clang-tidy: modernize-loop-convert

apps/2d-slam-demo/slamdemoMain.cpp

@@ -1308,12 +1308,10 @@ void slamdemoFrame::updateAllGraphs(bool alsoGTMap)
 	if (alsoGTMap)
 	{
 		vector<float> xs, ys;
-		for (CLandmarksMap::TCustomSequenceLandmarks::iterator i =
-				 m_GT_map.landmarks.begin();
-			 i != m_GT_map.landmarks.end(); ++i)
+		for (auto & landmark : m_GT_map.landmarks)
 		{
-			xs.push_back(i->pose_mean.x);
-			ys.push_back(i->pose_mean.y);
+			xs.push_back(landmark.pose_mean.x);
+			ys.push_back(landmark.pose_mean.y);
 		}
 
 		lbGT->SetLabel(_U(format(
@@ -1343,29 +1341,29 @@ void slamdemoFrame::updateAllGraphs(bool alsoGTMap)
 						   (unsigned)m_lastObservation.sensedData.size())
 						   .c_str()));
 
-	for (size_t i = 0; i < m_lyObsLMs.size(); i++)
-		plotObs->DelLayer(m_lyObsLMs[i], true);
+	for (auto & m_lyObsLM : m_lyObsLMs)
+		plotObs->DelLayer(m_lyObsLM, true);
 	m_lyObsLMs.clear();
 
 	CMatrixDouble22 NOISE;
 	NOISE(0, 0) = square(m_SLAM.options.std_sensor_range);
 	NOISE(1, 1) = square(m_SLAM.options.std_sensor_yaw);
 
 	// Create an ellipse for each observed landmark:
-	for (size_t i = 0; i < m_lastObservation.sensedData.size(); i++)
+	for (auto & i : m_lastObservation.sensedData)
 	{
 		mpCovarianceEllipse* cov = new mpCovarianceEllipse();
 		cov->SetPen(wxPen(wxColour(255, 0, 0), 2));
-		if (m_lastObservation.sensedData[i].landmarkID != INVALID_LANDMARK_ID)
+		if (i.landmarkID != INVALID_LANDMARK_ID)
 			cov->SetName(wxString::Format(
 				_("#%u"),
-				(unsigned)m_lastObservation.sensedData[i].landmarkID));
+				(unsigned)i.landmarkID));
 		else
 			cov->SetName(_("?"));
 
 		// Compute mean & cov:
-		const double hr = m_lastObservation.sensedData[i].range;
-		const double ha = m_lastObservation.sensedData[i].yaw;
+		const double hr = i.range;
+		const double ha = i.yaw;
 		const double cphi_0sa = cos(options.sensorOnTheRobot.phi() + ha);
 		const double sphi_0sa = sin(options.sensorOnTheRobot.phi() + ha);
 
@@ -1413,8 +1411,8 @@ void slamdemoFrame::updateAllGraphs(bool alsoGTMap)
 			estRobotPose.mean.phi());
 
 		// Delete old covs:
-		for (size_t i = 0; i < m_lyMapEllipses.size(); i++)
-			plotMap->DelLayer(m_lyMapEllipses[i], true);
+		for (auto & m_lyMapEllipse : m_lyMapEllipses)
+			plotMap->DelLayer(m_lyMapEllipse, true);
 		m_lyMapEllipses.clear();
 
 		// Robot ellipse:
@@ -1576,8 +1574,8 @@ void slamdemoFrame::updateAllGraphs(bool alsoGTMap)
 		m_lyICvisibleRange->setPoints(xs_area_RG, ys_area_RG);
 
 		// Delete old ellipses:
-		for (size_t i = 0; i < m_lyIC_LMs.size(); i++)
-			plotIndivCompat->DelLayer(m_lyIC_LMs[i], true);
+		for (auto & m_lyIC_LM : m_lyIC_LMs)
+			plotIndivCompat->DelLayer(m_lyIC_LM, true);
 		m_lyIC_LMs.clear();
 
 		// Create an ellipse for each observed landmark, in
@@ -2039,12 +2037,10 @@ void slamdemoFrame::executeOneStep()
 		const CRangeBearingKFSLAM2D::TDataAssocInfo& da =
 			m_SLAM.getLastDataAssociation();
 
-		for (std::map<size_t, size_t>::const_iterator it =
-				 da.newly_inserted_landmarks.begin();
-			 it != da.newly_inserted_landmarks.end(); ++it)
+		for (auto newly_inserted_landmark : da.newly_inserted_landmarks)
 		{
-			const size_t obs_idx = it->first;
-			const size_t est_map_idx = it->second;
+			const size_t obs_idx = newly_inserted_landmark.first;
+			const size_t est_map_idx = newly_inserted_landmark.second;
 			const size_t real_map_idx = m_lastObservation_GT_indices[obs_idx];
 
 			m_estimatedIDX2realIDX[est_map_idx] = real_map_idx;

apps/RawLogViewer/CFormChangeSensorPositions.cpp

@@ -969,11 +969,9 @@ void exec_setPoseByLabel(
 {
 	if (SF)
 	{
-		for (CSensoryFrame::iterator it = SF->begin(); it != SF->end(); ++it)
+		for (auto obs : *SF)
 		{
-			CObservation::Ptr obs = *it;
-
-			if (obs->sensorLabel == labelToProcess)
+				if (obs->sensorLabel == labelToProcess)
 			{
 				if (changeOnlyXYZ)
 				{

apps/RawLogViewer/CFormEdit.cpp

@@ -781,11 +781,9 @@ void filter_swapColors(
 {
 	if (SF)
 	{
-		for (CSensoryFrame::iterator it = SF->begin(); it != SF->end(); ++it)
+		for (auto obs : *SF)
 		{
-			CObservation::Ptr obs = *it;
-
-			if (IS_CLASS(obs, CObservationImage))
+				if (IS_CLASS(obs, CObservationImage))
 			{
 				CObservationImage* o = (CObservationImage*)obs.get();
 				if (o->image.isColor())

apps/RawLogViewer/CFormPlayVideo.cpp

@@ -687,8 +687,8 @@ bool CFormPlayVideo::showSensoryFrame(void* SF, size_t& nImgs)
 	// displayedImgs.resize(3);
 
 	// unload current imgs:
-	for (size_t i = 0; i < displayedImgs.size(); i++)
-		if (displayedImgs[i]) displayedImgs[i]->unload();
+	for (auto & displayedImg : displayedImgs)
+		if (displayedImg) displayedImg->unload();
 
 	CImage auxImgForSubSampling;
 

apps/RawLogViewer/CFormRawMap.cpp

@@ -491,11 +491,10 @@ void loadMapInto3DScene(COpenGLScene& scene)
 		double x0 = 0, y0 = 0, z0 = 0;
 		std::optional<mrpt::Clock::time_point> last_t;
 
-		for (CPose3DInterpolator::iterator it = robot_path.begin();
-			 it != robot_path.end(); ++it)
+		for (auto & it : robot_path)
 		{
-			auto& p = it->second;
-			auto this_t = it->first;
+			auto& p = it.second;
+			auto this_t = it.first;
 
 			if (distanceBetweenPoints(x0, y0, z0, p.x, p.y, p.z) < 5.5)
 			{

apps/RawLogViewer/CRawlogTreeView.cpp

@@ -140,39 +140,37 @@ void CRawlogTreeView::reloadFromRawlog(int hint_rawlog_items)
 			{
 				CSensoryFrame::Ptr sf =
 					std::dynamic_pointer_cast<CSensoryFrame>(*it);
-				for (CSensoryFrame::iterator o = sf->begin(); o != sf->end();
-					 ++o)
+				for (auto & o : *sf)
 				{
 					m_tree_nodes.push_back(TNodeData());
 					TNodeData& d = m_tree_nodes.back();
 					d.level = 2;
-					d.data = (*o);
+					d.data = o;
 
-					if ((*o)->timestamp != INVALID_TIMESTAMP)
+					if (o->timestamp != INVALID_TIMESTAMP)
 					{
-						m_rawlog_last = (*o)->timestamp;
+						m_rawlog_last = o->timestamp;
 						if (m_rawlog_start == INVALID_TIMESTAMP)
-							m_rawlog_start = (*o)->timestamp;
+							m_rawlog_start = o->timestamp;
 					}
 				}
 			}
 			else if ((*it)->GetRuntimeClass() == CLASS_ID(CActionCollection))
 			{
 				CActionCollection::Ptr acts =
 					std::dynamic_pointer_cast<CActionCollection>(*it);
-				for (CActionCollection::iterator a = acts->begin();
-					 a != acts->end(); ++a)
+				for (auto & a : *acts)
 				{
 					m_tree_nodes.push_back(TNodeData());
 					TNodeData& d = m_tree_nodes.back();
 					d.level = 2;
-					d.data = a->get_ptr();
+					d.data = a.get_ptr();
 
-					if ((*a)->timestamp != INVALID_TIMESTAMP)
+					if (a->timestamp != INVALID_TIMESTAMP)
 					{
-						m_rawlog_last = (*a)->timestamp;
+						m_rawlog_last = a->timestamp;
 						if (m_rawlog_start == INVALID_TIMESTAMP)
-							m_rawlog_start = (*a)->timestamp;
+							m_rawlog_start = a->timestamp;
 					}
 				}
 			}

apps/RawLogViewer/CScanAnimation.cpp

@@ -346,14 +346,14 @@ void CScanAnimation::BuildMapAndRefresh(CSensoryFrame* sf)
 
 	// Preprocess: make sure 3D observations are ready:
 	std::vector<CObservation3DRangeScan::Ptr> obs3D_to_clear;
-	for (CSensoryFrame::iterator it = sf->begin(); it != sf->end(); ++it)
+	for (auto & it : *sf)
 	{
-		(*it)->load();
+		it->load();
 		// force generate 3D point clouds:
-		if (IS_CLASS(*it, CObservation3DRangeScan))
+		if (IS_CLASS(it, CObservation3DRangeScan))
 		{
 			CObservation3DRangeScan::Ptr o =
-				std::dynamic_pointer_cast<CObservation3DRangeScan>(*it);
+				std::dynamic_pointer_cast<CObservation3DRangeScan>(it);
 			if (o->hasRangeImage && !o->hasPoints3D)
 			{
 				mrpt::obs::T3DPointsProjectionParams pp;
@@ -368,10 +368,9 @@ void CScanAnimation::BuildMapAndRefresh(CSensoryFrame* sf)
 	if (!m_mixlasers)
 	{
 		// if not, just clear all old objects:
-		for (TListGlObjects::iterator it = m_gl_objects.begin();
-			 it != m_gl_objects.end(); ++it)
+		for (auto & m_gl_object : m_gl_objects)
 		{
-			TRenderObject& ro = it->second;
+			TRenderObject& ro = m_gl_object.second;
 			m_plot3D->getOpenGLSceneRef()->removeObject(
 				ro.obj);  // Remove from the opengl viewport
 		}
@@ -381,15 +380,15 @@ void CScanAnimation::BuildMapAndRefresh(CSensoryFrame* sf)
 	// Insert new scans:
 	mrpt::system::TTimeStamp tim_last = INVALID_TIMESTAMP;
 	bool wereScans = false;
-	for (CSensoryFrame::iterator it = sf->begin(); it != sf->end(); ++it)
+	for (auto & it : *sf)
 	{
 		const std::string sNameInMap =
-			std::string((*it)->GetRuntimeClass()->className) +
-			(*it)->sensorLabel;
-		if (IS_CLASS(*it, CObservation2DRangeScan))
+			std::string(it->GetRuntimeClass()->className) +
+			it->sensorLabel;
+		if (IS_CLASS(it, CObservation2DRangeScan))
 		{
 			CObservation2DRangeScan::Ptr obs =
-				std::dynamic_pointer_cast<CObservation2DRangeScan>(*it);
+				std::dynamic_pointer_cast<CObservation2DRangeScan>(it);
 			wereScans = true;
 			if (tim_last == INVALID_TIMESTAMP || tim_last < obs->timestamp)
 				tim_last = obs->timestamp;
@@ -418,10 +417,10 @@ void CScanAnimation::BuildMapAndRefresh(CSensoryFrame* sf)
 				m_plot3D->getOpenGLSceneRef()->insert(gl_obj);
 			}
 		}
-		else if (IS_CLASS(*it, CObservation3DRangeScan))
+		else if (IS_CLASS(it, CObservation3DRangeScan))
 		{
 			CObservation3DRangeScan::Ptr obs =
-				std::dynamic_pointer_cast<CObservation3DRangeScan>(*it);
+				std::dynamic_pointer_cast<CObservation3DRangeScan>(it);
 			wereScans = true;
 			if (tim_last == INVALID_TIMESTAMP || tim_last < obs->timestamp)
 				tim_last = obs->timestamp;
@@ -461,10 +460,10 @@ void CScanAnimation::BuildMapAndRefresh(CSensoryFrame* sf)
 			// Add to list:
 			//				m_lstScans[obs->sensorLabel] = obs;
 		}
-		else if (IS_CLASS(*it, CObservationVelodyneScan))
+		else if (IS_CLASS(it, CObservationVelodyneScan))
 		{
 			CObservationVelodyneScan::Ptr obs =
-				std::dynamic_pointer_cast<CObservationVelodyneScan>(*it);
+				std::dynamic_pointer_cast<CObservationVelodyneScan>(it);
 			wereScans = true;
 			if (tim_last == INVALID_TIMESTAMP || tim_last < obs->timestamp)
 				tim_last = obs->timestamp;
@@ -534,10 +533,10 @@ void CScanAnimation::BuildMapAndRefresh(CSensoryFrame* sf)
 
 	// Post-process: unload 3D observations.
 	for (auto& o : *sf) o->unload();
-	for (size_t i = 0; i < obs3D_to_clear.size(); i++)
+	for (auto & i : obs3D_to_clear)
 	{
-		obs3D_to_clear[i]->resizePoints3DVectors(0);
-		obs3D_to_clear[i]->hasPoints3D = false;
+		i->resizePoints3DVectors(0);
+		i->hasPoints3D = false;
 	}
 
 	WX_END_TRY

apps/RawLogViewer/main_convert_ops.cpp

@@ -240,14 +240,13 @@ void xRawLogViewerFrame::OnMenuLossLessDecimate(wxCommandEvent& event)
 					CPose3D inv_incrPose3D(
 						CPose3D(0, 0, 0) - CPose3D(incrPose));
 
-					for (CSensoryFrame::iterator it = accum_sf->begin();
-						 it != accum_sf->end(); ++it)
+					for (auto & it : *accum_sf)
 					{
 						CPose3D tmpPose;
 
-						(*it)->getSensorPose(tmpPose);
+						it->getSensorPose(tmpPose);
 						tmpPose = inv_incrPose3D + tmpPose;
-						(*it)->setSensorPose(tmpPose);
+						it->setSensorPose(tmpPose);
 					}
 				}
 
@@ -456,14 +455,13 @@ void xRawLogViewerFrame::OnMenuLossLessDecFILE(wxCommandEvent& event)
 						CPose3D inv_incrPose3D(
 							CPose3D(0, 0, 0) - CPose3D(incrPose));
 
-						for (CSensoryFrame::iterator it = accum_sf->begin();
-							 it != accum_sf->end(); ++it)
+						for (auto & it : *accum_sf)
 						{
 							CPose3D tmpPose;
 
-							(*it)->getSensorPose(tmpPose);
+							it->getSensorPose(tmpPose);
 							tmpPose = inv_incrPose3D + tmpPose;
-							(*it)->setSensorPose(tmpPose);
+							it->setSensorPose(tmpPose);
 						}
 					}
 
@@ -732,12 +730,11 @@ void xRawLogViewerFrame::OnMenuConvertObservationOnly(wxCommandEvent& event)
 			{
 				CSensoryFrame::Ptr SF(
 					std::dynamic_pointer_cast<CSensoryFrame>(newObj));
-				for (CSensoryFrame::iterator it = SF->begin(); it != SF->end();
-					 ++it)
+				for (auto & it : *SF)
 				{
 					time_ordered_list_observation.insert(
-						TTimeObservationPair((*it)->timestamp, (*it)));
-					lastValidObsTime = (*it)->timestamp;
+						TTimeObservationPair(it->timestamp, it));
+					lastValidObsTime = it->timestamp;
 				}
 			}
 			else if (newObj->GetRuntimeClass() == CLASS_ID(CActionCollection))
@@ -876,10 +873,9 @@ void xRawLogViewerFrame::OnMenuResortByTimestamp(wxCommandEvent& event)
 	CRawlog temp_rawlog;
 	temp_rawlog.setCommentText(rawlog.getCommentText());
 
-	for (std::multimap<TTimeStamp, size_t>::iterator it = ordered_times.begin();
-		 it != ordered_times.end(); ++it)
+	for (auto & ordered_time : ordered_times)
 	{
-		size_t idx = it->second;
+		size_t idx = ordered_time.second;
 		temp_rawlog.addObservationMemoryReference(rawlog.getAsObservation(idx));
 	}
 
@@ -933,12 +929,12 @@ void xRawLogViewerFrame::OnMenuShiftTimestampsByLabel(wxCommandEvent& event)
 			{
 				CSensoryFrame::Ptr sf = rawlog.getAsObservations(i);
 				CObservation::Ptr o;
-				for (size_t k = 0; k < the_labels.size(); k++)
+				for (const auto & the_label : the_labels)
 				{
 					size_t idx = 0;
 					while (
 						(o = sf->getObservationBySensorLabel(
-							 the_labels[k], idx++)))
+							 the_label, idx++)))
 					{
 						o->timestamp += DeltaTime;
 						nChanges++;
@@ -951,8 +947,8 @@ void xRawLogViewerFrame::OnMenuShiftTimestampsByLabel(wxCommandEvent& event)
 			{
 				CObservation::Ptr o = rawlog.getAsObservation(i);
 
-				for (size_t k = 0; k < the_labels.size(); k++)
-					if (o->sensorLabel == the_labels[k])
+				for (const auto & the_label : the_labels)
+					if (o->sensorLabel == the_label)
 					{
 						o->timestamp += DeltaTime;
 						nChanges++;