Update absl, add codeql action, fix bugs introduced when extracting c…

.github/workflows/codeql.yml

@@ -0,0 +1,57 @@
+name: "CodeQL"
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+  schedule:
+    - cron: '00 16 * * 3'
+
+jobs:
+  analyze:
+    name: Analyze
+    runs-on: ubuntu-latest
+    permissions:
+      actions: read
+      contents: read
+      security-events: write
+
+    strategy:
+      fail-fast: false
+      matrix:
+        language: [ 'cpp']
+        # CodeQL supports [ 'cpp', 'csharp', 'go', 'java', 'javascript', 'python', 'ruby' ]
+        # Learn more about CodeQL language support at https://aka.ms/codeql-docs/language-support
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v3
+      with:
+        token: ${{secrets.X_EDR_REPO_PAK}}
+        submodules: 'true'
+
+    # Initializes the CodeQL tools for scanning.
+    - name: Initialize CodeQL
+      uses: github/codeql-action/init@v2
+      with:
+        languages: ${{ matrix.language }}
+        # If you wish to specify custom queries, you can do so here or in a config file.
+        # By default, queries listed here will override any specified in a config file.
+        # Prefix the list here with "+" to use these queries and those in the config file.
+
+        # Details on CodeQL's query packs refer to : https://docs.github.com/en/code-security/code-scanning/automatically-scanning-your-code-for-vulnerabilities-and-errors/configuring-code-scanning#using-queries-in-ql-packs
+        # queries: security-extended,security-and-quality
+
+
+    # ℹ️ Command-line programs to run using the OS shell.
+    # 📚 See https://docs.github.com/en/actions/using-workflows/workflow-syntax-for-github-actions#jobsjob_idstepsrun
+    - name: Build and Test
+      run: |
+        bazel build -c opt --config=libc++ trajectory_planning:all
+        bazel test -c opt --config=libc++ trajectory_planning:all
+
+    - name: Perform CodeQL Analysis
+      uses: github/codeql-action/analyze@v2
+      with:
+        category: "/language:${{matrix.language}}"

.gitmodules

@@ -0,0 +1,6 @@
+[submodule "third_party/x-edr-eigenmath"]
+	path = third_party/x-edr-eigenmath
+	url = https://github.com/theteamatx/x-edr-eigenmath.git
+[submodule "third_party/x-edr-genit"]
+	path = third_party/x-edr-genit
+	url = https://github.com/theteamatx/x-edr-genit.git

WORKSPACE

@@ -22,20 +22,20 @@ http_archive(
 )
 
 abseil_ref = "refs/tags"
-abseil_ver = "20230125.0"
+abseil_ver = "20230125.3"
 http_archive(
     name = "com_google_absl",
-    sha256 = "3ea49a7d97421b88a8c48a0de16c16048e17725c7ec0f1d3ea2683a2a75adc21",
+    sha256 = "5366d7e7fa7ba0d915014d387b66d0d002c03236448e1ba9ef98122c13b35c36",
     strip_prefix = "abseil-cpp-%s" % abseil_ver,
     url = "https://github.com/abseil/abseil-cpp/archive/%s/%s.tar.gz" % (abseil_ref, abseil_ver),
 )
 
 local_repository(
     name = "eigenmath",
-    path = "third_party/eigenmath",
+    path = "third_party/x-edr-eigenmath",
 )
 
 local_repository(
     name = "genit",
-    path = "third_party/genit",
-)
+    path = "third_party/x-edr-genit",
+)

trajectory_planning/path_timing_trajectory.cc

@@ -206,7 +206,8 @@ int PathTimingTrajectoryOptions::GetMaxPlanningIterations() const {
 PathTimingTrajectory::PathTimingTrajectory(
     const PathTimingTrajectoryOptions& options)
     : options_(options),
-      time_step_sec_(options.GetTimeStep() / absl::Seconds(1)) {
+      time_step_sec_(TimeToSec(absl::time_internal::FromUnixDuration(
+          options.GetTimeStep()))) {
   Reset();
 }
 

trajectory_planning/path_timing_trajectory_test.cc

@@ -57,7 +57,6 @@ using ::testing::ElementsAreArray;
 using ::testing::Pointwise;
 
 constexpr bool kVerboseDebugPrinting = true;
-constexpr double kSmall = 1e-4;
 constexpr size_t kNDof = 3;
 constexpr size_t kNumSamples = 1000;
 constexpr absl::Duration kTimeStep = absl::Milliseconds(4);

trajectory_planning/timeable_path_cartesian_spline.cc

@@ -229,7 +229,8 @@ absl::Status TimeableCartesianSplinePath::SwitchToWaypointPath(
   std::vector<eigenmath::Vector3d> translation_waypoints;
   translation_waypoints.reserve(pose_waypoints.size());
   std::transform(pose_waypoints.begin(), pose_waypoints.end(),
-                 translation_waypoints.begin(), kExtractTranslation);
+                 std::back_inserter(translation_waypoints),
+                 kExtractTranslation);
   const auto translation_projection_status = ProjectPointOnPath(
       absl::Span<const eigenmath::Vector3d>(translation_waypoints),
       switch_translation);

trajectory_planning/trajectory_buffer_test.cc

@@ -513,14 +513,14 @@ TEST(TrajectorBuffer, GetPositionAtTime) {
   // appended above.
   for (int i = 0; i < trajectory.times.size(); ++i) {
     ASSERT_OK_AND_ASSIGN(
-        const VectorXd& position,
+        const VectorXd position,
         buffer->GetPositionAtTime(TimeFromSec(trajectory.times[i])));
 
     EXPECT_THAT(position, IsApprox(trajectory.positions[i], 1e-10))
         << " i= " << i << " trajectory size: " << trajectory.times.size();
 
     ASSERT_OK_AND_ASSIGN(
-        const VectorXd& velocity,
+        const VectorXd velocity,
         buffer->GetVelocityAtTime(TimeFromSec(trajectory.times[i])));
     EXPECT_THAT(velocity, IsApprox(trajectory.velocities[i], 1e-10))
         << " i= " << i << " trajectory size: " << trajectory.times.size();