Cleanup PR feedback

tesseract-robotics · Mar 5, 2024 · ea948d7 · ea948d7
1 parent b85deb4
commit ea948d7
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Showing 3 changed files with 27 additions and 17 deletions.
diff --git a/tesseract_motion_planners/trajopt/include/tesseract_motion_planners/trajopt/trajopt_utils.h b/tesseract_motion_planners/trajopt/include/tesseract_motion_planners/trajopt/trajopt_utils.h
@@ -44,8 +44,8 @@ createCartesianWaypointTermInfo(int index,
                                 const Eigen::Isometry3d& tcp_offset,
                                 const Eigen::VectorXd& coeffs,
                                 trajopt::TermType type,
-                                const Eigen::VectorXd& lower_tolerance = Eigen::VectorXd::Zero(6),
-                                const Eigen::VectorXd& upper_tolerance = Eigen::VectorXd::Zero(6));
+                                const Eigen::VectorXd& lower_tolerance = Eigen::VectorXd(),
+                                const Eigen::VectorXd& upper_tolerance = Eigen::VectorXd());
 
 trajopt::TermInfo::Ptr
 createDynamicCartesianWaypointTermInfo(int index,
@@ -55,8 +55,8 @@ createDynamicCartesianWaypointTermInfo(int index,
                                        const Eigen::Isometry3d& tcp_offset,
                                        const Eigen::VectorXd& coeffs,
                                        trajopt::TermType type,
-                                       const Eigen::VectorXd& lower_tolerance = Eigen::VectorXd::Zero(6),
-                                       const Eigen::VectorXd& upper_tolerance = Eigen::VectorXd::Zero(6));
+                                       const Eigen::VectorXd& lower_tolerance = Eigen::VectorXd(),
+                                       const Eigen::VectorXd& upper_tolerance = Eigen::VectorXd());
 
 trajopt::TermInfo::Ptr createNearJointStateTermInfo(const Eigen::VectorXd& target,
                                                     const std::vector<std::string>& joint_names,

diff --git a/...tion_planners/trajopt/include/tesseract_motion_planners/trajopt/trajopt_waypoint_config.h b/...tion_planners/trajopt/include/tesseract_motion_planners/trajopt/trajopt_waypoint_config.h
@@ -27,40 +27,44 @@
 #define TESSERACT_MOTION_PLANNERS_TRAJOPT_CONFIG_TRAJOPT_WAYPOINT_CONFIG_H
 
 #include <tesseract_common/macros.h>
-TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <trajopt/problem_description.hpp>
-#include <tinyxml2.h>
-#include <boost/algorithm/string.hpp>
-TESSERACT_COMMON_IGNORE_WARNINGS_POP
-
 #include <tesseract_common/utils.h>
 
+namespace tinyxml2
+{
+  class XMLElement;
+  class XMLDocument;
+}
+
 namespace tesseract_planning
 {
 /**
  * @brief Config settings for cartesian waypoints
  */
 struct CartesianWaypointConfig
 {
+  // LCOV_EXCL_START
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  // LCOV_EXCL_STOP
+
   CartesianWaypointConfig() = default;
   CartesianWaypointConfig(const tinyxml2::XMLElement& xml_element);
 
   /** @brief If true, a cost/constraint term will be added to the problem. Default: true*/
-  bool enabled = true;
+  bool enabled{ true };
 
   /** @brief If true, will override existing waypoint tolerance with described tolerance here. Default: false
    * This is useful if you want to have a smaller tolerance for the cost than the constraint.*/
-  bool use_tolerance_override = false;
+  bool use_tolerance_override{ false };
 
   /** @brief Distance below waypoint that is allowed. Should be size = 6. First 3 elements are dx, dy, dz. The last 3
    * elements are angle axis error allowed (Eigen::AngleAxisd.axis() * Eigen::AngleAxisd.angle()) */
-  Eigen::VectorXd lower_tolerance;
+  Eigen::Matrix<double, 6, 1> lower_tolerance;
   /** @brief Distance above waypoint that is allowed. Should be size = 6. First 3 elements are dx, dy, dz. The last 3
    * elements are angle axis error allowed (Eigen::AngleAxisd.axis() * Eigen::AngleAxisd.angle())*/
-  Eigen::VectorXd upper_tolerance;
+  Eigen::Matrix<double, 6, 1> upper_tolerance;
 
   /** @brief coefficients corresponsing to dx, dy, dz, rx, ry, rz*/
-  Eigen::VectorXd coeff{ Eigen::VectorXd::Constant(1, 1, 5) };
+  Eigen::Matrix<double, 6, 1> coeff{ Eigen::VectorXd::Constant(6, 5) };
 
   tinyxml2::XMLElement* toXML(tinyxml2::XMLDocument& doc) const;
 };
@@ -70,15 +74,19 @@ struct CartesianWaypointConfig
  */
 struct JointWaypointConfig
 {
+  // LCOV_EXCL_START
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  // LCOV_EXCL_STOP
+
   JointWaypointConfig() = default;
   JointWaypointConfig(const tinyxml2::XMLElement& xml_element);
 
   /** @brief If true, a cost/constraint term will be added to the problem. Default: true*/
-  bool enabled = true;
+  bool enabled{ true };
 
   /** @brief If true, will override existing waypoint tolerance with described tolerance here. Default: false
    * This is useful if you want to have a smaller tolerance for the cost than the constraint.*/
-  bool use_tolerance_override = false;
+  bool use_tolerance_override{ false };
 
   /** @brief Distance below waypoint that is allowed. Should be size of joints in a joint state*/
   Eigen::VectorXd lower_tolerance;

diff --git a/tesseract_motion_planners/trajopt/src/trajopt_waypoint_config.cpp b/tesseract_motion_planners/trajopt/src/trajopt_waypoint_config.cpp
@@ -27,7 +27,9 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <stdexcept>
+#include <tinyxml2.h>
 #include <iostream>
+#include <boost/algorithm/string.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_motion_planners/trajopt/trajopt_waypoint_config.h>