Fix Mac OS clang compiler warnings (#496)

tesseract-robotics · Aug 1, 2024 · 0a2906e · 0a2906e
1 parent 3b310a6
commit 0a2906e
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Showing 9 changed files with 28 additions and 26 deletions.
diff --git a/.github/workflows/mac.yml b/.github/workflows/mac.yml
@@ -75,6 +75,7 @@ jobs:
     - name: colcon build
       working-directory: ws
       run: |
+        set -e
         export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.vcpkg_triplet }}/lib
         export CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.vcpkg_triplet }}
 
@@ -91,11 +92,12 @@ jobs:
             -DOpenMP_C_INCLUDE_DIR=${{ matrix.config.homebrew_root }}/opt/libomp/include \
             -DOpenMP_CXX_LIB_NAMES=libomp -DOpenMP_CXX_FLAGS="-Xpreprocessor -fopenmp" \
             -DOpenMP_C_LIB_NAMES=libomp -DOpenMP_C_FLAGS="-Xpreprocessor -fopenmp" \
-            -DOpenMP_libomp_LIBRARY=${{ matrix.config.homebrew_root }}/opt/libomp/lib/libomp.dylib
-            -Dtcmalloc_minimal_LIBRARY=${{ github.workspace }}/vcpkg/installed/x64-osx-dynamic-release/lib/libtcmalloc_minimal.dylib
+            -DOpenMP_libomp_LIBRARY=${{ matrix.config.homebrew_root }}/opt/libomp/lib/libomp.dylib \
+            -Dtcmalloc_minimal_LIBRARY=${{ github.workspace }}/vcpkg/installed/${{ matrix.config.vcpkg_triplet }}/lib/libtcmalloc_minimal.dylib
     - name: colcon test
       working-directory: ws
       run: |
+        set -e
         export DYLD_LIBRARY_PATH=$DYLD_LIBRARY_PATH:$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.vcpkg_triplet }}/lib
         export CMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/vcpkg/installed/${{ matrix.config.vcpkg_triplet }}
 

diff --git a/tesseract_command_language/src/poly/cartesian_waypoint_poly.cpp b/tesseract_command_language/src/poly/cartesian_waypoint_poly.cpp
@@ -97,7 +97,8 @@ void tesseract_planning::CartesianWaypointPoly::print(const std::string& prefix)
 bool tesseract_planning::CartesianWaypointPoly::hasSeed() const
 {
   const auto& seed = getInterface().getSeed();
-  return (seed.position.size() != 0 && !seed.joint_names.empty() && seed.position.size() == seed.joint_names.size());
+  return (seed.position.size() != 0 && !seed.joint_names.empty() &&
+          static_cast<std::size_t>(seed.position.size()) == seed.joint_names.size());
 }
 
 void tesseract_planning::CartesianWaypointPoly::clearSeed() { getInterface().setSeed(tesseract_common::JointState()); }

diff --git a/tesseract_motion_planners/simple/src/interpolation.cpp b/tesseract_motion_planners/simple/src/interpolation.cpp
@@ -222,7 +222,7 @@ std::vector<MoveInstructionPoly> interpolateJointJointWaypoint(const KinematicGr
     for (auto& pose : poses)
       pose = base.working_frame_transform.inverse() * pose;
 
-    assert(poses.size() == states.cols());
+    assert(static_cast<Eigen::Index>(poses.size()) == states.cols());
     return getInterpolatedInstructions(poses, base.manip->getJointNames(), states, base.instruction);
   }
 
@@ -286,7 +286,7 @@ std::vector<MoveInstructionPoly> interpolateJointCartWaypoint(const KinematicGro
     for (auto& pose : poses)
       pose = base.working_frame_transform.inverse() * pose;
 
-    assert(poses.size() == states.cols());
+    assert(static_cast<Eigen::Index>(poses.size()) == states.cols());
     return getInterpolatedInstructions(poses, base.manip->getJointNames(), states, base.instruction);
   }
 
@@ -349,7 +349,7 @@ std::vector<MoveInstructionPoly> interpolateCartJointWaypoint(const KinematicGro
     for (auto& pose : poses)
       pose = base.working_frame_transform.inverse() * pose;
 
-    assert(poses.size() == states.cols());
+    assert(static_cast<Eigen::Index>(poses.size()) == states.cols());
     return getInterpolatedInstructions(poses, base.manip->getJointNames(), states, base.instruction);
   }
 
@@ -451,7 +451,7 @@ std::vector<MoveInstructionPoly> interpolateCartCartWaypoint(const KinematicGrou
     for (auto& pose : poses)
       pose = base.working_frame_transform.inverse() * pose;
 
-    assert(poses.size() == states.cols());
+    assert(static_cast<Eigen::Index>(poses.size()) == states.cols());
     return getInterpolatedInstructions(poses, base.manip->getJointNames(), states, base.instruction);
   }
 
@@ -540,7 +540,7 @@ std::vector<MoveInstructionPoly> interpolateJointCartWaypoint(const KinematicGro
       for (auto& pose : poses)
         pose = base.working_frame_transform.inverse() * pose;
 
-      assert(poses.size() == states.cols());
+      assert(static_cast<Eigen::Index>(poses.size()) == states.cols());
       return getInterpolatedInstructions(poses, base.manip->getJointNames(), states, base.instruction);
     }
 
@@ -561,7 +561,7 @@ std::vector<MoveInstructionPoly> interpolateJointCartWaypoint(const KinematicGro
     for (auto& pose : poses)
       pose = base.working_frame_transform.inverse() * pose;
 
-    assert(poses.size() == states.cols());
+    assert(static_cast<Eigen::Index>(poses.size()) == states.cols());
     return getInterpolatedInstructions(poses, base.manip->getJointNames(), states, base.instruction);
   }
 
@@ -618,7 +618,7 @@ std::vector<MoveInstructionPoly> interpolateCartJointWaypoint(const KinematicGro
       for (auto& pose : poses)
         pose = base.working_frame_transform.inverse() * pose;
 
-      assert(poses.size() == states.cols());
+      assert(static_cast<Eigen::Index>(poses.size()) == states.cols());
       return getInterpolatedInstructions(poses, base.manip->getJointNames(), states, base.instruction);
     }
 
@@ -639,7 +639,7 @@ std::vector<MoveInstructionPoly> interpolateCartJointWaypoint(const KinematicGro
     for (auto& pose : poses)
       pose = base.working_frame_transform.inverse() * pose;
 
-    assert(poses.size() == states.cols());
+    assert(static_cast<Eigen::Index>(poses.size()) == states.cols());
     return getInterpolatedInstructions(poses, base.manip->getJointNames(), states, base.instruction);
   }
 
@@ -740,7 +740,7 @@ std::vector<MoveInstructionPoly> interpolateCartCartWaypoint(const KinematicGrou
     for (auto& pose : poses)
       pose = base.working_frame_transform.inverse() * pose;
 
-    assert(poses.size() == states.cols());
+    assert(static_cast<Eigen::Index>(poses.size()) == states.cols());
     return getInterpolatedInstructions(poses, base.manip->getJointNames(), states, base.instruction);
   }
 
@@ -786,7 +786,7 @@ std::vector<MoveInstructionPoly> interpolateJointJointWaypoint(const JointGroupI
     for (auto& pose : poses)
       pose = base.working_frame_transform.inverse() * pose;
 
-    assert(poses.size() == states.cols());
+    assert(static_cast<Eigen::Index>(poses.size()) == states.cols());
     return getInterpolatedInstructions(poses, base.manip->getJointNames(), states, base.instruction);
   }
 
@@ -839,7 +839,7 @@ std::vector<MoveInstructionPoly> interpolateJointCartWaypoint(const JointGroupIn
     for (auto& pose : poses)
       pose = base.working_frame_transform.inverse() * pose;
 
-    assert(poses.size() == states.cols());
+    assert(static_cast<Eigen::Index>(poses.size()) == states.cols());
     return getInterpolatedInstructions(poses, base.manip->getJointNames(), states, base.instruction);
   }
 
@@ -892,7 +892,7 @@ std::vector<MoveInstructionPoly> interpolateCartJointWaypoint(const JointGroupIn
     for (auto& pose : poses)
       pose = base.working_frame_transform.inverse() * pose;
 
-    assert(poses.size() == states.cols());
+    assert(static_cast<Eigen::Index>(poses.size()) == states.cols());
     return getInterpolatedInstructions(poses, base.manip->getJointNames(), states, base.instruction);
   }
 
@@ -948,7 +948,7 @@ std::vector<MoveInstructionPoly> interpolateCartCartWaypoint(const JointGroupIns
     for (auto& pose : poses)
       pose = base.working_frame_transform.inverse() * pose;
 
-    assert(poses.size() == states.cols());
+    assert(static_cast<Eigen::Index>(poses.size()) == states.cols());
     return getInterpolatedInstructions(poses, base.manip->getJointNames(), states, base.instruction);
   }
 

diff --git a/...ract_motion_planners/simple/src/profile/simple_planner_fixed_size_assign_plan_profile.cpp b/...ract_motion_planners/simple/src/profile/simple_planner_fixed_size_assign_plan_profile.cpp
@@ -117,7 +117,7 @@ SimplePlannerFixedSizeAssignPlanProfile::generate(const MoveInstructionPoly& pre
     for (auto& pose : poses)
       pose = info2.working_frame_transform.inverse() * pose;
 
-    assert(poses.size() == states.cols());
+    assert(static_cast<Eigen::Index>(poses.size()) == states.cols());
     return getInterpolatedInstructions(poses, info2.manip->getJointNames(), states, info2.instruction);
   }
 

diff --git a/tesseract_motion_planners/trajopt/src/trajopt_motion_planner.cpp b/tesseract_motion_planners/trajopt/src/trajopt_motion_planner.cpp
@@ -163,7 +163,7 @@ PlannerResponse TrajOptMotionPlanner::solve(const PlannerRequest& request) const
   // Flatten the results to make them easier to process
   response.results = request.instructions;
   auto results_instructions = response.results.flatten(&moveFilter);
-  assert(results_instructions.size() == traj.rows());
+  assert(static_cast<Eigen::Index>(results_instructions.size()) == traj.rows());
   for (std::size_t idx = 0; idx < results_instructions.size(); idx++)
   {
     auto& move_instruction = results_instructions.at(idx).get().as<MoveInstructionPoly>();
@@ -248,7 +248,7 @@ TrajOptMotionPlanner::createProblem(const PlannerRequest& request) const
   std::vector<Eigen::VectorXd> seed_states;
   seed_states.reserve(move_instructions.size());
 
-  for (int i = 0; i < move_instructions.size(); ++i)
+  for (int i = 0; i < static_cast<Eigen::Index>(move_instructions.size()); ++i)
   {
     const auto& move_instruction = move_instructions[static_cast<std::size_t>(i)].get().as<MoveInstructionPoly>();
 

diff --git a/tesseract_task_composer/CMakeLists.txt b/tesseract_task_composer/CMakeLists.txt
@@ -11,7 +11,7 @@ endif()
 
 find_package(console_bridge REQUIRED)
 find_package(tesseract_common REQUIRED)
-find_package(Boost REQUIRED COMPONENTS headers serialization)
+find_package(Boost REQUIRED COMPONENTS serialization)
 find_package(yaml-cpp REQUIRED)
 
 if(NOT TARGET console_bridge::console_bridge)

diff --git a/tesseract_task_composer/core/src/task_composer_keys.cpp b/tesseract_task_composer/core/src/task_composer_keys.cpp
@@ -87,7 +87,6 @@ void TaskComposerKeys::serialize(Archive& ar, const unsigned int /*version*/)
 
 std::ostream& operator<<(std::ostream& os, const TaskComposerKeys& keys)
 {
-  std::size_t cnt{ 0 };
   for (const auto& pair : keys.data())
   {
     if (pair.second.index() == 0)
@@ -107,7 +106,6 @@ std::ostream& operator<<(std::ostream& os, const TaskComposerKeys& keys)
       os << "]";
     }
     os << "\\l";
-    ++cnt;
   }
 
   return os;

diff --git a/tesseract_time_parameterization/ruckig/src/ruckig_trajectory_smoothing.cpp b/tesseract_time_parameterization/ruckig/src/ruckig_trajectory_smoothing.cpp
@@ -288,7 +288,7 @@ bool RuckigTrajectorySmoothing::compute(TrajectoryContainer& trajectory,
   bool smoothing_complete{ false };
   while ((duration_extension_factor < max_duration_extension_factor_) && !smoothing_complete)
   {
-    for (Eigen::Index waypoint_idx = 0; waypoint_idx < num_waypoints - 1; ++waypoint_idx)
+    for (Eigen::Index waypoint_idx = 0; waypoint_idx < static_cast<Eigen::Index>(num_waypoints) - 1; ++waypoint_idx)
     {
       // Get Next Input
       getNextRuckigInput(
@@ -297,7 +297,7 @@ bool RuckigTrajectorySmoothing::compute(TrajectoryContainer& trajectory,
       // Run Ruckig
       ruckig_result = ruckig_ptr->update(ruckig_input, ruckig_output);
 
-      if ((waypoint_idx == num_waypoints - 2) && ruckig_result == ruckig::Result::Finished)
+      if ((waypoint_idx == static_cast<Eigen::Index>(num_waypoints) - 2) && ruckig_result == ruckig::Result::Finished)
       {
         smoothing_complete = true;
         break;
@@ -310,7 +310,8 @@ bool RuckigTrajectorySmoothing::compute(TrajectoryContainer& trajectory,
         Eigen::VectorXd new_duration_from_previous = original_duration_from_previous;
 
         double time_from_start = original_duration_from_previous(0);
-        for (Eigen::Index time_stretch_idx = 1; time_stretch_idx < num_waypoints; ++time_stretch_idx)
+        for (Eigen::Index time_stretch_idx = 1; time_stretch_idx < static_cast<Eigen::Index>(num_waypoints);
+             ++time_stretch_idx)
         {
           assert(time_stretch_idx < original_duration_from_previous.rows());
           const double duration_from_previous =

diff --git a/tesseract_time_parameterization/totg/src/time_optimal_trajectory_generation.cpp b/tesseract_time_parameterization/totg/src/time_optimal_trajectory_generation.cpp
@@ -932,7 +932,7 @@ double Trajectory::getDuration() const { return trajectory_.back().time_; }
 bool Trajectory::assignData(TrajectoryContainer& trajectory, const std::vector<std::size_t>& mapping) const
 {
   const auto& dist_mapping = path_.getMapping();
-  assert(trajectory.size() == mapping.size());
+  assert(trajectory.size() == static_cast<Eigen::Index>(mapping.size()));
 
   // Set Start
   PathData path_data = getPathData(0);