(QString(eefs[i]->getName().c_str()));
+ UI.comboBoxEndEffector->addItem(QString(eef->getName().c_str()));
}
}
diff --git a/VirtualRobot/examples/SceneViewer/showSceneWindow.cpp b/VirtualRobot/examples/SceneViewer/showSceneWindow.cpp
index 253805552500280ca133ddbeecbde232931e8776..83d876bb5498baaf80115ff5352160873192f94d 100644
--- a/VirtualRobot/examples/SceneViewer/showSceneWindow.cpp
+++ b/VirtualRobot/examples/SceneViewer/showSceneWindow.cpp
@@ -405,9 +405,9 @@ void showSceneWindow::selectRobot(int nr)
std::vector<VirtualRobot::RobotConfigPtr> roc = scene->getRobotConfigs(currentRobot);
- for (size_t i = 0; i < roc.size(); i++)
+ for (auto & i : roc)
{
- QString rn = roc[i]->getName().c_str();
+ QString rn = i->getName().c_str();
UI.comboBoxRobotConfig->addItem(rn);
}
@@ -418,9 +418,9 @@ void showSceneWindow::selectRobot(int nr)
std::vector<VirtualRobot::TrajectoryPtr> tr = scene->getTrajectories(currentRobot->getName());
- for (size_t i = 0; i < tr.size(); i++)
+ for (auto & i : tr)
{
- QString rn = tr[i]->getName().c_str();
+ QString rn = i->getName().c_str();
UI.comboBoxTrajectory->addItem(rn);
}
@@ -432,9 +432,9 @@ void showSceneWindow::selectRobot(int nr)
std::vector<VirtualRobot::EndEffectorPtr> eefs = currentRobot->getEndEffectors();
- for (size_t i = 0; i < eefs.size(); i++)
+ for (auto & eef : eefs)
{
- QString rn = eefs[i]->getName().c_str();
+ QString rn = eef->getName().c_str();
UI.comboBoxEEF->addItem(rn);
}
@@ -549,25 +549,25 @@ void showSceneWindow::updateGui()
std::vector<VirtualRobot::RobotPtr> robs = scene->getRobots();
- for (size_t i = 0; i < robs.size(); i++)
+ for (auto & rob : robs)
{
- QString rn = robs[i]->getName().c_str();
+ QString rn = rob->getName().c_str();
UI.comboBoxRobot->addItem(rn);
}
std::vector<VirtualRobot::ManipulationObjectPtr> mos = scene->getManipulationObjects();
- for (size_t i = 0; i < mos.size(); i++)
+ for (auto & mo : mos)
{
- QString mn = mos[i]->getName().c_str();
+ QString mn = mo->getName().c_str();
UI.comboBoxObject->addItem(mn);
}
std::vector<VirtualRobot::ObstaclePtr> obs = scene->getObstacles();
- for (size_t i = 0; i < obs.size(); i++)
+ for (auto & ob : obs)
{
- QString on = obs[i]->getName().c_str();
+ QString on = ob->getName().c_str();
UI.comboBoxObject->addItem(on);
}
diff --git a/VirtualRobot/examples/reachability/reachabilityWindow.cpp b/VirtualRobot/examples/reachability/reachabilityWindow.cpp
index 80d9620ed2fde1c5b15c9e7806a07ef213a49cfa..fe46da502ee0ea73d4279fa6831c286665591ba2 100644
--- a/VirtualRobot/examples/reachability/reachabilityWindow.cpp
+++ b/VirtualRobot/examples/reachability/reachabilityWindow.cpp
@@ -272,9 +272,9 @@ void reachabilityWindow::updateRNSBox()
UI.comboBoxRNS->clear();
//UI.comboBoxRNS->addItem(QString("<All>"));
- for (unsigned int i = 0; i < robotNodeSets.size(); i++)
+ for (auto & robotNodeSet : robotNodeSets)
{
- UI.comboBoxRNS->addItem(QString(robotNodeSets[i]->getName().c_str()));
+ UI.comboBoxRNS->addItem(QString(robotNodeSet->getName().c_str()));
}
selectRNS(0);
@@ -314,9 +314,9 @@ void reachabilityWindow::updateJointBox()
{
UI.comboBoxJoint->clear();
- for (unsigned int i = 0; i < allRobotNodes.size(); i++)
+ for (auto & allRobotNode : allRobotNodes)
{
- UI.comboBoxJoint->addItem(QString(allRobotNodes[i]->getName().c_str()));
+ UI.comboBoxJoint->addItem(QString(allRobotNode->getName().c_str()));
}
selectJoint(0);
@@ -427,16 +427,16 @@ void reachabilityWindow::loadRobot()
robot->getRobotNodeSets(allRNS);
robotNodeSets.clear();
- for (size_t i = 0; i < allRNS.size(); i++)
+ for (auto & i : allRNS)
{
- if (allRNS[i]->isKinematicChain())
+ if (i->isKinematicChain())
{
- VR_INFO << " RNS <" << allRNS[i]->getName() << "> is a valid kinematic chain" << endl;
- robotNodeSets.push_back(allRNS[i]);
+ VR_INFO << " RNS <" << i->getName() << "> is a valid kinematic chain" << endl;
+ robotNodeSets.push_back(i);
}
else
{
- VR_INFO << " RNS <" << allRNS[i]->getName() << "> is not a valid kinematic chain" << endl;
+ VR_INFO << " RNS <" << i->getName() << "> is not a valid kinematic chain" << endl;
}
}
@@ -514,10 +514,10 @@ void reachabilityWindow::createReach()
std::vector < VirtualRobot::RobotNodeSetPtr > allRNS;
robot->getRobotNodeSets(allRNS);
- for (size_t i = 0; i < allRNS.size(); i++)
+ for (auto & i : allRNS)
{
- UICreate.comboBoxColModelDynamic->addItem(QString(allRNS[i]->getName().c_str()));
- UICreate.comboBoxColModelStatic->addItem(QString(allRNS[i]->getName().c_str()));
+ UICreate.comboBoxColModelDynamic->addItem(QString(i->getName().c_str()));
+ UICreate.comboBoxColModelStatic->addItem(QString(i->getName().c_str()));
}
UICreate.comboBoxQualityMeasure->addItem(QString("Reachability"));
diff --git a/VirtualRobot/examples/stability/stabilityWindow.cpp b/VirtualRobot/examples/stability/stabilityWindow.cpp
index 7559c1166f01f118bce5cc579f33a533098848ff..82c5edeb43f82af04263648c2ab15e414d915721 100644
--- a/VirtualRobot/examples/stability/stabilityWindow.cpp
+++ b/VirtualRobot/examples/stability/stabilityWindow.cpp
@@ -349,10 +349,10 @@ void stabilityWindow::updateSupportVisu()
std::vector< Eigen::Vector2f > points2D;
//MathTools::Plane plane2(Eigen::Vector3f(0,0,0),Eigen::Vector3f(0,1.0f,0));
- for (size_t u = 0; u < points.size(); u++)
+ for (auto & point : points)
{
- Eigen::Vector2f pt2d = MathTools::projectPointToPlane2D(points[u].p, p);
+ Eigen::Vector2f pt2d = MathTools::projectPointToPlane2D(point.p, p);
points2D.push_back(pt2d);
}
@@ -371,13 +371,13 @@ void stabilityWindow::updateRNSBox()
robot->getRobotNodeSets(allRNS);
robotNodeSets.clear();
- for (size_t i = 0; i < allRNS.size(); i++)
+ for (auto & i : allRNS)
{
//if (allRNS[i]->isKinematicChain())
//{
//VR_INFO << " RNS <" << allRNS[i]->getName() << "> is a valid kinematic chain" << endl;
- robotNodeSets.push_back(allRNS[i]);
- UI.comboBoxRNS->addItem(QString(allRNS[i]->getName().c_str()));
+ robotNodeSets.push_back(i);
+ UI.comboBoxRNS->addItem(QString(i->getName().c_str()));
/*} else
{
VR_INFO << " RNS <" << allRNS[i]->getName() << "> is not a valid kinematic chain" << endl;
@@ -385,9 +385,9 @@ void stabilityWindow::updateRNSBox()
}
- for (unsigned int i = 0; i < allRobotNodes.size(); i++)
+ for (auto & allRobotNode : allRobotNodes)
{
- allRobotNodes[i]->showBoundingBox(false);
+ allRobotNode->showBoundingBox(false);
}
@@ -447,9 +447,9 @@ void stabilityWindow::updateJointBox()
{
UI.comboBoxJoint->clear();
- for (unsigned int i = 0; i < currentRobotNodes.size(); i++)
+ for (auto & currentRobotNode : currentRobotNodes)
{
- UI.comboBoxJoint->addItem(QString(currentRobotNodes[i]->getName().c_str()));
+ UI.comboBoxJoint->addItem(QString(currentRobotNode->getName().c_str()));
}
selectJoint(0);
diff --git a/VirtualRobot/tests/VirtualRobotWorkSpaceTest.cpp b/VirtualRobot/tests/VirtualRobotWorkSpaceTest.cpp
index 55db998f0218b69fa8bf24044ad0c83911216bb7..86eb0b82390b0c2f179d40463ce4f57ea1441507 100644
--- a/VirtualRobot/tests/VirtualRobotWorkSpaceTest.cpp
+++ b/VirtualRobot/tests/VirtualRobotWorkSpaceTest.cpp
@@ -50,9 +50,9 @@ BOOST_AUTO_TEST_CASE(testWorkSpaceEuler)
BOOST_CHECK_SMALL(x[5], 1e-6f);
// identity, vector -> matrix
- for (int i = 0; i < 6; i++)
+ for (float & i : x)
{
- x[i] = 0.0f;
+ i = 0.0f;
}
ws->vector2Matrix(x, m);