Merge pull request #601 from wxmerkt/topic/wxm-fix-bunch-of-warnings

coal-library · Jun 28, 2024 · 2a7e554 · 2a7e554
2 parents 4674799 + a7afd25
commit 2a7e554
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Showing 9 changed files with 140 additions and 96 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -25,6 +25,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ### Fixed
 
+- Compiler warnings ([#601](https://github.com/humanoid-path-planner/hpp-fcl/pull/601))
 - CMake: fix assimp finder
 - Don't define GCC7 Boost serialization hack when `HPP_FCL_SKIP_EIGEN_BOOST_SERIALIZATION` is defined ([#530](https://github.com/humanoid-path-planner/hpp-fcl/pull/530))
 - Default parameters for narrowphase algorithms (GJK and EPA); fixed assertion checks that were sometimes failing in GJK simplex projection and BVH `collide` ([#531](https://github.com/humanoid-path-planner/hpp-fcl/pull/531)).

diff --git a/include/hpp/fcl/internal/shape_shape_contact_patch_func.h b/include/hpp/fcl/internal/shape_shape_contact_patch_func.h
@@ -201,8 +201,8 @@ void computePatchPlaneOrHalfspace(const OtherShapeType& s1,
     }                                                                         \
   };
 
-PLANE_OR_HSPACE_AND_OTHER_SHAPE_CONTACT_PATCH(Plane);
-PLANE_OR_HSPACE_AND_OTHER_SHAPE_CONTACT_PATCH(Halfspace);
+PLANE_OR_HSPACE_AND_OTHER_SHAPE_CONTACT_PATCH(Plane)
+PLANE_OR_HSPACE_AND_OTHER_SHAPE_CONTACT_PATCH(Halfspace)
 
 #define PLANE_HSPACE_CONTACT_PATCH(PlaneOrHspace1, PlaneOrHspace2)           \
   template <>                                                                \
@@ -241,10 +241,10 @@ PLANE_OR_HSPACE_AND_OTHER_SHAPE_CONTACT_PATCH(Halfspace);
     }                                                                        \
   };
 
-PLANE_HSPACE_CONTACT_PATCH(Plane, Plane);
-PLANE_HSPACE_CONTACT_PATCH(Plane, Halfspace);
-PLANE_HSPACE_CONTACT_PATCH(Halfspace, Plane);
-PLANE_HSPACE_CONTACT_PATCH(Halfspace, Halfspace);
+PLANE_HSPACE_CONTACT_PATCH(Plane, Plane)
+PLANE_HSPACE_CONTACT_PATCH(Plane, Halfspace)
+PLANE_HSPACE_CONTACT_PATCH(Halfspace, Plane)
+PLANE_HSPACE_CONTACT_PATCH(Halfspace, Halfspace)
 
 #undef PLANE_OR_HSPACE_AND_OTHER_SHAPE_CONTACT_PATCH
 #undef PLANE_HSPACE_CONTACT_PATCH

diff --git a/include/hpp/fcl/internal/shape_shape_func.h b/include/hpp/fcl/internal/shape_shape_func.h
@@ -278,32 +278,32 @@ std::size_t ShapeShapeCollide(const CollisionGeometry* o1,
     return result.min_distance;                                                \
   }
 
-SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Box, Halfspace);
-SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Box, Plane);
-SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Box, Sphere);
-SHAPE_SELF_DISTANCE_SPECIALIZATION(Capsule);
-SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Capsule, Halfspace);
-SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Capsule, Plane);
-SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cone, Halfspace);
-SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cone, Plane);
-SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cylinder, Halfspace);
-SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cylinder, Plane);
-SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere, Halfspace);
-SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere, Plane);
-SHAPE_SELF_DISTANCE_SPECIALIZATION(Sphere);
-SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere, Cylinder);
-SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere, Capsule);
-SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Ellipsoid, Halfspace);
-SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Ellipsoid, Plane);
-SHAPE_SHAPE_DISTANCE_SPECIALIZATION(ConvexBase, Halfspace);
-SHAPE_SHAPE_DISTANCE_SPECIALIZATION(ConvexBase, Plane);
-SHAPE_SHAPE_DISTANCE_SPECIALIZATION(TriangleP, Halfspace);
-SHAPE_SHAPE_DISTANCE_SPECIALIZATION(TriangleP, Plane);
-SHAPE_SELF_DISTANCE_SPECIALIZATION(TriangleP);
-SHAPE_SHAPE_DISTANCE_SPECIALIZATION(TriangleP, Sphere);
-SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Plane, Halfspace);
-SHAPE_SELF_DISTANCE_SPECIALIZATION(Plane);
-SHAPE_SELF_DISTANCE_SPECIALIZATION(Halfspace);
+SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Box, Halfspace)
+SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Box, Plane)
+SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Box, Sphere)
+SHAPE_SELF_DISTANCE_SPECIALIZATION(Capsule)
+SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Capsule, Halfspace)
+SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Capsule, Plane)
+SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cone, Halfspace)
+SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cone, Plane)
+SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cylinder, Halfspace)
+SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Cylinder, Plane)
+SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere, Halfspace)
+SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere, Plane)
+SHAPE_SELF_DISTANCE_SPECIALIZATION(Sphere)
+SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere, Cylinder)
+SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Sphere, Capsule)
+SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Ellipsoid, Halfspace)
+SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Ellipsoid, Plane)
+SHAPE_SHAPE_DISTANCE_SPECIALIZATION(ConvexBase, Halfspace)
+SHAPE_SHAPE_DISTANCE_SPECIALIZATION(ConvexBase, Plane)
+SHAPE_SHAPE_DISTANCE_SPECIALIZATION(TriangleP, Halfspace)
+SHAPE_SHAPE_DISTANCE_SPECIALIZATION(TriangleP, Plane)
+SHAPE_SELF_DISTANCE_SPECIALIZATION(TriangleP)
+SHAPE_SHAPE_DISTANCE_SPECIALIZATION(TriangleP, Sphere)
+SHAPE_SHAPE_DISTANCE_SPECIALIZATION(Plane, Halfspace)
+SHAPE_SELF_DISTANCE_SPECIALIZATION(Plane)
+SHAPE_SELF_DISTANCE_SPECIALIZATION(Halfspace)
 
 #undef SHAPE_SHAPE_DISTANCE_SPECIALIZATION
 #undef SHAPE_SELF_DISTANCE_SPECIALIZATION

diff --git a/include/hpp/fcl/math/transform.h b/include/hpp/fcl/math/transform.h
@@ -234,7 +234,7 @@ inline Quatf uniformRandomQuaternion() {
   const FCL_REAL mult1 = std::sqrt(FCL_REAL(1.0) - u1);
   const FCL_REAL mult2 = std::sqrt(u1);
 
-  static const FCL_REAL PI_value = EIGEN_PI;
+  static const FCL_REAL PI_value = static_cast<FCL_REAL>(EIGEN_PI);
   FCL_REAL s2 = std::sin(2 * PI_value * u2);
   FCL_REAL c2 = std::cos(2 * PI_value * u2);
   FCL_REAL s3 = std::sin(2 * PI_value * u3);

diff --git a/include/hpp/fcl/serialization/contact_patch.h b/include/hpp/fcl/serialization/contact_patch.h
@@ -26,7 +26,7 @@ void serialize(Archive& ar, hpp::fcl::ContactPatch& contact_patch,
     }
     Eigen::Map<PolygonPoints> points_map(
         reinterpret_cast<FCL_REAL*>(contact_patch.points().data()), 2,
-        patch_size);
+        static_cast<Eigen::Index>(patch_size));
     ar& make_nvp("points", points_map);
   }
 

diff --git a/python/broadphase/broadphase.cc b/python/broadphase/broadphase.cc
@@ -44,8 +44,11 @@
 #include "hpp/fcl/broadphase/broadphase_interval_tree.h"
 #include "hpp/fcl/broadphase/broadphase_spatialhash.h"
 
+HPP_FCL_COMPILER_DIAGNOSTIC_PUSH
+HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
 #ifdef HPP_FCL_HAS_DOXYGEN_AUTODOC
 #include "doxygen_autodoc/functions.h"
+HPP_FCL_COMPILER_DIAGNOSTIC_POP
 #include "doxygen_autodoc/hpp/fcl/broadphase/default_broadphase_callbacks.h"
 // #include "doxygen_autodoc/hpp/fcl/broadphase/broadphase_dynamic_AABB_tree.h"
 // #include
@@ -62,6 +65,8 @@
 
 using namespace hpp::fcl;
 
+HPP_FCL_COMPILER_DIAGNOSTIC_PUSH
+HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
 void exposeBroadPhase() {
   CollisionCallBackBaseWrapper::expose();
   DistanceCallBackBaseWrapper::expose();
@@ -134,3 +139,4 @@ void exposeBroadPhase() {
                       bp::optional<unsigned int>>());
   }
 }
+HPP_FCL_COMPILER_DIAGNOSTIC_POP
diff --git a/python/collision.cc b/python/collision.cc
@@ -35,8 +35,11 @@
 #include <eigenpy/eigenpy.hpp>
 
 #include <hpp/fcl/fwd.hh>
+HPP_FCL_COMPILER_DIAGNOSTIC_PUSH
+HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
 #include <hpp/fcl/collision.h>
 #include <hpp/fcl/serialization/collision_data.h>
+HPP_FCL_COMPILER_DIAGNOSTIC_POP
 
 #include "fcl.hh"
 #include "deprecation.hh"
@@ -91,6 +94,8 @@ void exposeCollisionAPI() {
         .def("clear", &CPUTimes::clear, arg("self"), "Reset the time values.");
   }
 
+  HPP_FCL_COMPILER_DIAGNOSTIC_PUSH
+  HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
   if (!eigenpy::register_symbolic_link_to_registered_type<QueryRequest>()) {
     class_<QueryRequest>("QueryRequest", doxygen::class_doc<QueryRequest>(),
                          no_init)
@@ -127,7 +132,10 @@ void exposeCollisionAPI() {
         .DEF_RW_CLASS_ATTRIB(QueryRequest, enable_timings)
         .DEF_CLASS_FUNC(QueryRequest, updateGuess);
   }
+  HPP_FCL_COMPILER_DIAGNOSTIC_POP
 
+  HPP_FCL_COMPILER_DIAGNOSTIC_PUSH
+  HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
   if (!eigenpy::register_symbolic_link_to_registered_type<CollisionRequest>()) {
     class_<CollisionRequest, bases<QueryRequest> >(
         "CollisionRequest", doxygen::class_doc<CollisionRequest>(), no_init)
@@ -166,6 +174,7 @@ void exposeCollisionAPI() {
     class_<std::vector<CollisionRequest> >("StdVec_CollisionRequest")
         .def(vector_indexing_suite<std::vector<CollisionRequest> >());
   }
+  HPP_FCL_COMPILER_DIAGNOSTIC_POP
 
   if (!eigenpy::register_symbolic_link_to_registered_type<Contact>()) {
     class_<Contact>("Contact", doxygen::class_doc<Contact>(),

diff --git a/python/distance.cc b/python/distance.cc
@@ -36,10 +36,13 @@
 
 #include "fcl.hh"
 
+HPP_FCL_COMPILER_DIAGNOSTIC_PUSH
+HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
 #include <hpp/fcl/fwd.hh>
 #include <hpp/fcl/distance.h>
 #include <hpp/fcl/serialization/collision_data.h>
 #include "deprecation.hh"
+HPP_FCL_COMPILER_DIAGNOSTIC_POP
 
 #include "serializable.hh"
 
@@ -64,6 +67,8 @@ struct DistanceResultWrapper {
 };
 
 void exposeDistanceAPI() {
+  HPP_FCL_COMPILER_DIAGNOSTIC_PUSH
+  HPP_FCL_COMPILER_DIAGNOSTIC_IGNORED_DEPRECECATED_DECLARATIONS
   if (!eigenpy::register_symbolic_link_to_registered_type<DistanceRequest>()) {
     class_<DistanceRequest, bases<QueryRequest> >(
         "DistanceRequest", doxygen::class_doc<DistanceRequest>(),
@@ -105,6 +110,7 @@ void exposeDistanceAPI() {
         .DEF_RW_CLASS_ATTRIB(DistanceRequest, abs_err)
         .def(SerializableVisitor<DistanceRequest>());
   }
+  HPP_FCL_COMPILER_DIAGNOSTIC_POP
 
   if (!eigenpy::register_symbolic_link_to_registered_type<
           std::vector<DistanceRequest> >()) {