Fix CI

flexible-collision-library · Sep 18, 2018 · 30c0e23 · 30c0e23
1 parent c9d9143
commit 30c0e23
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Showing 8 changed files with 28 additions and 29 deletions.
diff --git a/include/fcl/geometry/shape/convex-inl.h b/include/fcl/geometry/shape/convex-inl.h
@@ -50,8 +50,8 @@ class FCL_EXPORT Convex<double>;
 
 //==============================================================================
 template <typename S>
-Convex<S>::Convex(const std::shared_ptr<const std::vector<Vector3<S>>> &vertices,
- int num_faces, const std::shared_ptr<const std::vector<int>> &faces)
+Convex<S>::Convex(const std::shared_ptr<const std::vector<Vector3<S>>>& vertices,
+ int num_faces, const std::shared_ptr<const std::vector<int>>& faces)
  : ShapeBase<S>(),
  vertices_(vertices),
  num_faces_(num_faces),
@@ -93,8 +93,8 @@ NODE_TYPE Convex<S>::getNodeType() const {
 // http://number-none.com/blow/inertia/bb_inertia.doc
 template <typename S>
 Matrix3<S> Convex<S>::computeMomentofInertia() const {
- const std::vector<Vector3<S>> &vertices = *vertices_;
- const std::vector<int> &faces = *faces_;
+ const std::vector<Vector3<S>>& vertices = *vertices_;
+ const std::vector<int>& faces = *faces_;
  Matrix3<S> C = Matrix3<S>::Zero();
 
  Matrix3<S> C_canonical;
@@ -131,7 +131,7 @@ Matrix3<S> Convex<S>::computeMomentofInertia() const {
  vol_times_six += d_six_vol;
  }
 
- face_index += vertex_count + 2;
+ face_index += vertex_count + 1;
  }
 
  S trace_C = C(0, 0) + C(1, 1) + C(2, 2);
@@ -147,8 +147,8 @@ Matrix3<S> Convex<S>::computeMomentofInertia() const {
 //==============================================================================
 template <typename S>
 Vector3<S> Convex<S>::computeCOM() const {
- const std::vector<Vector3<S>> &vertices = *vertices_;
- const std::vector<int> &faces = *faces_;
+ const std::vector<Vector3<S>>& vertices = *vertices_;
+ const std::vector<int>& faces = *faces_;
  Vector3<S> com = Vector3<S>::Zero();
  S vol = 0;
  int face_index = 0;
@@ -178,16 +178,16 @@ Vector3<S> Convex<S>::computeCOM() const {
  com += (v1 + v2 + face_center) * d_six_vol;
  }
 
- face_index += vertex_count + 2;
+ face_index += vertex_count + 1;
  }
 
  return com / (vol * 4); // here we choose zero as the reference
 }
 
 //==============================================================================
 template <typename S> S Convex<S>::computeVolume() const {
- const std::vector<Vector3<S>> &vertices = *vertices_;
- const std::vector<int> &faces = *faces_;
+ const std::vector<Vector3<S>>& vertices = *vertices_;
+ const std::vector<int>& faces = *faces_;
  S vol = 0;
  int face_index = 0;
  for(int i = 0; i < num_faces_; ++i) {
@@ -224,7 +224,7 @@ template <typename S> S Convex<S>::computeVolume() const {
  vol += d_six_vol;
  }
 
- face_index += vertex_count + 2;
+ face_index += vertex_count + 1;
  }
 
  return vol / 6;

diff --git a/include/fcl/geometry/shape/convex.h b/include/fcl/geometry/shape/convex.h
@@ -88,7 +88,7 @@ class FCL_EXPORT Convex : public ShapeBase<S_>
  /// @brief Constructor
  ///
  /// @note: The %Convex geometry assumes that the input data %vertices and
- /// %faces does not change through the life of the object.
+ /// %faces do not change through the life of the object.
  ///
  /// @warning: The %Convex class does *not* validate the input; it trusts that
  /// the inputs truly represent a coherent convex polytope.
@@ -98,8 +98,8 @@ class FCL_EXPORT Convex : public ShapeBase<S_>
  /// @param faces Encoding of the polytope faces. Must encode
  /// `num_faces` number of faces. See member
  /// documentation for details on encoding.
- Convex(const std::shared_ptr<const std::vector<Vector3<S>>> &vertices,
- int num_faces, const std::shared_ptr<const std::vector<int>> &faces);
+ Convex(const std::shared_ptr<const std::vector<Vector3<S>>>& vertices,
+ int num_faces, const std::shared_ptr<const std::vector<int>>& faces);
 
  /// @brief Copy constructor 
  Convex(const Convex& other) = default;

diff --git a/include/fcl/geometry/shape/utility-inl.h b/include/fcl/geometry/shape/utility-inl.h
@@ -234,9 +234,9 @@ struct FCL_EXPORT ComputeBVImpl<S, AABB<S>, Convex<S>>
  const Vector3<S>& T = tf.translation();
 
  AABB<S> bv_;
- for(const auto& vertice : *(s.getVertices()))
+ for(const auto& vertex : *(s.getVertices()))
  {
- Vector3<S> new_p = R * vertice + T;
+ Vector3<S> new_p = R * vertex + T;
  bv_ += new_p;
  }
 
@@ -250,7 +250,6 @@ struct FCL_EXPORT ComputeBVImpl<S, OBB<S>, Convex<S>>
 {
  static void run(const Convex<S>& s, const Transform3<S>& tf, OBB<S>& bv)
  {
-
  fit(s.getVertices()->data(), (int)s.getVertices()->size(), bv);
 
  bv.axis = tf.linear();

diff --git a/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h b/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h
@@ -2110,13 +2110,13 @@ static void supportConvex(const void* obj, const ccd_vec3_t* dir_, ccd_vec3_t* v
 
  maxdot = -CCD_REAL_MAX;
 
- for(const auto& vertice : *(c->convex->getVertices()))
+ for(const auto& vertex : *(c->convex->getVertices()))
  {
- ccdVec3Set(&p, vertice[0] - center[0], vertice[1] - center[1], vertice[2] - center[2]);
+ ccdVec3Set(&p, vertex[0] - center[0], vertex[1] - center[1], vertex[2] - center[2]);
  dot = ccdVec3Dot(&dir, &p);
  if(dot > maxdot)
  {
- ccdVec3Set(v, vertice[0], vertice[1], vertice[2]);
+ ccdVec3Set(v, vertex[0], vertex[1], vertex[2]);
  maxdot = dot;
  }
  }

diff --git a/include/fcl/narrowphase/detail/convexity_based_algorithm/minkowski_diff-inl.h b/include/fcl/narrowphase/detail/convexity_based_algorithm/minkowski_diff-inl.h
@@ -184,12 +184,12 @@ Vector3<S> getSupport(
  const Convex<S>* convex = static_cast<const Convex<S>*>(shape);
  S maxdot = - std::numeric_limits<S>::max();
  Vector3<S> bestv = Vector3<S>::Zero();
- for(const auto& vertice : *(convex->getVertices()))
+ for(const auto& vertex : *(convex->getVertices()))
  {
- S dot = dir.dot(vertice);
+ S dot = dir.dot(vertex);
  if(dot > maxdot)
  {
- bestv = vertice;
+ bestv = vertex;
  maxdot = dot;
  }
  }

diff --git a/include/fcl/narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h b/include/fcl/narrowphase/detail/primitive_shape_algorithm/halfspace-inl.h
@@ -500,9 +500,9 @@ bool convexHalfspaceIntersect(const Convex<S>& s1, const Transform3<S>& tf1,
  Vector3<S> v;
  S depth = std::numeric_limits<S>::max();
 
- for(const auto& vertice : *(s1.getVertices()))
+ for(const auto& vertex : *(s1.getVertices()))
  {
- Vector3<S> p = tf1 * vertice;
+ Vector3<S> p = tf1 * vertex;
 
  S d = new_s2.signedDistance(p);
  if(d < depth)

diff --git a/include/fcl/narrowphase/detail/primitive_shape_algorithm/plane-inl.h b/include/fcl/narrowphase/detail/primitive_shape_algorithm/plane-inl.h
@@ -648,9 +648,9 @@ bool convexPlaneIntersect(const Convex<S>& s1, const Transform3<S>& tf1,
  Vector3<S> v_min, v_max;
  S d_min = std::numeric_limits<S>::max(), d_max = -std::numeric_limits<S>::max();
 
- for(const auto& vertice : *(s1.getVertices()))
+ for(const auto& vertex : *(s1.getVertices()))
  {
- Vector3<S> p = tf1 * vertice;
+ Vector3<S> p = tf1 * vertex;
 
  S d = new_s2.signedDistance(p);
 

diff --git a/test/geometry/shape/test_convex.cpp b/test/geometry/shape/test_convex.cpp
@@ -94,10 +94,10 @@ class Polytope {
 
  // The scale of the polytope to use with test tolerances.
  S scale() const { return scale_; }
- const std::shared_ptr<const std::vector<Vector3<S>>>& points() const {
+ std::shared_ptr<const std::vector<Vector3<S>>> points() const {
  return vertices_;
  }
- const std::shared_ptr<const std::vector<int>>& polygons() const {
+ std::shared_ptr<const std::vector<int>> polygons() const {
  return polygons_;
  }
  Convex<S> MakeConvex() const {