Add additional compiler warning options

trajopt/CMakeLists.txt

@@ -1,7 +1,13 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(trajopt)
 
-add_compile_options(-std=c++11 -Wall -Wextra)
+add_compile_options(
+  -std=c++11
+  -Wall
+  -Wextra
+  -Wsuggest-override
+  -Wconversion
+  -Wsign-conversion)
 
 find_package(catkin REQUIRED COMPONENTS
   trajopt_sco
@@ -33,7 +39,9 @@ set(TRAJOPT_SOURCE_FILES
 )
 
 catkin_package(
-  INCLUDE_DIRS include
+  INCLUDE_DIRS
+    include
+    ${EIGEN3_INCLUDE_DIRS}
   LIBRARIES
     ${PROJECT_NAME}
     ${JSONCPP_LIBRARIES}

trajopt/include/trajopt/cache.hxx

@@ -21,6 +21,6 @@ public:
   ValueT* get(const KeyT& key)
   {
     KeyT* it = std::find(&keybuf[0], &keybuf[0] + bufsize, key);
-    return (it == &keybuf[0] + bufsize) ? NULL : &valbuf[it - &keybuf[0]];
+    return (it == &keybuf[0] + bufsize) ? nullptr : &valbuf[it - &keybuf[0]];
   }
 };

trajopt/include/trajopt/collision_terms.hpp

@@ -18,7 +18,7 @@ struct CollisionEvaluator
     : env_(env), manip_(manip), safety_margin_data_(safety_margin_data)
   {
   }
-  virtual ~CollisionEvaluator() {}
+  virtual ~CollisionEvaluator() = default;
   virtual void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) = 0;
   virtual void CalcDists(const DblVec& x, DblVec& exprs) = 0;
   virtual void CalcCollisions(const DblVec& x, tesseract::ContactResultVector& dist_results) = 0;
@@ -54,14 +54,14 @@ struct SingleTimestepCollisionEvaluator : public CollisionEvaluator
   For each contact generated, return a linearization of the signed distance
   function
   */
-  void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs);
+  void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) override;
   /**
    * Same as CalcDistExpressions, but just the distances--not the expressions
    */
-  void CalcDists(const DblVec& x, DblVec& exprs);
-  void CalcCollisions(const DblVec& x, tesseract::ContactResultVector& dist_results);
-  void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x);
-  sco::VarVector GetVars() { return m_vars; }
+  void CalcDists(const DblVec& x, DblVec& exprs) override;
+  void CalcCollisions(const DblVec& x, tesseract::ContactResultVector& dist_results) override;
+  void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) override;
+  sco::VarVector GetVars() override { return m_vars; }
 private:
   sco::VarVector m_vars;
   tesseract::DiscreteContactManagerBasePtr contact_manager_;
@@ -75,11 +75,11 @@ struct CastCollisionEvaluator : public CollisionEvaluator
                          SafetyMarginDataConstPtr safety_margin_data,
                          const sco::VarVector& vars0,
                          const sco::VarVector& vars1);
-  void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs);
-  void CalcDists(const DblVec& x, DblVec& exprs);
-  void CalcCollisions(const DblVec& x, tesseract::ContactResultVector& dist_results);
-  void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x);
-  sco::VarVector GetVars() { return concat(m_vars0, m_vars1); }
+  void CalcDistExpressions(const DblVec& x, sco::AffExprVector& exprs) override;
+  void CalcDists(const DblVec& x, DblVec& exprs) override;
+  void CalcCollisions(const DblVec& x, tesseract::ContactResultVector& dist_results) override;
+  void Plot(const tesseract::BasicPlottingPtr plotter, const DblVec& x) override;
+  sco::VarVector GetVars() override { return concat(m_vars0, m_vars1); }
 private:
   sco::VarVector m_vars0;
   sco::VarVector m_vars1;
@@ -100,10 +100,10 @@ class TRAJOPT_API CollisionCost : public sco::Cost, public Plotter
                 SafetyMarginDataConstPtr safety_margin_data,
                 const sco::VarVector& vars0,
                 const sco::VarVector& vars1);
-  virtual sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model);
-  virtual double value(const DblVec&);
-  void Plot(const tesseract::BasicPlottingPtr& plotter, const DblVec& x);
-  sco::VarVector getVars() { return m_calc->GetVars(); }
+  virtual sco::ConvexObjectivePtr convex(const DblVec& x, sco::Model* model) override;
+  virtual double value(const DblVec&) override;
+  void Plot(const tesseract::BasicPlottingPtr& plotter, const DblVec& x) override;
+  sco::VarVector getVars() override { return m_calc->GetVars(); }
 private:
   CollisionEvaluatorPtr m_calc;
 };
@@ -122,10 +122,10 @@ class TRAJOPT_API CollisionConstraint : public sco::IneqConstraint
                       SafetyMarginDataConstPtr safety_margin_data,
                       const sco::VarVector& vars0,
                       const sco::VarVector& vars1);
-  virtual sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model);
-  virtual DblVec value(const DblVec&);
+  virtual sco::ConvexConstraintsPtr convex(const DblVec& x, sco::Model* model) override;
+  virtual DblVec value(const DblVec&) override;
   void Plot(const DblVec& x);
-  sco::VarVector getVars() { return m_calc->GetVars(); }
+  sco::VarVector getVars() override { return m_calc->GetVars(); }
 private:
   CollisionEvaluatorPtr m_calc;
 };

trajopt/include/trajopt/json_marshal.hpp

@@ -1,11 +1,13 @@
 #pragma once
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
 #include <Eigen/Eigen>
 #include <boost/format.hpp>
 #include <jsoncpp/json/json.h>
 #include <sstream>
 #include <string>
-#include <trajopt_utils/macros.h>
 #include <vector>
+TRAJOPT_IGNORE_WARNINGS_POP
 
 namespace json_marshal
 {

trajopt/include/trajopt/kinematic_terms.hpp

@@ -1,6 +1,9 @@
 #pragma once
-
+#include <trajopt_utils/macros.h>
+TRAJOPT_IGNORE_WARNINGS_PUSH
 #include <Eigen/Core>
+TRAJOPT_IGNORE_WARNINGS_POP
+
 #include <tesseract_core/basic_env.h>
 #include <tesseract_core/basic_kin.h>
 #include <trajopt/common.hpp>
@@ -34,7 +37,7 @@ struct DynamicCartPoseErrCalculator : public TrajOptVectorOfVector
 
   void Plot(const tesseract::BasicPlottingPtr& plotter, const Eigen::VectorXd& dof_vals) override;
 
-  Eigen::VectorXd operator()(const Eigen::VectorXd& dof_vals) const;
+  Eigen::VectorXd operator()(const Eigen::VectorXd& dof_vals) const override;
 };
 
 /**
@@ -60,7 +63,7 @@ struct CartPoseErrCalculator : public TrajOptVectorOfVector
 
   void Plot(const tesseract::BasicPlottingPtr& plotter, const Eigen::VectorXd& dof_vals) override;
 
-  Eigen::VectorXd operator()(const Eigen::VectorXd& dof_vals) const;
+  Eigen::VectorXd operator()(const Eigen::VectorXd& dof_vals) const override;
 };
 
 /**
@@ -84,7 +87,7 @@ struct CartVelJacCalculator : sco::MatrixOfVector
   {
   }
 
-  Eigen::MatrixXd operator()(const Eigen::VectorXd& dof_vals) const;
+  Eigen::MatrixXd operator()(const Eigen::VectorXd& dof_vals) const override;
 };
 
 /**
@@ -108,6 +111,6 @@ struct CartVelErrCalculator : sco::VectorOfVector
   {
   }
 
-  Eigen::VectorXd operator()(const Eigen::VectorXd& dof_vals) const;
+  Eigen::VectorXd operator()(const Eigen::VectorXd& dof_vals) const override;
 };
 }

trajopt/include/trajopt/problem_description.hpp

@@ -49,7 +49,7 @@ class TRAJOPT_API TrajOptProb : public sco::OptProb
 public:
   TrajOptProb();
   TrajOptProb(int n_steps, const ProblemConstructionInfo& pci);
-  ~TrajOptProb() {}
+  virtual ~TrajOptProb() = default;
   sco::VarVector GetVarRow(int i) { return m_traj_vars.row(i); }
   sco::Var& GetVar(int i, int j) { return m_traj_vars.at(i, j); }
   VarArray& GetVars() { return m_traj_vars; }
@@ -131,7 +131,7 @@ struct TRAJOPT_API TermInfo
   typedef TermInfoPtr (*MakerFunc)(void);
   static void RegisterMaker(const std::string& type, MakerFunc);
 
-  virtual ~TermInfo() {}
+  virtual ~TermInfo() = default;
 
 private:
   static std::map<std::string, MakerFunc> name2maker;
@@ -181,9 +181,9 @@ struct DynamicCartPoseTermInfo : public TermInfo, public MakesCost, public Makes
   DynamicCartPoseTermInfo();
 
   /** @brief Used to add term to pci from json */
-  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v);
+  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProb& prob);
+  void hatch(TrajOptProb& prob) override;
   DEFINE_CREATE(DynamicCartPoseTermInfo)
 };
 
@@ -211,9 +211,9 @@ struct CartPoseTermInfo : public TermInfo, public MakesCost, public MakesConstra
   CartPoseTermInfo();
 
   /** @brief Used to add term to pci from json */
-  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v);
+  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProb& prob);
+  void hatch(TrajOptProb& prob) override;
   DEFINE_CREATE(CartPoseTermInfo)
 };
 
@@ -228,12 +228,12 @@ struct CartVelTermInfo : public TermInfo, public MakesCost, public MakesConstrai
   /** @brief Timesteps over which to apply term */
   int first_step, last_step;
   /** @brief Link to which the term is applied */
-  std::string link;  // LEVI This may need to be moveit LinkModel
+  std::string link;
   double max_displacement;
   /** @brief Used to add term to pci from json */
-  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v);
+  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProb& prob);
+  void hatch(TrajOptProb& prob) override;
   DEFINE_CREATE(CartVelTermInfo)
 };
 
@@ -262,9 +262,9 @@ struct JointPosTermInfo : public TermInfo, public MakesCost, public MakesConstra
   /** @brief Last time step to which the term is applied*/
   int last_step = -1;
   /** @brief Used to add term to pci from json */
-  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v);
+  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProb& prob);
+  void hatch(TrajOptProb& prob) override;
   DEFINE_CREATE(JointPosTermInfo)
 };
 
@@ -309,9 +309,9 @@ struct JointVelTermInfo : public TermInfo, public MakesCost, public MakesConstra
   /** @brief Last time step to which the term is applied*/
   int last_step;
   /** @brief Used to add term to pci from json */
-  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v);
+  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProb& prob);
+  void hatch(TrajOptProb& prob) override;
   DEFINE_CREATE(JointVelTermInfo)
 };
 
@@ -351,9 +351,9 @@ struct JointAccTermInfo : public TermInfo, public MakesCost, public MakesConstra
   /** @brief Last time step to which the term is applied */
   int last_step;
   /** @brief Used to add term to pci from json */
-  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v);
+  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProb& prob);
+  void hatch(TrajOptProb& prob) override;
   DEFINE_CREATE(JointAccTermInfo)
 };
 
@@ -393,9 +393,9 @@ struct JointJerkTermInfo : public TermInfo, public MakesCost, public MakesConstr
   /** @brief Last time step to which the term is applied */
   int last_step;
   /** @brief Used to add term to pci from json */
-  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v);
+  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProb& prob);
+  void hatch(TrajOptProb& prob) override;
   DEFINE_CREATE(JointJerkTermInfo)
 };
 
@@ -428,9 +428,9 @@ struct CollisionTermInfo : public TermInfo, public MakesCost
   std::vector<SafetyMarginDataPtr> info;
 
   /** @brief Used to add term to pci from json */
-  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v);
+  void fromJson(ProblemConstructionInfo& pci, const Json::Value& v) override;
   /** @brief Converts term info into cost/constraint and adds it to trajopt problem */
-  void hatch(TrajOptProb& prob);
+  void hatch(TrajOptProb& prob) override;
   DEFINE_CREATE(CollisionTermInfo)
 };