From 749a442d97881aada07593a30b16434d30d2a5db Mon Sep 17 00:00:00 2001
From: Sameer Agarwal <sameeragarwal@google.com>
Date: Mon, 16 Jan 2023 07:38:05 -0800
Subject: [PATCH] Clang-Tidy fixes

Change-Id: I58900a452591315a39754b329e94b315c34926cd
---
 examples/robot_pose_mle.cc                                | 1 +
 internal/ceres/block_jacobian_writer.cc                   | 1 +
 internal/ceres/callbacks.cc                               | 1 +
 internal/ceres/canonical_views_clustering.cc              | 3 ++-
 internal/ceres/coordinate_descent_minimizer.cc            | 8 ++++++++
 internal/ceres/cost_function_to_functor_test.cc           | 1 +
 internal/ceres/covariance_test.cc                         | 3 +++
 internal/ceres/dynamic_autodiff_cost_function_test.cc     | 1 +
 internal/ceres/dynamic_compressed_row_jacobian_writer.cc  | 2 ++
 .../ceres/dynamic_compressed_row_sparse_matrix_test.cc    | 1 +
 internal/ceres/dynamic_numeric_diff_cost_function_test.cc | 1 +
 internal/ceres/evaluator_test.cc                          | 2 ++
 internal/ceres/file.cc                                    | 1 +
 internal/ceres/gradient_problem_solver.cc                 | 1 +
 internal/ceres/graph_algorithms_test.cc                   | 1 +
 internal/ceres/line_search.cc                             | 5 ++++-
 internal/ceres/parameter_block_ordering.cc                | 5 +++++
 internal/ceres/polynomial_test.cc                         | 1 +
 internal/ceres/problem_test.cc                            | 2 ++
 internal/ceres/reorder_program.cc                         | 8 ++++++++
 internal/ceres/reorder_program_test.cc                    | 1 +
 internal/ceres/residual_block_test.cc                     | 2 ++
 internal/ceres/rotation_test.cc                           | 1 +
 internal/ceres/solver.cc                                  | 1 +
 internal/ceres/trust_region_preprocessor.cc               | 1 +
 25 files changed, 53 insertions(+), 2 deletions(-)

diff --git a/examples/robot_pose_mle.cc b/examples/robot_pose_mle.cc
index 7dd981d06..728c9c2e2 100644
--- a/examples/robot_pose_mle.cc
+++ b/examples/robot_pose_mle.cc
@@ -125,6 +125,7 @@
 // will be computed by a DynamicAutoDiffCostFunction since the number of
 // odometry observations will only be known at run time.
 
+#include <algorithm>
 #include <cmath>
 #include <cstdio>
 #include <random>
diff --git a/internal/ceres/block_jacobian_writer.cc b/internal/ceres/block_jacobian_writer.cc
index 4f1834a7b..544e913b9 100644
--- a/internal/ceres/block_jacobian_writer.cc
+++ b/internal/ceres/block_jacobian_writer.cc
@@ -32,6 +32,7 @@
 
 #include <algorithm>
 #include <memory>
+#include <vector>
 
 #include "ceres/block_evaluate_preparer.h"
 #include "ceres/block_sparse_matrix.h"
diff --git a/internal/ceres/callbacks.cc b/internal/ceres/callbacks.cc
index 79f35e062..1fab38507 100644
--- a/internal/ceres/callbacks.cc
+++ b/internal/ceres/callbacks.cc
@@ -32,6 +32,7 @@
 
 #include <algorithm>
 #include <iostream>  // NO LINT
+#include <string>
 
 #include "ceres/program.h"
 #include "ceres/stringprintf.h"
diff --git a/internal/ceres/canonical_views_clustering.cc b/internal/ceres/canonical_views_clustering.cc
index aec2cb1cf..2a2810feb 100644
--- a/internal/ceres/canonical_views_clustering.cc
+++ b/internal/ceres/canonical_views_clustering.cc
@@ -33,6 +33,7 @@
 
 #include <unordered_map>
 #include <unordered_set>
+#include <vector>
 
 #include "ceres/graph.h"
 #include "ceres/internal/export.h"
@@ -62,7 +63,7 @@ class CERES_NO_EXPORT CanonicalViewsClustering {
  private:
   void FindValidViews(IntSet* valid_views) const;
   double ComputeClusteringQualityDifference(
-      const int candidate, const std::vector<int>& centers) const;
+      int candidate, const std::vector<int>& centers) const;
   void UpdateCanonicalViewAssignments(const int canonical_view);
   void ComputeClusterMembership(const std::vector<int>& centers,
                                 IntMap* membership) const;
diff --git a/internal/ceres/coordinate_descent_minimizer.cc b/internal/ceres/coordinate_descent_minimizer.cc
index 8087a58ca..3abbefbe2 100644
--- a/internal/ceres/coordinate_descent_minimizer.cc
+++ b/internal/ceres/coordinate_descent_minimizer.cc
@@ -32,8 +32,11 @@
 
 #include <algorithm>
 #include <iterator>
+#include <map>
 #include <memory>
 #include <numeric>
+#include <set>
+#include <string>
 #include <vector>
 
 #include "ceres/evaluator.h"
@@ -69,6 +72,9 @@ bool CoordinateDescentMinimizer::Init(
 
   // Serialize the OrderedGroups into a vector of parameter block
   // offsets for parallel access.
+
+  // TODO(sameeragarwal): Investigate if parameter_block_index should be an
+  // ordered or an unordered container.
   std::map<ParameterBlock*, int> parameter_block_index;
   std::map<int, std::set<double*>> group_to_elements =
       ordering.group_to_elements();
@@ -234,6 +240,8 @@ bool CoordinateDescentMinimizer::IsOrderingValid(
     const Program& program,
     const ParameterBlockOrdering& ordering,
     std::string* message) {
+  // TODO(sameeragarwal): Investigate if this should be an ordered or an
+  // unordered group.
   const std::map<int, std::set<double*>>& group_to_elements =
       ordering.group_to_elements();
 
diff --git a/internal/ceres/cost_function_to_functor_test.cc b/internal/ceres/cost_function_to_functor_test.cc
index 0d1e901e5..c02e0e4b0 100644
--- a/internal/ceres/cost_function_to_functor_test.cc
+++ b/internal/ceres/cost_function_to_functor_test.cc
@@ -32,6 +32,7 @@
 
 #include <cstdint>
 #include <memory>
+#include <vector>
 
 #include "ceres/autodiff_cost_function.h"
 #include "ceres/dynamic_autodiff_cost_function.h"
diff --git a/internal/ceres/covariance_test.cc b/internal/ceres/covariance_test.cc
index 7d477a7cb..845572133 100644
--- a/internal/ceres/covariance_test.cc
+++ b/internal/ceres/covariance_test.cc
@@ -36,6 +36,7 @@
 #include <map>
 #include <memory>
 #include <utility>
+#include <vector>
 
 #include "ceres/autodiff_cost_function.h"
 #include "ceres/compressed_row_sparse_matrix.h"
@@ -404,6 +405,8 @@ class PolynomialManifold : public Manifold {
 
 class CovarianceTest : public ::testing::Test {
  protected:
+  // TODO(sameeragarwal): Investigate if this should be an ordered or an
+  // unordered map.
   using BoundsMap = std::map<const double*, std::pair<int, int>>;
 
   void SetUp() override {
diff --git a/internal/ceres/dynamic_autodiff_cost_function_test.cc b/internal/ceres/dynamic_autodiff_cost_function_test.cc
index d4800c254..7b2239cdc 100644
--- a/internal/ceres/dynamic_autodiff_cost_function_test.cc
+++ b/internal/ceres/dynamic_autodiff_cost_function_test.cc
@@ -34,6 +34,7 @@
 
 #include <cstddef>
 #include <memory>
+#include <vector>
 
 #include "gtest/gtest.h"
 
diff --git a/internal/ceres/dynamic_compressed_row_jacobian_writer.cc b/internal/ceres/dynamic_compressed_row_jacobian_writer.cc
index 78d18755a..f84f44aae 100644
--- a/internal/ceres/dynamic_compressed_row_jacobian_writer.cc
+++ b/internal/ceres/dynamic_compressed_row_jacobian_writer.cc
@@ -31,6 +31,8 @@
 #include "ceres/dynamic_compressed_row_jacobian_writer.h"
 
 #include <memory>
+#include <utility>
+#include <vector>
 
 #include "ceres/casts.h"
 #include "ceres/compressed_row_jacobian_writer.h"
diff --git a/internal/ceres/dynamic_compressed_row_sparse_matrix_test.cc b/internal/ceres/dynamic_compressed_row_sparse_matrix_test.cc
index c32233c01..b4f7cd908 100644
--- a/internal/ceres/dynamic_compressed_row_sparse_matrix_test.cc
+++ b/internal/ceres/dynamic_compressed_row_sparse_matrix_test.cc
@@ -31,6 +31,7 @@
 #include "ceres/dynamic_compressed_row_sparse_matrix.h"
 
 #include <memory>
+#include <vector>
 
 #include "ceres/casts.h"
 #include "ceres/compressed_row_sparse_matrix.h"
diff --git a/internal/ceres/dynamic_numeric_diff_cost_function_test.cc b/internal/ceres/dynamic_numeric_diff_cost_function_test.cc
index 0dae837a4..f9ae2eef2 100644
--- a/internal/ceres/dynamic_numeric_diff_cost_function_test.cc
+++ b/internal/ceres/dynamic_numeric_diff_cost_function_test.cc
@@ -33,6 +33,7 @@
 
 #include <cstddef>
 #include <memory>
+#include <vector>
 
 #include "gtest/gtest.h"
 
diff --git a/internal/ceres/evaluator_test.cc b/internal/ceres/evaluator_test.cc
index d9a1b210f..34ec78c54 100644
--- a/internal/ceres/evaluator_test.cc
+++ b/internal/ceres/evaluator_test.cc
@@ -34,6 +34,8 @@
 #include "ceres/evaluator.h"
 
 #include <memory>
+#include <string>
+#include <vector>
 
 #include "ceres/casts.h"
 #include "ceres/cost_function.h"
diff --git a/internal/ceres/file.cc b/internal/ceres/file.cc
index 5874cd7bd..a5338d505 100644
--- a/internal/ceres/file.cc
+++ b/internal/ceres/file.cc
@@ -33,6 +33,7 @@
 #include "ceres/file.h"
 
 #include <cstdio>
+#include <string>
 
 #include "glog/logging.h"
 
diff --git a/internal/ceres/gradient_problem_solver.cc b/internal/ceres/gradient_problem_solver.cc
index 3438409de..e4c96aa79 100644
--- a/internal/ceres/gradient_problem_solver.cc
+++ b/internal/ceres/gradient_problem_solver.cc
@@ -30,6 +30,7 @@
 
 #include "ceres/gradient_problem_solver.h"
 
+#include <map>
 #include <memory>
 #include <string>
 
diff --git a/internal/ceres/graph_algorithms_test.cc b/internal/ceres/graph_algorithms_test.cc
index ac5649719..ddd6914fd 100644
--- a/internal/ceres/graph_algorithms_test.cc
+++ b/internal/ceres/graph_algorithms_test.cc
@@ -33,6 +33,7 @@
 #include <algorithm>
 #include <memory>
 #include <unordered_set>
+#include <vector>
 
 #include "ceres/graph.h"
 #include "ceres/internal/export.h"
diff --git a/internal/ceres/line_search.cc b/internal/ceres/line_search.cc
index 2b6fe4df2..036c73938 100644
--- a/internal/ceres/line_search.cc
+++ b/internal/ceres/line_search.cc
@@ -33,8 +33,11 @@
 #include <algorithm>
 #include <cmath>
 #include <iomanip>
-#include <iostream>  // NOLINT
+#include <map>
 #include <memory>
+#include <ostream>  // NOLINT
+#include <string>
+#include <vector>
 
 #include "ceres/evaluator.h"
 #include "ceres/function_sample.h"
diff --git a/internal/ceres/parameter_block_ordering.cc b/internal/ceres/parameter_block_ordering.cc
index 669d5fd8a..753f9c9f4 100644
--- a/internal/ceres/parameter_block_ordering.cc
+++ b/internal/ceres/parameter_block_ordering.cc
@@ -30,8 +30,11 @@
 
 #include "ceres/parameter_block_ordering.h"
 
+#include <map>
 #include <memory>
+#include <set>
 #include <unordered_set>
+#include <vector>
 
 #include "ceres/graph.h"
 #include "ceres/graph_algorithms.h"
@@ -164,6 +167,8 @@ void OrderingToGroupSizes(const ParameterBlockOrdering* ordering,
     return;
   }
 
+  // TODO(sameeragarwal): Investigate if this should be a set or an
+  // unordered_set.
   const std::map<int, std::set<double*>>& group_to_elements =
       ordering->group_to_elements();
   for (const auto& g_t_e : group_to_elements) {
diff --git a/internal/ceres/polynomial_test.cc b/internal/ceres/polynomial_test.cc
index ea701b0cd..c214f0f91 100644
--- a/internal/ceres/polynomial_test.cc
+++ b/internal/ceres/polynomial_test.cc
@@ -35,6 +35,7 @@
 #include <cmath>
 #include <cstddef>
 #include <limits>
+#include <vector>
 
 #include "ceres/function_sample.h"
 #include "ceres/test_util.h"
diff --git a/internal/ceres/problem_test.cc b/internal/ceres/problem_test.cc
index a3f26dd44..70a8469e6 100644
--- a/internal/ceres/problem_test.cc
+++ b/internal/ceres/problem_test.cc
@@ -32,6 +32,8 @@
 #include "ceres/problem.h"
 
 #include <memory>
+#include <string>
+#include <vector>
 
 #include "ceres/autodiff_cost_function.h"
 #include "ceres/casts.h"
diff --git a/internal/ceres/reorder_program.cc b/internal/ceres/reorder_program.cc
index ad9d0d259..d623b96e5 100644
--- a/internal/ceres/reorder_program.cc
+++ b/internal/ceres/reorder_program.cc
@@ -31,8 +31,11 @@
 #include "ceres/reorder_program.h"
 
 #include <algorithm>
+#include <map>
 #include <memory>
 #include <numeric>
+#include <set>
+#include <string>
 #include <vector>
 
 #include "Eigen/SparseCore"
@@ -227,6 +230,8 @@ bool ApplyOrdering(const ProblemImpl::ParameterMap& parameter_map,
       program->mutable_parameter_blocks();
   parameter_blocks->clear();
 
+  // TODO(sameeragarwal): Investigate whether this should be a set or an
+  // unordered_set.
   const std::map<int, std::set<double*>>& groups = ordering.group_to_elements();
   for (const auto& p : groups) {
     const std::set<double*>& group = p.second;
@@ -484,6 +489,9 @@ bool ReorderProgramForSchurTypeLinearSolver(
     // group.
 
     // Verify that the first elimination group is an independent set.
+
+    // TODO(sameeragarwal): Investigate if this should be a set or an
+    // unordered_set.
     const std::set<double*>& first_elimination_group =
         parameter_block_ordering->group_to_elements().begin()->second;
     if (!program->IsParameterBlockSetIndependent(first_elimination_group)) {
diff --git a/internal/ceres/reorder_program_test.cc b/internal/ceres/reorder_program_test.cc
index 88f84b694..8cbcf77a7 100644
--- a/internal/ceres/reorder_program_test.cc
+++ b/internal/ceres/reorder_program_test.cc
@@ -31,6 +31,7 @@
 #include "ceres/reorder_program.h"
 
 #include <random>
+#include <vector>
 
 #include "ceres/internal/config.h"
 #include "ceres/parameter_block.h"
diff --git a/internal/ceres/residual_block_test.cc b/internal/ceres/residual_block_test.cc
index 0a84248ce..6845d5688 100644
--- a/internal/ceres/residual_block_test.cc
+++ b/internal/ceres/residual_block_test.cc
@@ -31,6 +31,8 @@
 #include "ceres/residual_block.h"
 
 #include <cstdint>
+#include <string>
+#include <vector>
 
 #include "ceres/internal/eigen.h"
 #include "ceres/manifold.h"
diff --git a/internal/ceres/rotation_test.cc b/internal/ceres/rotation_test.cc
index 3191ec5d5..c5a2016b4 100644
--- a/internal/ceres/rotation_test.cc
+++ b/internal/ceres/rotation_test.cc
@@ -30,6 +30,7 @@
 
 #include "ceres/rotation.h"
 
+#include <algorithm>
 #include <array>
 #include <cmath>
 #include <limits>
diff --git a/internal/ceres/solver.cc b/internal/ceres/solver.cc
index fa07055bc..688d02702 100644
--- a/internal/ceres/solver.cc
+++ b/internal/ceres/solver.cc
@@ -32,6 +32,7 @@
 #include "ceres/solver.h"
 
 #include <algorithm>
+#include <map>
 #include <memory>
 #include <sstream>  // NOLINT
 #include <string>
diff --git a/internal/ceres/trust_region_preprocessor.cc b/internal/ceres/trust_region_preprocessor.cc
index f2da3ac74..519f85126 100644
--- a/internal/ceres/trust_region_preprocessor.cc
+++ b/internal/ceres/trust_region_preprocessor.cc
@@ -32,6 +32,7 @@
 
 #include <numeric>
 #include <string>
+#include <vector>
 
 #include "ceres/callbacks.h"
 #include "ceres/context_impl.h"