Compiler options

orocos_kdl/CMakeLists.txt

@@ -23,6 +23,8 @@ MESSAGE( STATUS "Orocos KDL version ${VERSION} (${KDL_VERSION_MAJOR}.${KDL_VERSI
 SET( PROJ_SOURCE_DIR ${orocos_kdl_SOURCE_DIR} )
 SET( PROJ_BINARY_DIR ${orocos_kdl_BINARY_DIR} )
 
+include(GNUInstallDirs)
+
 # catkin-specific configuration (optional)
 find_package(catkin QUIET)
 if(catkin_FOUND)
@@ -47,20 +49,23 @@ ELSE ( NOT CMAKE_BUILD_TYPE )
   MESSAGE( STATUS "Build type set to '${CMAKE_BUILD_TYPE}' by user." )
 ENDIF ( NOT CMAKE_BUILD_TYPE )
 
-SET( KDL_CFLAGS "")
+if(MSVC)
+  add_compile_options(/W4 /WX)
+else(MSVC)
+  add_compile_options(-Wall -Werror=all -Wextra -Werror=extra)
+endif(MSVC)
 
 find_package(Eigen3 QUIET)
 if(NOT EIGEN3_FOUND)
   include(${PROJ_SOURCE_DIR}/cmake/FindEigen3.cmake)
 endif()
-include_directories(${EIGEN3_INCLUDE_DIR})
+include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR})
 SET(KDL_CFLAGS "${KDL_CFLAGS} -I\"${EIGEN3_INCLUDE_DIR}\"")
 
 # Check the platform STL containers capabilities
 include(cmake/CheckSTLContainers.cmake)
 CHECK_STL_CONTAINERS()
-
-# Set the default option appropriately
+# Set the default option accordingly
 if(HAVE_STL_CONTAINER_INCOMPLETE_TYPES)
     set(KDL_USE_NEW_TREE_INTERFACE_DEFAULT OFF)
 else(HAVE_STL_CONTAINER_INCOMPLETE_TYPES)
@@ -80,7 +85,7 @@ endif()
 if(KDL_USE_NEW_TREE_INTERFACE)
     # We need shared_ptr from boost since not all compilers are c++11 capable
     find_package(Boost REQUIRED)
-    include_directories(${Boost_INCLUDE_DIRS})
+    include_directories(SYSTEM ${Boost_INCLUDE_DIRS})
 endif(KDL_USE_NEW_TREE_INTERFACE)
 
 OPTION(ENABLE_TESTS OFF "Enable building of tests")
@@ -112,20 +117,42 @@ export(TARGETS orocos-kdl
 
 export(PACKAGE orocos_kdl)
 
+include(CMakePackageConfigHelpers)
 # Generate CMake package configuration
-CONFIGURE_FILE(orocos_kdl-config.cmake.in
-  ${PROJECT_BINARY_DIR}/orocos_kdl-config.cmake @ONLY)
-CONFIGURE_FILE(orocos_kdl-config-version.cmake.in
-  ${PROJECT_BINARY_DIR}/orocos_kdl-config-version.cmake @ONLY)
-
-INSTALL(FILES cmake/FindEigen3.cmake DESTINATION share/orocos_kdl/cmake)
-INSTALL(FILES ${PROJECT_BINARY_DIR}/orocos_kdl-config.cmake DESTINATION share/orocos_kdl/cmake)
-INSTALL(FILES ${PROJECT_BINARY_DIR}/orocos_kdl-config-version.cmake DESTINATION share/orocos_kdl/cmake)
-INSTALL(EXPORT OrocosKDLTargets DESTINATION share/orocos_kdl/cmake)
+configure_package_config_file(${CMAKE_CURRENT_SOURCE_DIR}/orocos_kdl-config.cmake.in
+  ${PROJECT_BINARY_DIR}/orocos_kdl-config.cmake
+  INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/orocos_kdl
+)
+
+write_basic_package_version_file(
+  ${PROJECT_BINARY_DIR}/orocos_kdl-config-version.cmake
+  VERSION ${KDL_VERSION}
+  COMPATIBILITY SameMajorVersion
+)
+
+install(
+  FILES
+    ${PROJECT_BINARY_DIR}/orocos_kdl-config.cmake
+    ${PROJECT_BINARY_DIR}/orocos_kdl-config-version.cmake
+  DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/orocos_kdl
+)
+
+INSTALL(FILES cmake/FindEigen3.cmake DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/orocos_kdl)
+INSTALL(EXPORT OrocosKDLTargets DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/orocos_kdl)
 
 # Generate pkg-config package configuration
-CONFIGURE_FILE(orocos_kdl.pc.in ${CMAKE_CURRENT_BINARY_DIR}/orocos-kdl.pc @ONLY)
-CONFIGURE_FILE(orocos_kdl.pc.in ${CMAKE_CURRENT_BINARY_DIR}/orocos_kdl.pc @ONLY)
-
-INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/orocos-kdl.pc DESTINATION lib${LIB_SUFFIX}/pkgconfig)
-INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/orocos_kdl.pc DESTINATION lib${LIB_SUFFIX}/pkgconfig)
+configure_package_config_file(${CMAKE_CURRENT_SOURCE_DIR}/orocos_kdl.pc.in
+  ${PROJECT_BINARY_DIR}/orocos_kdl.pc
+  INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig
+)
+configure_package_config_file(${CMAKE_CURRENT_SOURCE_DIR}/orocos_kdl.pc.in
+  ${PROJECT_BINARY_DIR}/orocos-kdl.pc
+  INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig
+)
+
+install(
+  FILES
+    ${PROJECT_BINARY_DIR}/orocos_kdl.pc
+    ${PROJECT_BINARY_DIR}/orocos-kdl.pc
+  DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig
+)

orocos_kdl/src/CMakeLists.txt

@@ -58,7 +58,6 @@ TARGET_INCLUDE_DIRECTORIES(orocos-kdl PUBLIC
 SET_TARGET_PROPERTIES( orocos-kdl PROPERTIES
   SOVERSION "${KDL_VERSION_MAJOR}.${KDL_VERSION_MINOR}"
   VERSION "${KDL_VERSION}"
-  COMPILE_FLAGS "${CMAKE_CXX_FLAGS_ADD} ${KDL_CFLAGS}"
   PUBLIC_HEADER "${KDL_HPPS};${CMAKE_CURRENT_BINARY_DIR}/config.h"
   )
 

orocos_kdl/src/chainfdsolver_recursive_newton_euler.cpp

@@ -92,7 +92,7 @@ namespace KDL{
         return (error = E_NOERROR);
     }
 
-    void ChainFdSolver_RNE::RK4Integrator(unsigned int& nj, const double& t, double& dt, KDL::JntArray& q, KDL::JntArray& q_dot,
+    void ChainFdSolver_RNE::RK4Integrator(unsigned int& nj, const double& /*t*/, double& dt, KDL::JntArray& q, KDL::JntArray& q_dot,
                                           KDL::JntArray& torques, KDL::Wrenches& f_ext, KDL::ChainFdSolver_RNE& fdsolver,
                                           KDL::JntArray& q_dotdot, KDL::JntArray& dq, KDL::JntArray& dq_dot,
                                           KDL::JntArray& q_temp, KDL::JntArray& q_dot_temp)

orocos_kdl/src/chainhdsolver_vereshchagin.cpp

@@ -74,7 +74,7 @@ int ChainHdSolver_Vereshchagin::CartToJnt(const JntArray &q, const JntArray &q_d
     return (error = E_NOERROR);
 }
 
-void ChainHdSolver_Vereshchagin::initial_upwards_sweep(const JntArray &q, const JntArray &qdot, const JntArray &qdotdot, const Wrenches& f_ext)
+void ChainHdSolver_Vereshchagin::initial_upwards_sweep(const JntArray &q, const JntArray &qdot, const JntArray &/*qdotdot*/, const Wrenches& f_ext)
 {
     //if (q.rows() != nj || qdot.rows() != nj || qdotdot.rows() != nj || f_ext.size() != ns)
     //        return -1;

orocos_kdl/src/frameacc.hpp

@@ -66,6 +66,7 @@ class VectorAcc
     Vector dv;  //!< acceleration vector
 public:
     VectorAcc():p(),v(),dv() {}
+    VectorAcc(const VectorAcc& arg) = default;
     explicit VectorAcc(const Vector& _p):p(_p),v(Vector::Zero()),dv(Vector::Zero()) {}
     VectorAcc(const Vector& _p,const Vector& _v):p(_p),v(_v),dv(Vector::Zero()) {}
     VectorAcc(const Vector& _p,const Vector& _v,const Vector& _dv):
@@ -114,6 +115,7 @@ class RotationAcc
     Vector   dw;    //!< angular acceration vector
 public:
     RotationAcc():R(),w() {}
+    RotationAcc(const RotationAcc& arg) = default;
     explicit RotationAcc(const Rotation& _R):R(_R),w(Vector::Zero()){}
     RotationAcc(const Rotation& _R,const Vector& _w,const Vector& _dw):
         R(_R),w(_w),dw(_dw) {}
@@ -166,6 +168,7 @@ class FrameAcc
     VectorAcc   p;   //!< Translation, velocity and acceleration of origin.
 public:
     FrameAcc(){}
+    FrameAcc(const FrameAcc& arg) = default;
     explicit FrameAcc(const Frame& _T):M(_T.M),p(_T.p) {}
     FrameAcc(const Frame& _T,const Twist& _t,const Twist& _dt):
         M(_T.M,_t.rot,_dt.rot),p(_T.p,_t.vel,_dt.vel) {}
@@ -205,6 +208,7 @@ class TwistAcc
 public:
 
      TwistAcc():vel(),rot() {};
+     TwistAcc(const TwistAcc& arg) = default;
      TwistAcc(const VectorAcc& _vel,const VectorAcc& _rot):vel(_vel),rot(_rot) {};
 
      IMETHOD TwistAcc& operator-=(const TwistAcc& arg);

orocos_kdl/src/framevel.hpp

@@ -92,6 +92,7 @@ class VectorVel
     Vector v;       // velocity vector
 public:
     VectorVel():p(),v(){}
+    VectorVel(const VectorVel& arg) = default;
     VectorVel(const Vector& _p,const Vector& _v):p(_p),v(_v) {}
     explicit VectorVel(const Vector& _p):p(_p),v(Vector::Zero()) {}
 
@@ -154,6 +155,7 @@ class RotationVel
     Vector   w; // rotation vector
 public:
     RotationVel():R(),w() {}
+    RotationVel(const RotationVel& arg) = default;
     explicit RotationVel(const Rotation& _R):R(_R),w(Vector::Zero()){}
     RotationVel(const Rotation& _R,const Vector& _w):R(_R),w(_w){}
 
@@ -219,6 +221,7 @@ class FrameVel
     VectorVel   p;
 public:
     FrameVel(){}
+    FrameVel(const FrameVel& arg) = default;
 
     explicit FrameVel(const Frame& _T):
         M(_T.M),p(_T.p) {}
@@ -277,6 +280,7 @@ class TwistVel
 
 // = Constructors
     TwistVel():vel(),rot() {};
+    TwistVel(const TwistVel& arg) = default;
     TwistVel(const VectorVel& _vel,const VectorVel& _rot):vel(_vel),rot(_rot) {};
     TwistVel(const Twist& p,const Twist& v):vel(p.vel, v.vel), rot( p.rot, v.rot) {};
     TwistVel(const Twist& p):vel(p.vel), rot( p.rot) {};

orocos_kdl/src/jntarray.cpp

@@ -55,15 +55,13 @@ namespace KDL
         data.conservativeResizeLike(Eigen::VectorXd::Zero(newSize));
     }
 
-    double JntArray::operator()(unsigned int i,unsigned int j)const
+    double JntArray::operator()(unsigned int i,unsigned int /*j*/)const
     {
-        assert(j==0);
         return data(i);
     }
 
-    double& JntArray::operator()(unsigned int i,unsigned int j)
+    double& JntArray::operator()(unsigned int i,unsigned int /*j*/)
     {
-        assert(j==0);
         return data(i);
     }
 

orocos_kdl/src/kinfam_io.cpp

@@ -29,7 +29,7 @@ std::ostream& operator <<(std::ostream& os, const Joint& joint) {
               <<", axis: "<<joint.JointAxis() << ", origin"<<joint.JointOrigin()<<"]";
 }
 
-std::istream& operator >>(std::istream& is, Joint& joint) {
+std::istream& operator >>(std::istream& is, Joint& /*joint*/) {
 	return is;
 }
 
@@ -38,7 +38,7 @@ std::ostream& operator <<(std::ostream& os, const Segment& segment) {
 	return os;
 }
 
-std::istream& operator >>(std::istream& is, Segment& segment) {
+std::istream& operator >>(std::istream& is, Segment& /*segment*/) {
 	return is;
 }
 
@@ -50,7 +50,7 @@ std::ostream& operator <<(std::ostream& os, const Chain& chain) {
 	return os;
 }
 
-std::istream& operator >>(std::istream& is, Chain& chain) {
+std::istream& operator >>(std::istream& is, Chain& /*chain*/) {
 	return is;
 }
 
@@ -68,7 +68,7 @@ std::ostream& operator <<(std::ostream& os, SegmentMap::const_iterator root) {
 	return os << "\n";
 }
 
-std::istream& operator >>(std::istream& is, Tree& tree) {
+std::istream& operator >>(std::istream& is, Tree& /*tree*/) {
 	return is;
 }
 
@@ -80,7 +80,7 @@ std::ostream& operator <<(std::ostream& os, const JntArray& array) {
 	return os;
 }
 
-std::istream& operator >>(std::istream& is, JntArray& array) {
+std::istream& operator >>(std::istream& is, JntArray& /*array*/) {
 	return is;
 }
 
@@ -95,7 +95,7 @@ std::ostream& operator <<(std::ostream& os, const Jacobian& jac) {
 	return os;
 }
 
-std::istream& operator >>(std::istream& is, Jacobian& jac) {
+std::istream& operator >>(std::istream& is, Jacobian& /*jac*/) {
 	return is;
 }
 std::ostream& operator <<(std::ostream& os, const JntSpaceInertiaMatrix& jntspaceinertiamatrix) {
@@ -109,7 +109,7 @@ std::ostream& operator <<(std::ostream& os, const JntSpaceInertiaMatrix& jntspac
 	return os;
 }
 
-std::istream& operator >>(std::istream& is, JntSpaceInertiaMatrix& jntspaceinertiamatrix) {
+std::istream& operator >>(std::istream& is, JntSpaceInertiaMatrix& /*jntspaceinertiamatrix*/) {
 	return is;
 }
 

orocos_kdl/src/path_composite.cpp

@@ -85,7 +85,7 @@ void Path_Composite::Add(Path* geom, bool aggregate ) {
 	gv.insert( gv.end(),std::make_pair(geom,aggregate) );
 }
 
-double Path_Composite::LengthToS(double length) {
+double Path_Composite::LengthToS(double /*length*/) {
 	throw Error_MotionPlanning_Not_Applicable();
 	return 0;
 }

orocos_kdl/src/path_cyclic_closed.cpp

@@ -48,7 +48,7 @@ namespace KDL {
 Path_Cyclic_Closed::Path_Cyclic_Closed(Path* _geom,int _times, bool _aggregate):
 times(_times),geom(_geom), aggregate(_aggregate) {}
 
-double Path_Cyclic_Closed::LengthToS(double length) {
+double Path_Cyclic_Closed::LengthToS(double /*length*/) {
 	throw Error_MotionPlanning_Not_Applicable();
 	return 0;
 }

orocos_kdl/src/path_point.cpp

@@ -55,15 +55,15 @@ double Path_Point::LengthToS(double length) {
 double Path_Point::PathLength(){
 	return 0;
 }
-Frame Path_Point::Pos(double s) const  {
+Frame Path_Point::Pos(double /*s*/) const  {
 	return F_base_start;
 }
 
-Twist Path_Point::Vel(double s,double sd) const  {
+Twist Path_Point::Vel(double /*s*/,double /*sd*/) const  {
 	return Twist::Zero();
 }
 
-Twist Path_Point::Acc(double s,double sd,double sdd) const  {
+Twist Path_Point::Acc(double /*s*/,double /*sd*/,double /*sdd*/) const  {
 	return Twist::Zero();
 }
 

orocos_kdl/src/rigidbodyinertia.cpp

@@ -27,7 +27,7 @@ namespace KDL{
 
     const static bool mhi=true;
 
-    RigidBodyInertia::RigidBodyInertia(double m_,const Vector& h_,const RotationalInertia& I_,bool mhi):
+    RigidBodyInertia::RigidBodyInertia(double m_,const Vector& h_,const RotationalInertia& I_,bool /*mhi*/):
         m(m_),h(h_),I(I_)
     {
     }

orocos_kdl/src/rotational_interpolation_sa.cpp

@@ -60,11 +60,11 @@ Rotation RotationalInterpolation_SingleAxis::Pos(double theta) const {
 	return R_base_start* Rotation::Rot2(rot_start_end,theta);
 }
 
-Vector RotationalInterpolation_SingleAxis::Vel(double theta,double thetad) const {
+Vector RotationalInterpolation_SingleAxis::Vel(double /*theta*/,double thetad) const {
 	return R_base_start * ( rot_start_end*thetad );
 }
 
-Vector RotationalInterpolation_SingleAxis::Acc(double theta,double thetad,double thetadd) const {
+Vector RotationalInterpolation_SingleAxis::Acc(double /*theta*/,double /*thetad*/,double thetadd) const {
 	return R_base_start * ( rot_start_end* thetadd);
 }
 
@@ -85,4 +85,3 @@ RotationalInterpolation* RotationalInterpolation_SingleAxis::Clone() const {
 }
 
 }
-

orocos_kdl/src/trajectory_stationary.hpp

@@ -35,13 +35,13 @@ namespace KDL {
 		virtual double Duration() const {
 			return duration;
 		}
-		virtual Frame Pos(double time) const {
+        virtual Frame Pos(double /*time*/) const {
 			return pos;
 		}
-		virtual Twist Vel(double time) const {
+        virtual Twist Vel(double /*time*/) const {
 			return Twist::Zero();
 		}
-		virtual Twist Acc(double time) const {
+        virtual Twist Acc(double /*time*/) const {
 			return Twist::Zero();
 		}
 		virtual void Write(std::ostream& os) const;