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Modernize more

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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
This commit is contained in:
Sergiu Deitsch
2022-02-20 02:22:17 +01:00
committed by Sameer Agarwal
parent 46b3495a4f
commit c8658c8992
172 changed files with 918 additions and 983 deletions
Download Patch File Download Diff File Expand all files Collapse all files
internal/ceres/reorder_program.cc
+12 -12
View File
@@ -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
@@ -88,8 +88,8 @@ static int MinParameterBlock(const ResidualBlock* residual_block,
#if defined(CERES_USE_EIGEN_SPARSE)
Eigen::SparseMatrix<int> CreateBlockJacobian(
const TripletSparseMatrix& block_jacobian_transpose) {
typedef Eigen::SparseMatrix<int> SparseMatrix;
typedef Eigen::Triplet<int> Triplet;
using SparseMatrix = Eigen::SparseMatrix<int>;
using Triplet = Eigen::Triplet<int>;
const int* rows = block_jacobian_transpose.rows();
const int* cols = block_jacobian_transpose.cols();
@@ -97,7 +97,7 @@ Eigen::SparseMatrix<int> CreateBlockJacobian(
vector<Triplet> triplets;
triplets.reserve(num_nonzeros);
for (int i = 0; i < num_nonzeros; ++i) {
triplets.push_back(Triplet(cols[i], rows[i], 1));
triplets.emplace_back(cols[i], rows[i], 1);
}
SparseMatrix block_jacobian(block_jacobian_transpose.num_cols(),
@@ -127,9 +127,9 @@ void OrderingForSparseNormalCholeskyUsingSuiteSparse(
ss.ApproximateMinimumDegreeOrdering(block_jacobian_transpose, &ordering[0]);
} else {
vector<int> constraints;
for (int i = 0; i < parameter_blocks.size(); ++i) {
for (auto* parameter_block : parameter_blocks) {
constraints.push_back(parameter_block_ordering.GroupId(
parameter_blocks[i]->mutable_user_state()));
parameter_block->mutable_user_state()));
}
// Renumber the entries of constraints to be contiguous integers
@@ -188,7 +188,7 @@ void OrderingForSparseNormalCholeskyUsingEigenSparse(
// things. The right thing to do here would be to get a compressed
// row sparse matrix representation of the jacobian and go from
// there. But that is a project for another day.
typedef Eigen::SparseMatrix<int> SparseMatrix;
using SparseMatrix = Eigen::SparseMatrix<int>;
const SparseMatrix block_jacobian =
CreateBlockJacobian(tsm_block_jacobian_transpose);
@@ -314,8 +314,8 @@ bool LexicographicallyOrderResidualBlocks(
<< "to the developers.";
}
// Sanity check #2: No nullptr's left behind.
for (int i = 0; i < reordered_residual_blocks.size(); ++i) {
CHECK(reordered_residual_blocks[i] != nullptr)
for (auto* residual_block : reordered_residual_blocks) {
CHECK(residual_block != nullptr)
<< "Congratulations, you found a Ceres bug! Please report this error "
<< "to the developers.";
}
@@ -339,9 +339,9 @@ static void MaybeReorderSchurComplementColumnsUsingSuiteSparse(
vector<ParameterBlock*>& parameter_blocks =
*(program->mutable_parameter_blocks());
for (int i = 0; i < parameter_blocks.size(); ++i) {
for (auto* parameter_block : parameter_blocks) {
constraints.push_back(parameter_block_ordering.GroupId(
parameter_blocks[i]->mutable_user_state()));
parameter_block->mutable_user_state()));
}
// Renumber the entries of constraints to be contiguous integers as
@@ -378,7 +378,7 @@ static void MaybeReorderSchurComplementColumnsUsingEigen(
std::unique_ptr<TripletSparseMatrix> tsm_block_jacobian_transpose(
program->CreateJacobianBlockSparsityTranspose());
typedef Eigen::SparseMatrix<int> SparseMatrix;
using SparseMatrix = Eigen::SparseMatrix<int>;
const SparseMatrix block_jacobian =
CreateBlockJacobian(*tsm_block_jacobian_transpose);
const int num_rows = block_jacobian.rows();