Fix more -Wold-style-cast warnings

Author: rhaschke

.github/workflows/ci.yaml

@@ -30,7 +30,7 @@ jobs:
             CLANG_TIDY: true
             TARGET_CMAKE_ARGS: >-
               -DCMAKE_BUILD_TYPE=Release
-              -DCMAKE_CXX_FLAGS="-Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls"
+              -DCMAKE_CXX_FLAGS="-Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wold-style-cast"
           - IMAGE: noetic-source
             NAME: asan
             DOCKER_RUN_OPTS: >-

core/src/stages/modify_planning_scene.cpp

@@ -98,8 +98,8 @@ void ModifyPlanningScene::attachObjects(planning_scene::PlanningScene& scene,
 	bool attach = pair.second.second;
 	if (invert)
 		attach = !attach;
-	obj.object.operation =
-	    attach ? (int8_t)moveit_msgs::CollisionObject::ADD : (int8_t)moveit_msgs::CollisionObject::REMOVE;
+	obj.object.operation = attach ? static_cast<int8_t>(moveit_msgs::CollisionObject::ADD) :
+	                                static_cast<int8_t>(moveit_msgs::CollisionObject::REMOVE);
 	for (const std::string& name : pair.second.first) {
 		obj.object.id = name;
 		scene.processAttachedCollisionObjectMsg(obj);

visualization/motion_planning_tasks/src/local_task_model.cpp

@@ -101,7 +101,7 @@ QModelIndex LocalTaskModel::index(int row, int column, const QModelIndex& parent
 
 	Q_ASSERT(dynamic_cast<ContainerBase*>(node(parent)));
 	ContainerBase* p = static_cast<ContainerBase*>(node(parent));
-	if (!p || row < 0 || (size_t)row >= p->numChildren())
+	if (!p || row < 0 || static_cast<size_t>(row) >= p->numChildren())
 		return QModelIndex();
 
 	Node* child = nullptr;
@@ -151,7 +151,7 @@ QVariant LocalTaskModel::data(const QModelIndex& index, int role) const {
 				case 0:
 					return QString::fromStdString(n->name());
 				case 1:
-					return (uint)n->solutions().size();
+					return static_cast<uint>(n->solutions().size());
 				case 2:
 					return 0;
 			}
@@ -182,7 +182,7 @@ bool LocalTaskModel::removeRows(int row, int count, const QModelIndex& parent) {
 
 	Q_ASSERT(dynamic_cast<ContainerBase*>(node(parent)));
 	ContainerBase* c = static_cast<ContainerBase*>(node(parent));
-	if (row < 0 || (size_t)row + count > c->numChildren())
+	if (row < 0 || static_cast<size_t>(row + count) > c->numChildren())
 		return false;
 
 	beginRemoveRows(parent, row, row + count - 1);

visualization/motion_planning_tasks/src/remote_task_model.cpp

@@ -155,7 +155,7 @@ RemoteTaskModel::Node* RemoteTaskModel::node(const QModelIndex& index) const {
 
 	// internal pointer refers to parent node
 	Node* parent = static_cast<Node*>(index.internalPointer());
-	Q_ASSERT(index.row() >= 0 && (size_t)index.row() < parent->children_.size());
+	Q_ASSERT(index.row() >= 0 && static_cast<size_t>(index.row()) < parent->children_.size());
 	return parent->children_.at(index.row()).get();
 }
 
@@ -209,7 +209,7 @@ QModelIndex RemoteTaskModel::index(int row, int column, const QModelIndex& paren
 		return QModelIndex();
 
 	Node* p = node(parent);
-	if (!p || row < 0 || (size_t)row >= p->children_.size())
+	if (!p || row < 0 || static_cast<size_t>(row) >= p->children_.size())
 		return QModelIndex();
 
 	p->children_[row]->node_flags_ |= WAS_VISITED;

visualization/motion_planning_tasks/utils/tree_merge_proxy_model.cpp

@@ -269,7 +269,7 @@ QModelIndex TreeMergeProxyModel::index(int row, int column, const QModelIndex& p
 		return QModelIndex();
 
 	if (!parent.isValid()) {  // top-level / group items
-		if ((size_t)row >= d_ptr->data_.size())
+		if (static_cast<size_t>(row) >= d_ptr->data_.size())
 			return QModelIndex();
 
 		// for group items, internal pointer refers to this model
@@ -397,11 +397,11 @@ bool TreeMergeProxyModel::insertModel(const QString& name, QAbstractItemModel* m
 			return false;  // model can only inserted once
 
 	// limit pos to range [0, modelCount()]
-	if (pos > 0 && pos > (int)modelCount())
+	if (pos > 0 && pos > static_cast<int>(modelCount()))
 		pos = modelCount();
 	if (pos < 0)
 		pos = modelCount() + std::max<int>(pos + 1, -modelCount());
-	Q_ASSERT(pos >= 0 && pos <= (int)modelCount());
+	Q_ASSERT(pos >= 0 && pos <= static_cast<int>(modelCount()));
 	auto it = d_ptr->data_.begin();
 	std::advance(it, pos);
 
@@ -460,9 +460,9 @@ bool TreeMergeProxyModel::removeModel(int pos) {
 		pos = modelCount() + pos + 1;
 	if (pos < 0)
 		return false;
-	if (pos >= (int)modelCount())
+	if (pos >= static_cast<int>(modelCount()))
 		return false;
-	Q_ASSERT(pos >= 0 && pos < (int)modelCount());
+	Q_ASSERT(pos >= 0 && pos < static_cast<int>(modelCount()));
 	auto it = d_ptr->data_.begin();
 	std::advance(it, pos);
 

visualization/visualization_tools/src/task_solution_visualization.cpp

@@ -246,7 +246,7 @@ void TaskSolutionVisualization::clearTrail() {
 void TaskSolutionVisualization::changedLoopDisplay() {
 	// restart animation if current_state_ is at end and looping got activated
 	if (displaying_solution_ && loop_display_property_->getBool() && slider_panel_ && slider_panel_->isVisible() &&
-	    current_state_ + 1 >= (int)displaying_solution_->getWayPointCount()) {
+	    current_state_ + 1 >= static_cast<int>(displaying_solution_->getWayPointCount())) {
 		current_state_ = -1;
 		slider_panel_->pauseButton(false);
 	}
@@ -471,7 +471,7 @@ void TaskSolutionVisualization::renderWayPoint(size_t index, int previous_index)
 		auto idx_pair = displaying_solution_->indexPair(index);
 		scene = displaying_solution_->scene(idx_pair);
 
-		if (previous_index < 0 || previous_index >= (int)waypoint_count ||
+		if (previous_index < 0 || previous_index >= static_cast<int>(waypoint_count) ||
 		    displaying_solution_->indexPair(previous_index).first != idx_pair.first) {
 			// switch to new stage: show new planning scene
 			renderPlanningScene(scene);