systems 4About Me Other interests: Game engines Meta-programming 5Robot path planning 6Robot path planning Path planning 7Path planning How an (autonomous) agent figures out how to get from one location 28High level goals of this talk Implement cache-friendly path planning code in C++ 29High level goals of this talk Implement cache-friendly path planning code in C++ Do so using the STL 30High level talk Implement cache-friendly path planning code in C++ Do so using the STL Try to keep our choices simple 31High level goals of this talk Implement cache-friendly path planning code in C++ Do so using

Finding Bugs using Path-Sensitive Static Analysis Gábor Horváth Gabor.Horvath@microsoft.com @XazaxHunWelcome to CppCon 2021! Join #visual_studio channel on CppCon Discord https://aka.ms/cppcon/discord the latest announcements Take our survey https://aka.ms/cppconAgenda • Intro to path-sensitive static analysis • Path-sensitive checks in MSVC • A look under the hood • Upcoming features • Lessons taking branch 3 • All warnings on infeasible paths are noise • Need info on the whole state! void path_sensitive(int *p, bool cond) { int var = 0; // branch 1 if (p != nullptr) { var =

occupancy map at all times ● Solution: The robot will send a request to a ROS 2 service that generates a path from the robot’s current location and goal location, given an occupancy map Clip from https://www PathGenerator( rclcpp::NodeOptions const& options = rclcpp::NodeOptions{}) : Node("path_generator", options); private: void set_map_service( const std::shared_ptr equest> request, std::shared_ptr response); void generate_path_service( const std::shared_ptr request, std::shared_ptr

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Performance constraints 5. Comparing and contrastingPerformance constraint compilation flags -Wfunction-effects -Wperf-constraint-implies-noexceptPerformance constraint function attributes [[clang::nonallocating]] [-Wfunction-effects] 16 | float* v = new float[100]; 1. Add [[clang::nonallocating]] to a function. 2. Compile with warning flags [[clang::nonallocating]] -Wfunction-effects -Wperf-con 'std::mutex::lock' [-Wfunction-effects] 5 | m.lock(); [[clang::nonblocking]] 1. Add [[clang::nonblocking]] to a function. 2. Compile with warning flags -Wfunction-effects -Wperf-constraint-implie

Structure is Quantifiably Correct Visibility Point ▶ Identify an instruction in which the entire effects of the method become visible ▶ Demonstrates: ▶ Atomicity ▶ Isolation Method Call Conservation call completes its operation on the successful code path ▶ A method call’s pending request is stored in the data structure on the unsuccessful code path ▶ A method call’s pending request is fulfilled by the result? (not binary) Problem Existing metrics are not capable of measuring the performance effects of a correctness condition because they neglect the delays in method calls. Design and Implementation

Encapsulates computations with context, allowing for the chaining of operations while managing side effects or state through a standardized interface.Composition - Return Values Compose two functions (f1 https://godbolt.org/z/xn7vb3EbvMultiple Control Flows Validate each control flow path separately template struct control_flow_path { int action_index; std::vector actions; };Find Control control flow paths in a function while (path.action_index != actions.size()) { auto action = actions[path.action_index]; if (is_branch(action)) { auto other = path; other.next_index = skip_branch(actions

complete list of dedicated Conan courses, see the Conan series page here: • https://academy.jfrog.com/path/conan Finally, here is a brief video introducing the series: 7 Conan Documentation, Release 1.36 restart (shell restart, or logout/system if not enough) after installation, so Conan is found in the path. • In Windows, Python 3 installation can fail installing the wrapt dependency because of a bug in usually a new directory is created for it. However, the directory is not appended automatically to the PATH and the conan commands do not work. This can usually be solved restarting the session of the terminal

complete list of dedicated Conan courses, see the Conan series page here: • https://academy.jfrog.com/path/conan Finally, here is a brief video introducing the series: 7 Conan Documentation, Release 1.35 restart (shell restart, or logout/system if not enough) after installation, so Conan is found in the path. • In Windows, Python 3 installation can fail installing the wrapt dependency because of a bug in usually a new directory is created for it. However, the directory is not appended automatically to the PATH and the conan commands do not work. This can usually be solved restarting the session of the terminal

complete list of dedicated Conan courses, see the Conan series page here: • https://academy.jfrog.com/path/conan Finally, here is a brief video introducing the series: 7 Conan Documentation, Release 1.34 restart (shell restart, or logout/system if not enough) after installation, so Conan is found in the path. • In Windows, Python 3 installation can fail installing the wrapt dependency because of a bug in usually a new directory is created for it. However, the directory is not appended automatically to the PATH and the conan commands do not work. This can usually be solved restarting the session of the terminal

complete list of dedicated Conan courses, see the Conan series page here: • https://academy.jfrog.com/path/conan Finally, here is a brief video introducing the series: 7 Conan Documentation, Release 1.33 restart (shell restart, or logout/system if not enough) after installation, so Conan is found in the path. • In Windows, Python 3 installation can fail installing the wrapt dependency because of a bug in usually a new directory is created for it. However, the directory is not appended automatically to the PATH and the conan commands do not work. This can usually be solved restarting the session of the terminal