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Robot: modernize C++: use range-based for loop

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This commit is contained in:
wmayer
2023-08-15 17:25:46 +02:00
committed by wwmayer
parent e1dce4e024
commit ce8cd4fe8b
5 changed files with 35 additions and 39 deletions
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24
src/Mod/Robot/App/Edge2TracObject.cpp
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@@ -75,8 +75,8 @@ App::DocumentObjectExecReturn *Edge2TracObject::execute()
std::vector<TopoDS_Edge> edges;
// run through the edge name and get the real objects from the TopoShape
for (std::vector<std::string>::const_iterator it= SubVals.begin();it!=SubVals.end();++it) {
TopoDS_Edge edge = TopoDS::Edge(TopShape.getSubShape(it->c_str()));
for (const auto & SubVal : SubVals) {
TopoDS_Edge edge = TopoDS::Edge(TopShape.getSubShape(SubVal.c_str()));
edges.push_back(edge);
}
@@ -90,20 +90,20 @@ App::DocumentObjectExecReturn *Edge2TracObject::execute()
// set the number of cluster and edges
NbrOfCluster = aclusteroutput.size();
NbrOfEdges = 0;
for(std::vector<std::vector<TopoDS_Edge> >::const_iterator it=aclusteroutput.begin();it!=aclusteroutput.end();++it)
NbrOfEdges += it->size();
for(const auto & it : aclusteroutput)
NbrOfEdges += it.size();
// trajectory to fill
Robot::Trajectory trac;
bool first = true;
// cycle through the cluster
for(std::vector<std::vector<TopoDS_Edge> >::const_iterator it=aclusteroutput.begin();it!=aclusteroutput.end();++it)
for(const auto & it : aclusteroutput)
{
// cycle through the edges of the cluster
for(std::vector<TopoDS_Edge>::const_iterator it2=it->begin();it2!=it->end();++it2)
for(const auto& it2 : it)
{
BRepAdaptor_Curve adapt(*it2);
BRepAdaptor_Curve adapt(it2);
switch(adapt.GetType())
{
@@ -125,7 +125,7 @@ App::DocumentObjectExecReturn *Edge2TracObject::execute()
}
// if reverse orintation, switch the points
if ( it2->Orientation() == TopAbs_REVERSED )
if ( it2.Orientation() == TopAbs_REVERSED )
{
//switch the points and orientation
gp_Pnt tmpP = P1;
@@ -154,7 +154,7 @@ App::DocumentObjectExecReturn *Edge2TracObject::execute()
Standard_Real end = adapt.LastParameter();
Standard_Real stp = ParLength / NbrSegments;
bool reversed = false;
if (it2->Orientation() == TopAbs_REVERSED) {
if (it2.Orientation() == TopAbs_REVERSED) {
std::swap(beg, end);
stp = - stp;
reversed = true;
@@ -205,7 +205,7 @@ App::DocumentObjectExecReturn *Edge2TracObject::execute()
Standard_Real NbrSegments = Round(Length / SegValue.getValue());
Standard_Real SegLength = ParLength / NbrSegments;
if ( it2->Orientation() == TopAbs_REVERSED )
if ( it2.Orientation() == TopAbs_REVERSED )
{
//Beginning and End switch
double i = adapt.LastParameter();
@@ -252,9 +252,6 @@ App::DocumentObjectExecReturn *Edge2TracObject::execute()
default:
throw Base::TypeError("Unknown Edge type in Robot::Edge2TracObject::execute()");
}
}
}
@@ -271,6 +268,5 @@ App::DocumentObjectExecReturn *Edge2TracObject::execute()
void Edge2TracObject::onChanged(const Property* prop)
{
App::GeoFeature::onChanged(prop);
}

18
src/Mod/Robot/App/Robot6Axis.cpp
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@@ -141,21 +141,21 @@ void Robot6Axis::readKinematic(const char * FileName)
// over read the header
in.getline(buf,119,'\n');
// read 6 Axis
for (int i = 0; i < 6; i++) {
for (auto & i : temp) {
in.getline(buf,79,'\n');
destination.clear();
split(std::string(buf),',',destination);
if (destination.size() < 8)
continue;
// transfer the values in kinematic structure
temp[i].a = atof(destination[0].c_str());
temp[i].alpha = atof(destination[1].c_str());
temp[i].d = atof(destination[2].c_str());
temp[i].theta = atof(destination[3].c_str());
temp[i].rotDir = atof(destination[4].c_str());
temp[i].maxAngle = atof(destination[5].c_str());
temp[i].minAngle = atof(destination[6].c_str());
temp[i].velocity = atof(destination[7].c_str());
i.a = atof(destination[0].c_str());
i.alpha = atof(destination[1].c_str());
i.d = atof(destination[2].c_str());
i.theta = atof(destination[3].c_str());
i.rotDir = atof(destination[4].c_str());
i.maxAngle = atof(destination[5].c_str());
i.minAngle = atof(destination[6].c_str());
i.velocity = atof(destination[7].c_str());
}
setKinematic(temp);

18
src/Mod/Robot/App/Trajectory.cpp
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@@ -72,8 +72,8 @@ Trajectory::Trajectory(const Trajectory& Trac)
Trajectory::~Trajectory()
{
for(std::vector<Waypoint*>::iterator it = vpcWaypoints.begin();it!=vpcWaypoints.end();++it)
delete ( *it );
for(auto it : vpcWaypoints)
delete it;
delete pcTrajectory;
}
@@ -82,8 +82,8 @@ Trajectory &Trajectory::operator=(const Trajectory& Trac)
if (this == &Trac)
return *this;
for(std::vector<Waypoint*>::iterator it = vpcWaypoints.begin();it!=vpcWaypoints.end();++it)
delete ( *it );
for(auto it : vpcWaypoints)
delete it;
vpcWaypoints.clear();
vpcWaypoints.resize(Trac.vpcWaypoints.size());
@@ -243,11 +243,11 @@ std::string Trajectory::getUniqueWaypointName(const char *Name) const
if (!CleanName.empty() && CleanName[0] >= 48 && CleanName[0] <= 57)
CleanName[0] = '_';
// strip illegal chars
for (std::string::iterator it = CleanName.begin(); it != CleanName.end(); ++it) {
if (!((*it>=48 && *it<=57) || // number
(*it>=65 && *it<=90) || // uppercase letter
(*it>=97 && *it<=122))) // lowercase letter
*it = '_'; // it's neither number nor letter
for (char & it : CleanName) {
if (!((it>=48 && it<=57) || // number
(it>=65 && it<=90) || // uppercase letter
(it>=97 && it<=122))) // lowercase letter
it = '_'; // it's neither number nor letter
}
// name in use?

10
src/Mod/Robot/App/TrajectoryCompound.cpp
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@@ -48,11 +48,11 @@ App::DocumentObjectExecReturn *TrajectoryCompound::execute()
const std::vector<DocumentObject*> &Tracs = Source.getValues();
Robot::Trajectory result;
for (std::vector<DocumentObject*>::const_iterator it= Tracs.begin();it!=Tracs.end();++it) {
if ((*it)->getTypeId().isDerivedFrom(Robot::TrajectoryObject::getClassTypeId())){
const std::vector<Waypoint*> &wps = static_cast<Robot::TrajectoryObject*>(*it)->Trajectory.getValue().getWaypoints();
for (std::vector<Waypoint*>::const_iterator it2= wps.begin();it2!=wps.end();++it2) {
result.addWaypoint(**it2);
for (auto it : Tracs) {
if (it->getTypeId().isDerivedFrom(Robot::TrajectoryObject::getClassTypeId())){
const std::vector<Waypoint*> &wps = static_cast<Robot::TrajectoryObject*>(it)->Trajectory.getValue().getWaypoints();
for (auto wp : wps) {
result.addWaypoint(*wp);
}
}else
return new App::DocumentObjectExecReturn("Not all objects in compound are trajectories!");

4
src/Mod/Robot/App/TrajectoryDressUpObject.cpp
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@@ -65,8 +65,8 @@ App::DocumentObjectExecReturn* TrajectoryDressUpObject::execute()
return new App::DocumentObjectExecReturn("Linked object is not a Trajectory object");
const std::vector<Waypoint*>& wps = static_cast<Robot::TrajectoryObject*>(link)->Trajectory.getValue().getWaypoints();
for (std::vector<Waypoint*>::const_iterator it = wps.begin(); it != wps.end(); ++it) {
Waypoint wpt = **it;
for (auto wp : wps) {
Waypoint wpt = *wp;
if (UseSpeed.getValue())
wpt.Velocity = Speed.getValue();
if (UseAcceleration.getValue())