fixing cmakelist in ct_models

ct_models/CMakeLists.txt

@@ -30,7 +30,7 @@ set(ct_models_target_include_dirs
 
 
 ## define placeholder for ct model libraries
-set(CT_MODEL_LIBS "")
+set(CT_MODELS_TARGETS "")
 
 set(IP_CODEGEN_OUTPUT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/include/ct/models/InvertedPendulum/codegen")
 set(HYA_CODEGEN_OUTPUT_DIR "${CMAKE_CURRENT_SOURCE_DIR}/include/ct/models/HyA/codegen")
@@ -50,12 +50,12 @@ if (BUILD_HYQ_FULL)
   endif()
     add_library(HyQWithContactModelLinearizedForward include/ct/models/HyQ/codegen/HyQWithContactModelLinearizedForward.cpp)
     target_link_libraries(HyQWithContactModelLinearizedForward ct_rbd)
-    list(APPEND CT_MODEL_LIBS HyQWithContactModelLinearizedForward)
+    list(APPEND CT_MODELS_TARGETS HyQWithContactModelLinearizedForward)
 
     ## Forward Dynamics Forward Zero
     add_library(HyQForwardZero include/ct/models/HyQ/codegen/HyQForwardZero.cpp)
     target_link_libraries(HyQForwardZero ct_rbd)
-    list(APPEND CT_MODEL_LIBS HyQForwardZero)
+    list(APPEND CT_MODELS_TARGETS HyQForwardZero)
 endif(BUILD_HYQ_FULL)
 
 if(BUILD_HYQ_LINEARIZATION_TIMINGS)
@@ -66,33 +66,33 @@ if(BUILD_HYQ_LINEARIZATION_TIMINGS)
   ## Forward Dynamics
   add_library(HyQWithContactModelLinearizedReverse include/ct/models/HyQ/codegen/HyQWithContactModelLinearizedReverse.cpp)
   target_link_libraries(HyQWithContactModelLinearizedReverse ct_rbd)
-  list(APPEND CT_MODEL_LIBS HyQWithContactModelLinearizedReverse)
+  list(APPEND CT_MODELS_TARGETS HyQWithContactModelLinearizedReverse)
 
   add_library(HyQBareModelLinearizedForward include/ct/models/HyQ/codegen/HyQBareModelLinearizedForward.cpp)
   target_link_libraries(HyQBareModelLinearizedForward ct_rbd )
-  list(APPEND CT_MODEL_LIBS HyQBareModelLinearizedForward)
+  list(APPEND CT_MODELS_TARGETS HyQBareModelLinearizedForward)
 
   add_library(HyQBareModelLinearizedReverse include/ct/models/HyQ/codegen/HyQBareModelLinearizedReverse.cpp)
   target_link_libraries(HyQBareModelLinearizedReverse ct_rbd )
-  list(APPEND CT_MODEL_LIBS HyQBareModelLinearizedReverse)
+  list(APPEND CT_MODELS_TARGETS HyQBareModelLinearizedReverse)
 
   ## Inverse Dynamics
   add_library(HyQJacInverseDynamicsForward include/ct/models/HyQ/codegen/HyQInverseDynJacForward.cpp)
   target_link_libraries(HyQJacInverseDynamicsForward ct_rbd )
-  list(APPEND CT_MODEL_LIBS HyQJacInverseDynamicsForward)
+  list(APPEND CT_MODELS_TARGETS HyQJacInverseDynamicsForward)
 
   add_library(HyQJacInverseDynamicsReverse include/ct/models/HyQ/codegen/HyQInverseDynJacReverse.cpp)
   target_link_libraries(HyQJacInverseDynamicsReverse ct_rbd )
-  list(APPEND CT_MODEL_LIBS HyQJacInverseDynamicsReverse)
+  list(APPEND CT_MODELS_TARGETS HyQJacInverseDynamicsReverse)
 
   ## ForwardKinematics
   add_library(HyQJacForwardKinForward include/ct/models/HyQ/codegen/HyQForwardKinJacForward.cpp)
   target_link_libraries(HyQJacForwardKinForward ct_rbd )
-  list(APPEND CT_MODEL_LIBS HyQJacForwardKinForward)
+  list(APPEND CT_MODELS_TARGETS HyQJacForwardKinForward)
 
   add_library(HyQJacForwardKinReverse include/ct/models/HyQ/codegen/HyQForwardKinJacReverse.cpp)
   target_link_libraries(HyQJacForwardKinReverse ct_rbd )
-  list(APPEND CT_MODEL_LIBS HyQJacForwardKinReverse)
+  list(APPEND CT_MODELS_TARGETS HyQJacForwardKinReverse)
 
   add_executable(HyQcompareForwardReverseFD src/HyQ/codegen/compareForwardReverseFD.cpp)
   target_link_libraries(HyQcompareForwardReverseFD
@@ -101,65 +101,69 @@ if(BUILD_HYQ_LINEARIZATION_TIMINGS)
                         HyQBareModelLinearizedForward
                         HyQBareModelLinearizedReverse
                         ct_rbd)
+  list(APPEND CT_MODELS_TARGETS HyQcompareForwardReverseFD)
 
   add_executable(HyQcompareForwardReverseID src/HyQ/codegen/compareForwardReverseID.cpp)
   target_link_libraries(HyQcompareForwardReverseID
                         HyQJacInverseDynamicsForward
                         HyQJacInverseDynamicsReverse
                         ct_rbd)
+  list(APPEND CT_MODELS_TARGETS HyQcompareForwardReverseID)
 
   add_executable(HyQcompareForwardReverseKin src/HyQ/codegen/compareForwardReverseKin.cpp)
   target_link_libraries(HyQcompareForwardReverseKin
                         HyQJacForwardKinForward
                         HyQJacForwardKinReverse
                         ct_rbd)
+  list(APPEND CT_MODELS_TARGETS HyQcompareForwardReverseKin)
 
   add_executable(HyQcompareForwardZero src/HyQ/codegen/compareForwardZero.cpp)
-  target_link_libraries(HyQcompareForwardZero
-                          HyQForwardZero
-                          ct_rbd)
+  target_link_libraries(HyQcompareForwardZero HyQForwardZero ct_rbd)
+  list(APPEND CT_MODELS_TARGETS HyQcompareForwardZero)
 endif(BUILD_HYQ_LINEARIZATION_TIMINGS)
 
 ########## Inverted Pendulum #########
-if(CPPADCG_DEFINED)
+if(CPPADCG)
   add_executable(InvertedPendulumWithActuatorCodeGen src/InvertedPendulum/codegen/InvertedPendulumWithActuatorCodeGen.cpp)
   target_include_directories(InvertedPendulumWithActuatorCodeGen PUBLIC ${ct_models_target_include_dirs})
   target_link_libraries(InvertedPendulumWithActuatorCodeGen ct_rbd)
+  list(APPEND CT_MODELS_TARGETS InvertedPendulumWithActuatorCodeGen)
 endif()
 
 add_library(InvertedPendulumActDynLinearizedForward include/ct/models/InvertedPendulum/codegen/InvertedPendulumActDynLinearizedForward.cpp)
 target_include_directories(InvertedPendulumActDynLinearizedForward PUBLIC ${ct_models_target_include_dirs})
 target_link_libraries(InvertedPendulumActDynLinearizedForward ct_rbd)
-list(APPEND CT_MODEL_LIBS InvertedPendulumActDynLinearizedForward)
+list(APPEND CT_MODELS_TARGETS InvertedPendulumActDynLinearizedForward)
 
 
 ################ HyA #################
-if(CPPADCG_DEFINED)
+if(CPPADCG)
   add_executable(HyALinearizationCodegen src/HyA/codegen/HyALinearizationCodeGen.cpp)
   target_include_directories(HyALinearizationCodegen PUBLIC ${ct_models_target_include_dirs})
   target_link_libraries(HyALinearizationCodegen ct_rbd)
+  list(APPEND CT_MODELS_TARGETS HyALinearizationCodegen)
 endif()
 
 add_library(HyALinearizedForward include/ct/models/HyA/codegen/HyALinearizedForward.cpp)
 target_include_directories(HyALinearizedForward PUBLIC ${ct_models_target_include_dirs})
 target_link_libraries(HyALinearizedForward ct_rbd )
-list(APPEND CT_MODEL_LIBS HyALinearizedForward)
+list(APPEND CT_MODELS_TARGETS HyALinearizedForward)
 
 add_library(HyAJacInverseDynamicsReverse include/ct/models/HyA/codegen/HyAInverseDynJacReverse.cpp)
 target_include_directories(HyAJacInverseDynamicsReverse PUBLIC ${ct_models_target_include_dirs})
 target_link_libraries(HyAJacInverseDynamicsReverse ct_rbd)
-list(APPEND CT_MODEL_LIBS HyAJacInverseDynamicsReverse)
+list(APPEND CT_MODELS_TARGETS HyAJacInverseDynamicsReverse)
 
 if(BUILD_HYA_LINEARIZATION_TIMINGS)
     add_library(HyALinearizedReverse include/ct/models/HyA/codegen/HyALinearizedReverse.cpp)
     target_include_directories(HyALinearizedReverse PUBLIC ${ct_models_target_include_dirs})
     target_link_libraries(HyALinearizedReverse ct_rbd )
-    list(APPEND CT_MODEL_LIBS HyALinearizedReverse)
+    list(APPEND CT_MODELS_TARGETS HyALinearizedReverse)
 
     add_library(HyAJacInverseDynamicsForward include/ct/models/HyA/codegen/HyAInverseDynJacForward.cpp)
     target_include_directories(HyAJacInverseDynamicsForward PUBLIC ${ct_models_target_include_dirs})
     target_link_libraries(HyAJacInverseDynamicsForward ct_rbd )
-    list(APPEND CT_MODEL_LIBS HyAJacInverseDynamicsForward)
+    list(APPEND CT_MODELS_TARGETS HyAJacInverseDynamicsForward)
 
     add_executable(HyAcompareForwardReverse src/HyA/codegen/compareForwardReverse.cpp)
     target_include_directories(HyAcompareForwardReverse PUBLIC ${ct_models_target_include_dirs})
@@ -170,6 +174,7 @@ if(BUILD_HYA_LINEARIZATION_TIMINGS)
         HyAJacInverseDynamicsReverse
         ct_rbd
         )
+    list(APPEND CT_MODELS_TARGETS HyAcompareForwardReverse)
 endif(BUILD_HYA_LINEARIZATION_TIMINGS)
 
 
@@ -182,7 +187,7 @@ add_library(quadrotorDynamics
     )
 target_include_directories(quadrotorDynamics PUBLIC ${ct_models_target_include_dirs})
 target_link_libraries(quadrotorDynamics ct_core)
-list(APPEND CT_MODEL_LIBS quadrotorDynamics)
+list(APPEND CT_MODELS_TARGETS quadrotorDynamics)
 
 
 ## Inverse Kinematics
@@ -191,23 +196,23 @@ add_library(hya_ik src/HyA/transform6d.cpp)
 target_include_directories(hya_ik PUBLIC ${ct_models_target_include_dirs})
 set_target_properties(hya_ik PROPERTIES COMPILE_FLAGS "-std=c++98 -fPIC -DIKFAST_NAMESPACE=hya_ik -DIKFAST_NO_MAIN -Wno-unused-variable")
 target_link_libraries(hya_ik ct_rbd)
-list(APPEND CT_MODEL_LIBS hya_ik)
+list(APPEND CT_MODELS_TARGETS hya_ik)
 
 add_library(irb4600_ik src/Irb4600/transform6d.cpp)
 target_include_directories(irb4600_ik PUBLIC ${ct_models_target_include_dirs})
 set_target_properties(irb4600_ik PROPERTIES COMPILE_FLAGS "-std=c++98 -fPIC -DIKFAST_NAMESPACE=irb4600_ik -DIKFAST_NO_MAIN -Wno-unused-variable")
 target_link_libraries(irb4600_ik ct_rbd)
-list(APPEND CT_MODEL_LIBS irb4600_ik)
+list(APPEND CT_MODELS_TARGETS irb4600_ik)
 
 
 ## convenience library for passing on includes
 add_library(ct_models INTERFACE)
 target_include_directories(ct_models INTERFACE ${ct_models_target_include_dirs})
 target_link_libraries(ct_models INTERFACE 
   ct_rbd
-  ${CT_MODEL_LIBS}
+  ${CT_MODELS_TARGETS}
   )
-list(APPEND CT_MODEL_LIBS ct_models)
+list(APPEND CT_MODELS_TARGETS ct_models)
 
 
 ############
@@ -244,7 +249,7 @@ install(FILES "cmake/ct_modelsConfig.cmake" DESTINATION "share/ct_models/cmake")
 
 ## install library and targets
 install(
-    TARGETS ${CT_MODEL_LIBS}
+    TARGETS ${CT_MODELS_TARGETS}
     EXPORT ct_models_export
     ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
     LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}

ct_models/examples/CMakeLists.txt

@@ -4,6 +4,7 @@ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/exampleDir.h.in ${CMAKE_CURRENT_SOURC
 
 if(CPPADCG)
   add_executable(ex_NLOC_MPC_invertedPendulum mpc/InvertedPendulum/NLOC_MPC.cpp)
+  target_include_directories(ex_NLOC_MPC_invertedPendulum PUBLIC ${ct_models_target_include_dirs})
   target_link_libraries(ex_NLOC_MPC_invertedPendulum ct_rbd)
 
   ## install examples

ct_models/examples/mpc/InvertedPendulum/NLOC_MPC.cpp

@@ -100,7 +100,7 @@ int main(int argc, char* argv[])
         std::shared_ptr<ct::optcon::CostFunctionAnalytical<IPSystem::STATE_DIM, IPSystem::CONTROL_DIM>> newCost(
             new ct::optcon::CostFunctionAnalytical<IPSystem::STATE_DIM, IPSystem::CONTROL_DIM>);
         size_t intTermID = newCost->addIntermediateTerm(termQuadInterm);
-        size_t finalTermID = newCost->addFinalTerm(termQuadFinal);
+        /*size_t finalTermID = */ newCost->addFinalTerm(termQuadFinal);
 
         ct::core::Time timeHorizon;
         InvertedPendulumNLOC::FeedbackArray::value_type fbD;

ct_models/include/ct/models/HyQ/HyQUrdfNames.h

@@ -5,6 +5,9 @@ Licensed under the BSD-2 license (see LICENSE file in main directory)
 
 #pragma once
 
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-function"
+
 namespace ct {
 namespace models {
 namespace HyQ {
@@ -17,6 +20,9 @@ static std::vector<std::string> urdfJointNames()
 
     return urdfJointNames;
 }
-}
-}
-}
+
+}  // namespace HyQ
+}  // namespace models
+}  // namespace ct
+
+#pragma GCC diagnostic pop

ct_models/src/HyQ/codegen/HyQLinearizationCodegen.cpp

@@ -21,9 +21,6 @@ typedef ct::rbd::FloatingBaseFDSystem<ct::rbd::HyQ::tpl::Dynamics<SCALAR>, false
 const size_t state_dim = HyQSystemAD::STATE_DIM;
 const size_t control_dim = HyQSystemAD::CONTROL_DIM;
 
-// shortcut for number of joints
-const size_t njoints = HyQSystemAD::Kinematics::NJOINTS;
-
 
 void generateInverseDynamics()
 {
@@ -102,7 +99,7 @@ void generateFDLinearization(int argc, char* argv[])
         std::shared_ptr<ContactModel>(new ContactModel(SCALAR(5000.0), SCALAR(1000.0), SCALAR(100.0), SCALAR(100.0),
             SCALAR(-0.02), ContactModel::VELOCITY_SMOOTHING::SIGMOID, adSystem->dynamics().kinematicsPtr()));
 
-    bool useContactModel = (argc <= 2 || !std::string(argv[2]).compare("nocontact") == 0);
+    bool useContactModel = (argc <= 2 || !(std::string(argv[2]).compare("nocontact") == 0));
     std::cout << std::boolalpha << "using contact model: " << useContactModel << std::endl;
 
     // asign the contact model

ct_rbd/test/robot/kinematics/KinematicsTest.cpp

@@ -3,6 +3,11 @@ This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-t
 Licensed under the BSD-2 license (see LICENSE file in main directory)
 **********************************************************************************************************************/
 
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-parameter"
+#pragma GCC diagnostic ignored "-Wunused-value"
+#pragma GCC diagnostic ignored "-Wunused-variable"
+
 #include <ct/rbd/rbd.h>
 
 #include <memory>
@@ -48,3 +53,5 @@ int main(int argc, char** argv)
     testing::InitGoogleTest(&argc, argv);
     return RUN_ALL_TESTS();
 }
+
+#pragma GCC diagnostic pop

ct_rbd/test/robot/kinematics/KinematicsTestAd.cpp

@@ -3,6 +3,11 @@ This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-t
 Licensed under the BSD-2 license (see LICENSE file in main directory)
 **********************************************************************************************************************/
 
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-parameter"
+#pragma GCC diagnostic ignored "-Wunused-value"
+#pragma GCC diagnostic ignored "-Wunused-variable"
+
 #include <ct/rbd/rbd.h>
 
 #include <memory>
@@ -16,10 +21,6 @@ Licensed under the BSD-2 license (see LICENSE file in main directory)
 
 #include "ct/rbd/robot/kinematics/EndEffector.h"
 
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wunused-parameter"
-#pragma GCC diagnostic ignored "-Wunused-value"
-
 using namespace ct;
 using namespace rbd;
 

ct_rbd/test/systems/FloatingBaseFDSystemTest.cpp

@@ -6,6 +6,7 @@ Licensed under the BSD-2 license (see LICENSE file in main directory)
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wunused-parameter"
 #pragma GCC diagnostic ignored "-Wunused-value"
+#pragma GCC diagnostic ignored "-Wunused-variable"
 
 
 #include <ct/rbd/rbd.h>

ct_rbd/test/systems/ProjectedFDSystemTest.cpp

@@ -3,6 +3,12 @@ This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-t
 Licensed under the BSD-2 license (see LICENSE file in main directory)
 **********************************************************************************************************************/
 
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-parameter"
+#pragma GCC diagnostic ignored "-Wunused-value"
+#pragma GCC diagnostic ignored "-Wunused-variable"
+
+
 
 #include <gtest/gtest.h>
 
@@ -207,3 +213,7 @@ int main(int argc, char** argv)
     testing::InitGoogleTest(&argc, argv);
     return RUN_ALL_TESTS();
 }
+
+
+#pragma GCC diagnostic pop
+

ct_rbd/test/systems/linear/RBDLinearizerTest.cpp

@@ -6,6 +6,7 @@ Licensed under the BSD-2 license (see LICENSE file in main directory)
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wunused-parameter"
 #pragma GCC diagnostic ignored "-Wunused-value"
+#pragma GCC diagnostic ignored "-Wunused-variable"
 
 #include <ct/rbd/rbd.h>