diff --git a/ct_models/CMakeLists.txt b/ct_models/CMakeLists.txt index fc90d271e..3f0cd1412 100755 --- a/ct_models/CMakeLists.txt +++ b/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 @@ -191,13 +196,13 @@ 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 @@ -205,9 +210,9 @@ 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 ${CMAKE_INSTALL_LIBDIR} diff --git a/ct_models/examples/CMakeLists.txt b/ct_models/examples/CMakeLists.txt index de10959ab..eab67c232 100644 --- a/ct_models/examples/CMakeLists.txt +++ b/ct_models/examples/CMakeLists.txt @@ -4,6 +4,7 @@ configure_file(${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 diff --git a/ct_models/examples/mpc/InvertedPendulum/NLOC_MPC.cpp b/ct_models/examples/mpc/InvertedPendulum/NLOC_MPC.cpp index 35aeb9d91..2b4f07119 100644 --- a/ct_models/examples/mpc/InvertedPendulum/NLOC_MPC.cpp +++ b/ct_models/examples/mpc/InvertedPendulum/NLOC_MPC.cpp @@ -100,7 +100,7 @@ int main(int argc, char* argv[]) std::shared_ptr> newCost( new ct::optcon::CostFunctionAnalytical); 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; diff --git a/ct_models/include/ct/models/HyQ/HyQUrdfNames.h b/ct_models/include/ct/models/HyQ/HyQUrdfNames.h index 9c1b4860f..c863af407 100644 --- a/ct_models/include/ct/models/HyQ/HyQUrdfNames.h +++ b/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 urdfJointNames() return urdfJointNames; } -} -} -} + +} // namespace HyQ +} // namespace models +} // namespace ct + +#pragma GCC diagnostic pop diff --git a/ct_models/src/HyQ/codegen/HyQLinearizationCodegen.cpp b/ct_models/src/HyQ/codegen/HyQLinearizationCodegen.cpp index d214b54c8..b1b9a1225 100644 --- a/ct_models/src/HyQ/codegen/HyQLinearizationCodegen.cpp +++ b/ct_models/src/HyQ/codegen/HyQLinearizationCodegen.cpp @@ -21,9 +21,6 @@ typedef ct::rbd::FloatingBaseFDSystem, 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(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 diff --git a/ct_rbd/test/robot/kinematics/KinematicsTest.cpp b/ct_rbd/test/robot/kinematics/KinematicsTest.cpp index 0644cf54f..d820ee737 100644 --- a/ct_rbd/test/robot/kinematics/KinematicsTest.cpp +++ b/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 #include @@ -48,3 +53,5 @@ int main(int argc, char** argv) testing::InitGoogleTest(&argc, argv); return RUN_ALL_TESTS(); } + +#pragma GCC diagnostic pop diff --git a/ct_rbd/test/robot/kinematics/KinematicsTestAd.cpp b/ct_rbd/test/robot/kinematics/KinematicsTestAd.cpp index 30d42e617..2d1868a7d 100644 --- a/ct_rbd/test/robot/kinematics/KinematicsTestAd.cpp +++ b/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 #include @@ -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; diff --git a/ct_rbd/test/systems/FloatingBaseFDSystemTest.cpp b/ct_rbd/test/systems/FloatingBaseFDSystemTest.cpp index 70839d9bd..3bf0cbb64 100644 --- a/ct_rbd/test/systems/FloatingBaseFDSystemTest.cpp +++ b/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 diff --git a/ct_rbd/test/systems/ProjectedFDSystemTest.cpp b/ct_rbd/test/systems/ProjectedFDSystemTest.cpp index 2923d74d8..3d5767720 100644 --- a/ct_rbd/test/systems/ProjectedFDSystemTest.cpp +++ b/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 @@ -207,3 +213,7 @@ int main(int argc, char** argv) testing::InitGoogleTest(&argc, argv); return RUN_ALL_TESTS(); } + + +#pragma GCC diagnostic pop + diff --git a/ct_rbd/test/systems/linear/RBDLinearizerTest.cpp b/ct_rbd/test/systems/linear/RBDLinearizerTest.cpp index 8de7274c3..f745762b2 100644 --- a/ct_rbd/test/systems/linear/RBDLinearizerTest.cpp +++ b/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