Fix enable and clang-tidy errors

.clang-tidy

@@ -6,6 +6,8 @@ Checks: >
     clang-analyzer-*,
     -clang-analyzer-cplusplus*,
     bugprone-*,
+    -bugprone-easily-swappable-parameters,
+    -bugprone-exception-escape,
     cppcoreguidelines-*,
     -cppcoreguidelines-macro-usage,
     -cppcoreguidelines-pro-type-static-cast-downcast,
@@ -16,8 +18,10 @@ Checks: >
     -cppcoreguidelines-pro-bounds-constant-array-index,
     -cppcoreguidelines-avoid-magic-numbers,
     -cppcoreguidelines-non-private-member-variables-in-classes,
+    -cppcoreguidelines-owning-memory,
     misc-*,
     -misc-non-private-member-variables-in-classes,
+    -misc-no-recursion,
     modernize-*,
     -modernize-use-trailing-return-type,
     -modernize-use-nodiscard,
@@ -27,14 +31,19 @@ Checks: >
     -readability-named-parameter,
     -readability-magic-numbers,
     -readability-isolate-declaration,
-    -readability-function-cognitive-complexity
+    -readability-function-cognitive-complexity,
+    -readability-use-anyofallof,
+    -readability-identifier-length,
+    -readability-suspicious-call-argument
 WarningsAsErrors: >
     -*,
     clang-diagnostic-*,
     -clang-diagnostic-unknown-warning-option,
     clang-analyzer-*,
     -clang-analyzer-cplusplus*,
     bugprone-*,
+    -bugprone-easily-swappable-parameters,
+    -bugprone-exception-escape,
     cppcoreguidelines-*,
     -cppcoreguidelines-macro-usage,
     -cppcoreguidelines-pro-type-static-cast-downcast,
@@ -45,8 +54,10 @@ WarningsAsErrors: >
     -cppcoreguidelines-pro-bounds-constant-array-index,
     -cppcoreguidelines-avoid-magic-numbers,
     -cppcoreguidelines-non-private-member-variables-in-classes,
+    -cppcoreguidelines-owning-memory,
     misc-*,
     -misc-non-private-member-variables-in-classes,
+    -misc-no-recursion,
     modernize-*,
     -modernize-use-trailing-return-type,
     -modernize-use-nodiscard,
@@ -57,6 +68,9 @@ WarningsAsErrors: >
     -readability-magic-numbers,
     -readability-isolate-declaration,
     -readability-function-cognitive-complexity
+    -readability-use-anyofallof,
+    -readability-identifier-length,
+    -readability-suspicious-call-argument
 HeaderFilterRegex: '.*'
 AnalyzeTemporaryDtors: false
 FormatStyle:     none
@@ -67,4 +81,6 @@ CheckOptions:
     value:           '1'
   - key:             cppcoreguidelines-special-member-functions.AllowSoleDefaultDtor
     value:           '1'
+  - key:             cppcoreguidelines-pro-type-member-init.IgnoreArrays
+    value:           '1'
 ...

trajopt_sco/CMakeLists.txt

@@ -113,7 +113,7 @@ target_compile_options(${PROJECT_NAME} PRIVATE ${TRAJOPT_COMPILE_OPTIONS_PRIVATE
 target_compile_options(${PROJECT_NAME} PUBLIC ${TRAJOPT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME} PUBLIC ${TRAJOPT_COMPILE_DEFINITIONS})
 target_cxx_version(${PROJECT_NAME} PUBLIC VERSION ${TRAJOPT_CXX_VERSION})
-# target_clang_tidy(${PROJECT_NAME} ENABLE ${TRAJOPT_ENABLE_CLANG_TIDY})
+target_clang_tidy(${PROJECT_NAME} ENABLE ${TRAJOPT_ENABLE_CLANG_TIDY})
 target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                                   "$<INSTALL_INTERFACE:include>")
 

trajopt_sco/include/trajopt_sco/bpmpd_io.hpp

@@ -67,7 +67,7 @@ void ser(int fp, std::vector<T>& x, SerMode mode)
 
 struct bpmpd_input
 {
-  int m, n, nz, qn, qnz;
+  int m{ 0 }, n{ 0 }, nz{ 0 }, qn{ 0 }, qnz{ 0 };
   std::vector<int> acolcnt, acolidx;
   std::vector<double> acolnzs;
   std::vector<int> qcolcnt, qcolidx;
@@ -114,7 +114,7 @@ const char CHECK_CHAR = 111;
 
 inline void ser(int fp, bpmpd_input& bi, SerMode mode)
 {
-  char scorrect = 'z', s = (mode == SER) ? scorrect : 0;
+  char scorrect = 'z', s = (mode == SER) ? scorrect : 0;  // NOLINT
   ser(fp, s, mode);
   if (s == EXIT_CHAR)
   {
@@ -142,8 +142,8 @@ struct bpmpd_output
 {
   std::vector<double> primal, dual;
   std::vector<int> status;
-  int code;
-  double opt;
+  int code{ 0 };
+  double opt{ 0 };
   bpmpd_output() = default;
   bpmpd_output(std::vector<double> primal, std::vector<double> dual, std::vector<int> status, int code, double opt)
     : primal(std::move(primal)), dual(std::move(dual)), status(std::move(status)), code(code), opt(opt)
@@ -153,7 +153,7 @@ struct bpmpd_output
 
 inline void ser(int fp, bpmpd_output& bo, SerMode mode)
 {
-  char scorrect = CHECK_CHAR, s = (mode == SER) ? scorrect : 0;
+  char scorrect = CHECK_CHAR, s = (mode == SER) ? scorrect : 0;  // NOLINT
   ser(fp, s, mode);
   if (s == EXIT_CHAR)
   {

trajopt_sco/include/trajopt_sco/modeling.hpp

@@ -45,10 +45,10 @@ class ConvexObjective
   void addL2Norm(const AffExprVector&);
   void addMax(const AffExprVector&);
 
-  bool inModel() { return model_ != nullptr; }
+  bool inModel() const { return model_ != nullptr; }
   void addConstraintsToModel();
   void removeFromModel();
-  double value(const DblVec& x);
+  double value(const DblVec& x) const;
 
   Model* model_;
   /// The objective Function

trajopt_sco/include/trajopt_sco/optimizers.hpp

@@ -3,6 +3,7 @@
 TRAJOPT_IGNORE_WARNINGS_PUSH
 #include <functional>
 #include <string>
+#include <array>
 TRAJOPT_IGNORE_WARNINGS_POP
 
 #include <trajopt_sco/modeling.hpp>
@@ -22,24 +23,25 @@ enum OptStatus
   OPT_FAILED,
   INVALID
 };
-static const char* OptStatus_strings[] = { "CONVERGED",
-                                           "SCO_ITERATION_LIMIT",
-                                           "PENALTY_ITERATION_LIMIT",
-                                           "FAILED",
-                                           "INVALID" };
+static const std::array<std::string, 5> OptStatus_strings = { "CONVERGED",
+                                                              "SCO_ITERATION_LIMIT",
+                                                              "PENALTY_ITERATION_LIMIT",
+                                                              "FAILED",
+                                                              "INVALID" };
 inline std::string statusToString(OptStatus status) { return OptStatus_strings[status]; }
 struct OptResults
 {
   DblVec x;  // solution estimate
-  OptStatus status;
-  double total_cost;
+  OptStatus status{ INVALID };
+  double total_cost{ 0 };
   DblVec cost_vals;
   DblVec cnt_viols;
-  int n_func_evals, n_qp_solves;
+  int n_func_evals{ 0 }, n_qp_solves{ 0 };
   void clear()
   {
     x.clear();
     status = INVALID;
+    total_cost = 0;
     cost_vals.clear();
     cnt_viols.clear();
     n_func_evals = 0;

trajopt_sco/include/trajopt_sco/osqp_interface.hpp

@@ -17,7 +17,7 @@ struct OSQPModelConfig : public ModelConfig
 
   OSQPModelConfig();
 
-  OSQPSettings settings;
+  OSQPSettings settings{};
 };
 
 /**
@@ -35,7 +35,7 @@ class OSQPModel : public Model
 {
   /** OSQPData. Some fields here (`osp_data_.A` and `osp_data_.P`) are *  automatically allocated by OSQP, but
    * deallocated by us. */
-  OSQPData osqp_data_;
+  OSQPData osqp_data_{};
 
   /** OSQP Workspace. Memory here is managed by OSQP */
   OSQPWorkspace* osqp_workspace_{ nullptr };

trajopt_sco/include/trajopt_sco/qpoases_interface.hpp

@@ -73,7 +73,11 @@ class qpOASESModel : public Model
 
 public:
   qpOASESModel();
-  virtual ~qpOASESModel();
+  ~qpOASESModel() override;
+  qpOASESModel(const qpOASESModel&) = default;
+  qpOASESModel& operator=(const qpOASESModel&) = default;
+  qpOASESModel(qpOASESModel&&) = default;
+  qpOASESModel& operator=(qpOASESModel&&) = default;
 
   Var addVar(const std::string& name) override;
   Cnt addEqCnt(const AffExpr&, const std::string& name) override;
@@ -85,10 +89,10 @@ class qpOASESModel : public Model
   void update() override;
   void setVarBounds(const VarVector& vars, const DblVec& lower, const DblVec& upper) override;
   DblVec getVarValues(const VarVector& vars) const override;
-  virtual CvxOptStatus optimize() override;
-  virtual void setObjective(const AffExpr&) override;
-  virtual void setObjective(const QuadExpr&) override;
-  virtual void writeToFile(const std::string& fname) const override;
-  virtual VarVector getVars() const override;
+  CvxOptStatus optimize() override;
+  void setObjective(const AffExpr&) override;
+  void setObjective(const QuadExpr&) override;
+  void writeToFile(const std::string& fname) const override;
+  VarVector getVars() const override;
 };
 }  // namespace sco

trajopt_sco/include/trajopt_sco/solver_interface.hpp

@@ -136,17 +136,17 @@ struct CntRep
 {
   using Ptr = std::shared_ptr<CntRep>;
 
-  CntRep(std::size_t _index, void* _creator) : index(_index), removed(false), creator(_creator) {}
+  CntRep(std::size_t _index, void* _creator) : index(_index), creator(_creator) {}
   CntRep(const CntRep&) = default;
   CntRep& operator=(const CntRep&) = default;
   CntRep(CntRep&&) = default;
   CntRep& operator=(CntRep&&) = default;
   ~CntRep() = default;
 
   std::size_t index;
-  bool removed;
+  bool removed{ false };
   void* creator;
-  ConstraintType type;
+  ConstraintType type{ ConstraintType::EQ };
   std::string expr;  // todo placeholder
 };
 
@@ -181,7 +181,7 @@ struct AffExpr
   AffExpr& operator=(AffExpr&&) = default;
 
   explicit AffExpr(double a) : constant(a) {}
-  explicit AffExpr(const Var& v) : constant(0), coeffs(1, 1), vars(1, v) {}
+  explicit AffExpr(const Var& v) : coeffs(1, 1), vars(1, v) {}
 
   size_t size() const { return coeffs.size(); }
   double value(const double* x) const;

trajopt_sco/include/trajopt_sco/solver_utils.hpp

@@ -64,7 +64,7 @@ void exprToEigen(const QuadExpr& expr,
 void exprToEigen(const AffExprVector& expr_vec,
                  Eigen::SparseMatrix<double>& sparse_matrix,
                  Eigen::VectorXd& vector,
-                 const Eigen::Index& n_vars = -1);
+                 Eigen::Index n_vars = -1);
 /**
  * @brief Converts triplets to an `Eigen::SparseMatrix`.
  * @param [in] rows_i a vector of row indices
@@ -121,7 +121,7 @@ void eigenToCSC(Eigen::SparseMatrix<double>& sparse_matrix,
   if (sizeof(T) != sizeof(int))
   {
     IntVec row_indices_int, column_pointers_int;
-    auto si_p = sm_ref.get().innerIndexPtr();
+    auto* si_p = sm_ref.get().innerIndexPtr();
     row_indices_int.assign(si_p, si_p + sm_ref.get().nonZeros());
     row_indices.clear();
     row_indices.reserve(row_indices_int.size());
@@ -137,7 +137,7 @@ void eigenToCSC(Eigen::SparseMatrix<double>& sparse_matrix,
   }
   else
   {
-    auto si_p = sm_ref.get().innerIndexPtr();
+    auto* si_p = sm_ref.get().innerIndexPtr();
     row_indices.assign(si_p, si_p + sm_ref.get().nonZeros());
 
     si_p = sm_ref.get().outerIndexPtr();
@@ -148,7 +148,7 @@ void eigenToCSC(Eigen::SparseMatrix<double>& sparse_matrix,
   // pointers ends with the number of non-zero elements
   column_pointers.push_back(static_cast<T>(sm_ref.get().nonZeros()));
 
-  auto csc_v = sm_ref.get().valuePtr();
+  auto* csc_v = sm_ref.get().valuePtr();
   values.assign(csc_v, csc_v + sm_ref.get().nonZeros());
 }
 }  // namespace sco

trajopt_sco/src/bpmpd_interface.cpp

@@ -150,7 +150,7 @@ logfile it generates.
 
 namespace sco
 {
-static double BPMPD_BIG = 1e+30;
+static const double BPMPD_BIG = 1e+30;
 
 Model::Ptr createBPMPDModel()
 {
@@ -163,10 +163,10 @@ Model::Ptr createBPMPDModel()
 
 pid_t popen2(const char* command, int* infp, int* outfp)
 {
-  int p_stdin[2], p_stdout[2];
-  pid_t pid;
+  std::array<int, 2> p_stdin{}, p_stdout{};
+  pid_t pid{ 0 };
 
-  if (pipe(p_stdin) != 0 || pipe(p_stdout) != 0)
+  if (pipe(p_stdin.data()) != 0 || pipe(p_stdout.data()) != 0)
     return -1;
 
   pid = fork();
@@ -202,14 +202,14 @@ pid_t popen2(const char* command, int* infp, int* outfp)
   return pid;
 }
 
-static pid_t gPID = 0;
-static int gPipeIn = 0;
-static int gPipeOut = 0;
+static pid_t gPID = 0;    // NOLINT
+static int gPipeIn = 0;   // NOLINT
+static int gPipeOut = 0;  // NOLINT
 
 void fexit()
 {
-  char text[1] = { bpmpd_io::EXIT_CHAR };
-  long n = write(gPipeIn, text, 1);
+  std::array<char, 1> text{ bpmpd_io::EXIT_CHAR };
+  long n = write(gPipeIn, text.data(), 1);
   ALWAYS_ASSERT(n == 1);
 }
 
@@ -271,7 +271,7 @@ void BPMPDModel::removeCnts(const CntVector& cnts)
 {
   SizeTVec inds;
   cnts2inds(cnts, inds);
-  for (auto& cnt : cnts)
+  for (auto& cnt : cnts)  // NOLINT
     cnt.cnt_rep->removed = true;
 }
 
@@ -438,8 +438,8 @@ CvxOptStatus BPMPDModel::optimize()
   }
 
 #define VECINC(vec)                                                                                                    \
-  for (unsigned i = 0; i < (vec).size(); ++i)                                                                          \
-    ++(vec)[i];
+  for (auto& v : (vec))                                                                                                \
+    ++v;
   VECINC(acolidx);
   VECINC(qcolidx);
 #undef VECINC

trajopt_sco/src/modeling.cpp

@@ -19,7 +19,7 @@ void ConvexObjective::addAffExpr(const AffExpr& affexpr) { exprInc(quad_, affexp
 void ConvexObjective::addQuadExpr(const QuadExpr& quadexpr) { exprInc(quad_, quadexpr); }
 void ConvexObjective::addHinge(const AffExpr& affexpr, double coeff)
 {
-  Var hinge = model_->addVar("hinge", 0, INFINITY);
+  Var hinge = model_->addVar("hinge", 0, static_cast<double>(INFINITY));
   vars_.push_back(hinge);
   ineqs_.push_back(affexpr);
   exprDec(ineqs_.back(), hinge);
@@ -30,8 +30,8 @@ void ConvexObjective::addHinge(const AffExpr& affexpr, double coeff)
 void ConvexObjective::addAbs(const AffExpr& affexpr, double coeff)
 {
   // Add variables that will enforce ABS
-  Var neg = model_->addVar("neg", 0, INFINITY);
-  Var pos = model_->addVar("pos", 0, INFINITY);
+  Var neg = model_->addVar("neg", 0, static_cast<double>(INFINITY));
+  Var pos = model_->addVar("pos", 0, static_cast<double>(INFINITY));
   vars_.push_back(neg);
   vars_.push_back(pos);
   // Coeff will be applied whenever neg/pos are not 0
@@ -76,7 +76,7 @@ void ConvexObjective::addL2Norm(const AffExprVector& ev)
 
 void ConvexObjective::addMax(const AffExprVector& ev)
 {
-  Var m = model_->addVar("max", -INFINITY, INFINITY);
+  Var m = model_->addVar("max", static_cast<double>(-INFINITY), static_cast<double>(INFINITY));
   ineqs_.reserve(ineqs_.size() + ev.size());
   for (const auto& i : ev)
   {
@@ -148,7 +148,7 @@ ConvexConstraints::~ConvexConstraints()
     removeFromModel();
 }
 
-double ConvexObjective::value(const DblVec& x) { return quad_.value(x); }
+double ConvexObjective::value(const DblVec& x) const { return quad_.value(x); }
 DblVec Constraint::violations(const DblVec& x)
 {
   DblVec val = value(x);
@@ -175,7 +175,8 @@ OptProb::OptProb(ModelType convex_solver, const ModelConfig::ConstPtr& convex_so
 }
 VarVector OptProb::createVariables(const std::vector<std::string>& names)
 {
-  return createVariables(names, DblVec(names.size(), -INFINITY), DblVec(names.size(), INFINITY));
+  return createVariables(
+      names, DblVec(names.size(), static_cast<double>(-INFINITY)), DblVec(names.size(), static_cast<double>(INFINITY)));
 }
 
 VarVector OptProb::createVariables(const std::vector<std::string>& names, const DblVec& lb, const DblVec& ub)