From: SpaceIm <30052553+SpaceIm@users.noreply.github.com> Date: Tue, 23 May 2023 21:04:12 +0200 Subject: Fix errors with recent compilers and C++17/20 standard (#394) - fix definition of OcTreeBase(double res) constructor (it fixes gcc12/C++20 compilation errors) - more robust detection of C++11 for Visual Studio (it fixes Visual Studio2022/C++17 compilation errors) - remove several illegal semicolon (unlikely the reason of compilation errors, but it's neater to fix that) --- octomap/include/octomap/AbstractOcTree.h | 2 +- octomap/include/octomap/AbstractOccupancyOcTree.h | 2 +- octomap/include/octomap/ColorOcTree.h | 2 +- octomap/include/octomap/CountingOcTree.h | 2 +- octomap/include/octomap/OcTree.h | 4 ++-- octomap/include/octomap/OcTreeBase.h | 2 +- octomap/include/octomap/OcTreeBaseImpl.h | 8 ++++---- octomap/include/octomap/OcTreeDataNode.h | 4 ++-- octomap/include/octomap/OcTreeIterator.hxx | 10 +++++----- octomap/include/octomap/OcTreeStamped.h | 2 +- octomap/include/octomap/ScanGraph.h | 2 +- octomap/src/Pointcloud.cpp | 4 ++-- octomap/src/compare_octrees.cpp | 2 +- octovis/include/octovis/OcTreeDrawer.h | 10 +++++----- octovis/include/octovis/SceneObject.h | 8 ++++---- octovis/include/octovis/ViewerSettings.h | 12 ++++++------ 16 files changed, 38 insertions(+), 38 deletions(-) diff --git a/octomap/include/octomap/AbstractOcTree.h b/octomap/include/octomap/AbstractOcTree.h index 75b392b..75481c9 100644 --- a/octomap/include/octomap/AbstractOcTree.h +++ b/octomap/include/octomap/AbstractOcTree.h @@ -51,7 +51,7 @@ namespace octomap { friend class StaticMapInit; public: AbstractOcTree(); - virtual ~AbstractOcTree() {}; + virtual ~AbstractOcTree() {} /// virtual constructor: creates a new object of same type virtual AbstractOcTree* create() const = 0; diff --git a/octomap/include/octomap/AbstractOccupancyOcTree.h b/octomap/include/octomap/AbstractOccupancyOcTree.h index 5671a2f..68b2294 100644 --- a/octomap/include/octomap/AbstractOccupancyOcTree.h +++ b/octomap/include/octomap/AbstractOccupancyOcTree.h @@ -52,7 +52,7 @@ namespace octomap { class AbstractOccupancyOcTree : public AbstractOcTree { public: AbstractOccupancyOcTree(); - virtual ~AbstractOccupancyOcTree() {}; + virtual ~AbstractOccupancyOcTree() {} //-- IO diff --git a/octomap/include/octomap/ColorOcTree.h b/octomap/include/octomap/ColorOcTree.h index 2d59643..8ed2c65 100644 --- a/octomap/include/octomap/ColorOcTree.h +++ b/octomap/include/octomap/ColorOcTree.h @@ -192,7 +192,7 @@ namespace octomap { * StaticMemberInitializer, causing this tree failing to register. * Needs to be called from the constructor of this octree. */ - void ensureLinking() {}; + void ensureLinking() {} }; /// static member to ensure static initialization (only once) static StaticMemberInitializer colorOcTreeMemberInit; diff --git a/octomap/include/octomap/CountingOcTree.h b/octomap/include/octomap/CountingOcTree.h index e37ac81..be6514f 100644 --- a/octomap/include/octomap/CountingOcTree.h +++ b/octomap/include/octomap/CountingOcTree.h @@ -110,7 +110,7 @@ namespace octomap { * StaticMemberInitializer, causing this tree failing to register. * Needs to be called from the constructor of this octree. */ - void ensureLinking() {}; + void ensureLinking() {} }; /// static member to ensure static initialization (only once) static StaticMemberInitializer countingOcTreeMemberInit; diff --git a/octomap/include/octomap/OcTree.h b/octomap/include/octomap/OcTree.h index 85cc050..91635a3 100644 --- a/octomap/include/octomap/OcTree.h +++ b/octomap/include/octomap/OcTree.h @@ -59,7 +59,7 @@ namespace octomap { */ OcTree(std::string _filename); - virtual ~OcTree(){}; + virtual ~OcTree(){} /// virtual constructor: creates a new object of same type /// (Covariant return type requires an up-to-date compiler) @@ -89,7 +89,7 @@ namespace octomap { * StaticMemberInitializer, causing this tree failing to register. * Needs to be called from the constructor of this octree. */ - void ensureLinking() {}; + void ensureLinking() {} }; /// to ensure static initialization (only once) diff --git a/octomap/include/octomap/OcTreeBase.h b/octomap/include/octomap/OcTreeBase.h index 2679baa..c713305 100644 --- a/octomap/include/octomap/OcTreeBase.h +++ b/octomap/include/octomap/OcTreeBase.h @@ -43,7 +43,7 @@ namespace octomap { template class OcTreeBase : public OcTreeBaseImpl { public: - OcTreeBase(double res) : OcTreeBaseImpl(res) {}; + OcTreeBase(double res) : OcTreeBaseImpl(res) {} /// virtual constructor: creates a new object of same type /// (Covariant return type requires an up-to-date compiler) diff --git a/octomap/include/octomap/OcTreeBaseImpl.h b/octomap/include/octomap/OcTreeBaseImpl.h index fe71aee..d8f75ed 100644 --- a/octomap/include/octomap/OcTreeBaseImpl.h +++ b/octomap/include/octomap/OcTreeBaseImpl.h @@ -244,7 +244,7 @@ namespace octomap { virtual size_t memoryUsage() const; /// \return Memory usage of a single octree node - virtual inline size_t memoryUsageNode() const {return sizeof(NODE); }; + virtual inline size_t memoryUsageNode() const {return sizeof(NODE); } /// \return Memory usage of a full grid of the same size as the OcTree in bytes (for comparison) /// \note this can be larger than the adressable memory - size_t may not be enough to hold it! @@ -324,12 +324,12 @@ namespace octomap { typedef leaf_iterator iterator; /// @return beginning of the tree as leaf iterator - iterator begin(unsigned char maxDepth=0) const {return iterator(this, maxDepth);}; + iterator begin(unsigned char maxDepth=0) const {return iterator(this, maxDepth);} /// @return end of the tree as leaf iterator - const iterator end() const {return leaf_iterator_end;}; // TODO: RVE? + const iterator end() const {return leaf_iterator_end;} // TODO: RVE? /// @return beginning of the tree as leaf iterator - leaf_iterator begin_leafs(unsigned char maxDepth=0) const {return leaf_iterator(this, maxDepth);}; + leaf_iterator begin_leafs(unsigned char maxDepth=0) const {return leaf_iterator(this, maxDepth);} /// @return end of the tree as leaf iterator const leaf_iterator end_leafs() const {return leaf_iterator_end;} diff --git a/octomap/include/octomap/OcTreeDataNode.h b/octomap/include/octomap/OcTreeDataNode.h index 8c92c39..f8c44f9 100644 --- a/octomap/include/octomap/OcTreeDataNode.h +++ b/octomap/include/octomap/OcTreeDataNode.h @@ -100,9 +100,9 @@ namespace octomap { OCTOMAP_DEPRECATED(bool hasChildren() const); /// @return value stored in the node - T getValue() const{return value;}; + T getValue() const{return value;} /// sets value to be stored in the node - void setValue(T v) {value = v;}; + void setValue(T v) {value = v;} // file IO: diff --git a/octomap/include/octomap/OcTreeIterator.hxx b/octomap/include/octomap/OcTreeIterator.hxx index fb5d9ac..31d213e 100644 --- a/octomap/include/octomap/OcTreeIterator.hxx +++ b/octomap/include/octomap/OcTreeIterator.hxx @@ -95,7 +95,7 @@ maxDepth = other.maxDepth; stack = other.stack; return *this; - }; + } /// Ptr operator will return the current node in the octree which the /// iterator is referring to @@ -213,7 +213,7 @@ * @param tree OcTreeBaseImpl on which the iterator is used on * @param depth Maximum depth to traverse the tree. 0 (default): unlimited */ - tree_iterator(OcTreeBaseImpl const* ptree, uint8_t depth=0) : iterator_base(ptree, depth) {}; + tree_iterator(OcTreeBaseImpl const* ptree, uint8_t depth=0) : iterator_base(ptree, depth) {} /// postfix increment operator of iterator (it++) tree_iterator operator++(int){ @@ -280,7 +280,7 @@ } } - leaf_iterator(const leaf_iterator& other) : iterator_base(other) {}; + leaf_iterator(const leaf_iterator& other) : iterator_base(other) {} /// postfix increment operator of iterator (it++) leaf_iterator operator++(int){ @@ -334,7 +334,7 @@ */ class leaf_bbx_iterator : public iterator_base { public: - leaf_bbx_iterator() : iterator_base() {}; + leaf_bbx_iterator() : iterator_base() {} /** * Constructor of the iterator. The bounding box corners min and max are * converted into an OcTreeKey first. @@ -425,7 +425,7 @@ return *this; - }; + } protected: diff --git a/octomap/include/octomap/OcTreeStamped.h b/octomap/include/octomap/OcTreeStamped.h index 471f239..1da5eeb 100644 --- a/octomap/include/octomap/OcTreeStamped.h +++ b/octomap/include/octomap/OcTreeStamped.h @@ -116,7 +116,7 @@ namespace octomap { * StaticMemberInitializer, causing this tree failing to register. * Needs to be called from the constructor of this octree. */ - void ensureLinking() {}; + void ensureLinking() {} }; /// to ensure static initialization (only once) static StaticMemberInitializer ocTreeStampedMemberInit; diff --git a/octomap/include/octomap/ScanGraph.h b/octomap/include/octomap/ScanGraph.h index 07c7436..51dd9bb 100644 --- a/octomap/include/octomap/ScanGraph.h +++ b/octomap/include/octomap/ScanGraph.h @@ -115,7 +115,7 @@ namespace octomap { public: - ScanGraph() {}; + ScanGraph() {} ~ScanGraph(); /// Clears all nodes and edges, and will delete the corresponding objects diff --git a/octomap/src/Pointcloud.cpp b/octomap/src/Pointcloud.cpp index 7412739..9e834c9 100644 --- a/octomap/src/Pointcloud.cpp +++ b/octomap/src/Pointcloud.cpp @@ -38,7 +38,7 @@ #if defined(_MSC_VER) || defined(_LIBCPP_VERSION) #include - #if __cplusplus > 199711L + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201103L) || __cplusplus >= 201103L) #include #endif #else @@ -213,7 +213,7 @@ namespace octomap { #if defined(_MSC_VER) || defined(_LIBCPP_VERSION) samples.reserve(this->size()); samples.insert(samples.end(), this->begin(), this->end()); - #if __cplusplus > 199711L + #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201103L) || __cplusplus >= 201103L) std::random_device r; std::mt19937 urbg(r()); std::shuffle(samples.begin(), samples.end(), urbg); diff --git a/octomap/src/compare_octrees.cpp b/octomap/src/compare_octrees.cpp index 78e03b8..5401e33 100644 --- a/octomap/src/compare_octrees.cpp +++ b/octomap/src/compare_octrees.cpp @@ -132,7 +132,7 @@ int main(int argc, char** argv) { else kld +=log(p1/p2)*p1 + log((1-p1)/(1-p2))*(1-p1); -#if __cplusplus >= 201103L +#if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201103L) || __cplusplus >= 201103L) if (std::isnan(kld)){ #else if (isnan(kld)){ diff --git a/octovis/include/octovis/OcTreeDrawer.h b/octovis/include/octovis/OcTreeDrawer.h index 34d719a..5d44405 100644 --- a/octovis/include/octovis/OcTreeDrawer.h +++ b/octovis/include/octovis/OcTreeDrawer.h @@ -62,14 +62,14 @@ namespace octomap { void setAlternativeDrawing(bool flag){m_alternativeDrawing = flag;} void enableOcTree(bool enabled = true); - void enableOcTreeCells(bool enabled = true) { m_update = true; m_drawOccupied = enabled; }; - void enableFreespace(bool enabled = true) { m_update = true; m_drawFree = enabled; }; - void enableSelection(bool enabled = true) { m_update = true; m_drawSelection = enabled; }; - void setMax_tree_depth(unsigned int max_tree_depth) { m_update = true; m_max_tree_depth = max_tree_depth;}; + void enableOcTreeCells(bool enabled = true) { m_update = true; m_drawOccupied = enabled; } + void enableFreespace(bool enabled = true) { m_update = true; m_drawFree = enabled; } + void enableSelection(bool enabled = true) { m_update = true; m_drawSelection = enabled; } + void setMax_tree_depth(unsigned int max_tree_depth) { m_update = true; m_max_tree_depth = max_tree_depth;} // set new origin (move object) void setOrigin(octomap::pose6d t); - void enableAxes(bool enabled = true) { m_update = true; m_displayAxes = enabled; }; + void enableAxes(bool enabled = true) { m_update = true; m_displayAxes = enabled; } protected: //void clearOcTree(); diff --git a/octovis/include/octovis/SceneObject.h b/octovis/include/octovis/SceneObject.h index 240c465..d0298ab 100644 --- a/octovis/include/octovis/SceneObject.h +++ b/octovis/include/octovis/SceneObject.h @@ -57,7 +57,7 @@ namespace octomap { public: SceneObject(); - virtual ~SceneObject(){}; + virtual ~SceneObject(){} /** * Actual draw function which will be called to visualize the object @@ -67,7 +67,7 @@ namespace octomap { /** * Clears the object's representation (will be called when it gets invalid) */ - virtual void clear(){}; + virtual void clear(){} public: //! the color mode has to be set before calling OcTreDrawer::setMap() @@ -95,8 +95,8 @@ namespace octomap { */ class ScanGraphDrawer : public SceneObject { public: - ScanGraphDrawer(): SceneObject(){}; - virtual ~ScanGraphDrawer(){}; + ScanGraphDrawer(): SceneObject(){} + virtual ~ScanGraphDrawer(){} /** * Notifies drawer of a new or changed ScanGraph, so that the internal diff --git a/octovis/include/octovis/ViewerSettings.h b/octovis/include/octovis/ViewerSettings.h index 2d9e94e..5570868 100644 --- a/octovis/include/octovis/ViewerSettings.h +++ b/octovis/include/octovis/ViewerSettings.h @@ -40,12 +40,12 @@ class ViewerSettings : public QDialog public: ViewerSettings(QWidget *parent = 0); ~ViewerSettings(); - double getResolution(){return ui.resolution->value(); }; - void setResolution(double resolution){ui.resolution->setValue(resolution);}; - unsigned int getLaserType(){return ui.laserType->currentIndex(); }; - void setLaserType(int type){ui.laserType->setCurrentIndex(type); }; - double getMaxRange(){return ui.maxRange->value(); }; - void setMaxRange(double range){ui.maxRange->setValue(range); }; + double getResolution(){return ui.resolution->value(); } + void setResolution(double resolution){ui.resolution->setValue(resolution);} + unsigned int getLaserType(){return ui.laserType->currentIndex(); } + void setLaserType(int type){ui.laserType->setCurrentIndex(type); } + double getMaxRange(){return ui.maxRange->value(); } + void setMaxRange(double range){ui.maxRange->setValue(range); } private: Ui::ViewerSettingsClass ui;