Modernize more
Apply clang-tidy Google and modernize fixes without trailing return type
using:
$ clang-tidy -p <build-dir> \
-checks='-*,google-*,modernize-*,-modernize-use-trailing-return-type' {} -fix
Change-Id: I7450cc58ea9abf928f73a467e87876083217fa26
diff --git a/internal/ceres/rotation_test.cc b/internal/ceres/rotation_test.cc
index 3184376..d97e385 100644
--- a/internal/ceres/rotation_test.cc
+++ b/internal/ceres/rotation_test.cc
@@ -1,5 +1,5 @@
// Ceres Solver - A fast non-linear least squares minimizer
-// Copyright 2015 Google Inc. All rights reserved.
+// Copyright 2022 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// Redistribution and use in source and binary forms, with or without
@@ -326,16 +326,16 @@
// Make an axis by choosing three random numbers in [-1, 1) and
// normalizing.
double norm = 0;
- for (int i = 0; i < 3; i++) {
- axis_angle[i] = RandDouble() * 2 - 1;
- norm += axis_angle[i] * axis_angle[i];
+ for (double& coeff : axis_angle) {
+ coeff = RandDouble() * 2 - 1;
+ norm += coeff * coeff;
}
norm = sqrt(norm);
// Angle in [-pi, pi).
double theta = kPi * 2 * RandDouble() - kPi;
- for (int i = 0; i < 3; i++) {
- axis_angle[i] = axis_angle[i] * theta / norm;
+ for (double& coeff : axis_angle) {
+ coeff = coeff * theta / norm;
}
double quaternion[4];
@@ -358,14 +358,14 @@
double quaternion[4];
// Choose four random numbers in [-1, 1) and normalize.
double norm = 0;
- for (int i = 0; i < 4; i++) {
- quaternion[i] = RandDouble() * 2 - 1;
- norm += quaternion[i] * quaternion[i];
+ for (double& coeff : quaternion) {
+ coeff = RandDouble() * 2 - 1;
+ norm += coeff * coeff;
}
norm = sqrt(norm);
- for (int i = 0; i < 4; i++) {
- quaternion[i] = quaternion[i] / norm;
+ for (double& coeff : quaternion) {
+ coeff = coeff / norm;
}
double axis_angle[3];
@@ -435,9 +435,9 @@
// Make an axis by choosing three random numbers in [-1, 1) and
// normalizing.
double norm = 0;
- for (int i = 0; i < 3; i++) {
- in_axis_angle[i] = RandDouble() * 2 - 1;
- norm += in_axis_angle[i] * in_axis_angle[i];
+ for (double& coeff : in_axis_angle) {
+ coeff = RandDouble() * 2 - 1;
+ norm += coeff * coeff;
}
norm = sqrt(norm);
@@ -445,8 +445,8 @@
const double kMaxSmallAngle = 1e-8;
double theta = kPi - kMaxSmallAngle * RandDouble();
- for (int i = 0; i < 3; i++) {
- in_axis_angle[i] *= (theta / norm);
+ for (double& coeff : in_axis_angle) {
+ coeff *= (theta / norm);
}
AngleAxisToRotationMatrix(in_axis_angle, matrix);
RotationMatrixToAngleAxis(matrix, out_axis_angle);
@@ -535,16 +535,16 @@
// Make an axis by choosing three random numbers in [-1, 1) and
// normalizing.
double norm = 0;
- for (int i = 0; i < 3; i++) {
- axis_angle[i] = RandDouble() * 2 - 1;
- norm += axis_angle[i] * axis_angle[i];
+ for (double& i : axis_angle) {
+ i = RandDouble() * 2 - 1;
+ norm += i * i;
}
norm = sqrt(norm);
// Angle in [-pi, pi).
double theta = kPi * 2 * RandDouble() - kPi;
- for (int i = 0; i < 3; i++) {
- axis_angle[i] = axis_angle[i] * theta / norm;
+ for (double& i : axis_angle) {
+ i = i * theta / norm;
}
double matrix[9];
@@ -568,16 +568,16 @@
// Make an axis by choosing three random numbers in [-1, 1) and
// normalizing.
double norm = 0;
- for (int i = 0; i < 3; i++) {
- axis_angle[i] = RandDouble() * 2 - 1;
- norm += axis_angle[i] * axis_angle[i];
+ for (double& i : axis_angle) {
+ i = RandDouble() * 2 - 1;
+ norm += i * i;
}
norm = sqrt(norm);
// Tiny theta.
double theta = 1e-16 * (kPi * 2 * RandDouble() - kPi);
- for (int i = 0; i < 3; i++) {
- axis_angle[i] = axis_angle[i] * theta / norm;
+ for (double& i : axis_angle) {
+ i = i * theta / norm;
}
double matrix[9];
@@ -648,8 +648,8 @@
srand(5);
for (int trial = 0; trial < kNumTrials; ++trial) {
double euler_angles_degrees[3];
- for (int i = 0; i < 3; ++i) {
- euler_angles_degrees[i] = RandDouble() * 360.0 - 180.0;
+ for (double& euler_angles_degree : euler_angles_degrees) {
+ euler_angles_degree = RandDouble() * 360.0 - 180.0;
}
double rotation_matrix[9];
EulerAnglesToRotationMatrix(euler_angles_degrees, 3, rotation_matrix);
@@ -660,8 +660,8 @@
// Tests using Jets for specific behavior involving auto differentiation
// near singularity points.
-typedef Jet<double, 3> J3;
-typedef Jet<double, 4> J4;
+using J3 = Jet<double, 3>;
+using J4 = Jet<double, 4>;
namespace {
@@ -947,8 +947,8 @@
}
const double inv_norm = theta / sqrt(norm2);
- for (int k = 0; k < 3; ++k) {
- angle_axis[k] *= inv_norm;
+ for (double& angle_axi : angle_axis) {
+ angle_axi *= inv_norm;
}
AngleAxisToRotationMatrix(angle_axis, R);
@@ -990,8 +990,8 @@
double theta = (2.0 * i * 0.0001 - 1.0) * 1e-16;
const double inv_norm = theta / sqrt(norm2);
- for (int k = 0; k < 3; ++k) {
- angle_axis[k] *= inv_norm;
+ for (double& angle_axi : angle_axis) {
+ angle_axi *= inv_norm;
}
AngleAxisToRotationMatrix(angle_axis, R);
