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[Windows][melodic-devel] Windows\MSVC port #239

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[Windows][melodic-devel] Windows\MSVC port #239

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8 changes: 6 additions & 2 deletions descartes_core/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,7 +1,9 @@
cmake_minimum_required(VERSION 2.8.11)
project(descartes_core)

add_compile_options(-std=c++11 -Wall -Wextra)
if(NOT MSVC)
add_compile_options(-std=c++11 -Wall -Wextra)
endif()

find_package(catkin REQUIRED COMPONENTS
cmake_modules
Expand Down Expand Up @@ -54,7 +56,9 @@ target_link_libraries(${PROJECT_NAME}

install(
TARGETS ${PROJECT_NAME}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})

install(
DIRECTORY include/${PROJECT_NAME}/
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16 changes: 16 additions & 0 deletions descartes_core/include/descartes_core/export.h
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Original file line number Diff line number Diff line change
@@ -0,0 +1,16 @@
#ifndef DESCARTES_CORE_EXPORT_H_
#define DESCARTES_CORE_EXPORT_H_

#include <ros/macros.h>

#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries
#ifdef descartes_core_EXPORTS // we are building a shared lib/dll
#define DESCARTES_CORE_DECL ROS_HELPER_EXPORT
#else // we are using shared lib/dll
#define DESCARTES_CORE_DECL ROS_HELPER_IMPORT
#endif
#else // ros is being built around static libraries
#define DESCARTES_CORE_DECL
#endif

#endif
6 changes: 3 additions & 3 deletions descartes_core/include/descartes_core/pretty_print.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@
#include <iterator>
#include <set>

#ifndef NO_TR1
#if !defined(NO_TR1) && (__cplusplus <= 199711L)
#include <tr1/tuple>
#include <tr1/unordered_set>
#endif
Expand Down Expand Up @@ -199,7 +199,7 @@ template <typename T, typename TComp, typename TAllocator>
const delimiters_values<wchar_t> delimiters< ::std::multiset<T, TComp, TAllocator>, wchar_t>::values = { L"{", L", ",
L"}" };

#ifndef NO_TR1
#if !defined(NO_TR1) && (__cplusplus <= 199711L)
template <typename T, typename THash, typename TEqual, typename TAllocator>
struct delimiters< ::std::tr1::unordered_set<T, THash, TEqual, TAllocator>, char>
{
Expand Down Expand Up @@ -444,7 +444,7 @@ inline basic_ostream<TChar, TCharTraits> &operator<<(basic_ostream<TChar, TCharT
}
} // namespace std

#ifndef NO_TR1
#if !defined(NO_TR1) && (__cplusplus <= 199711L)

// Prints a tuple to the stream using delimiters from delimiters<std::pair<tuple_dummy_t, tuple_dummy_t>>.

Expand Down
4 changes: 3 additions & 1 deletion descartes_core/include/descartes_core/trajectory_id.h
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Expand Up @@ -5,6 +5,8 @@

#include <boost/thread/mutex.hpp>

#include "descartes_core/export.h"

namespace descartes_core
{
namespace detail
Expand All @@ -26,7 +28,7 @@ struct IdGenerator;
* for the unique 'state'. Zero is reserved as a special value
*/
template <>
struct IdGenerator<uint64_t>
struct DESCARTES_CORE_DECL IdGenerator<uint64_t>
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I'm not too familiar with MSVC toolchains so could you explain why this is needed?

{
typedef uint64_t value_type;

Expand Down
4 changes: 2 additions & 2 deletions descartes_core/include/descartes_core/utils.h
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Expand Up @@ -57,7 +57,7 @@ typedef EulerConventions::EulerConvention EulerConvention;

// Use a function declaration so that we can add the 'unused' attribute, which prevents compiler warnings
static Eigen::Isometry3d toFrame(double tx, double ty, double tz, double rx, double ry, double rz,
int convention = int(EulerConventions::ZYX)) __attribute__((unused));
int convention = int(EulerConventions::ZYX)) [[gnu::unused]];

static Eigen::Isometry3d toFrame(double tx, double ty, double tz, double rx, double ry, double rz, int convention)
{
Expand Down Expand Up @@ -97,7 +97,7 @@ static Eigen::Isometry3d toFrame(double tx, double ty, double tz, double rx, dou

// Use a function declaration so that we can add the 'unused' attribute, which prevents compiler warnings
static bool equal(const std::vector<double> &lhs, const std::vector<double> &rhs, const double tol)
__attribute__((unused));
[[gnu::unused]];

static bool equal(const std::vector<double> &lhs, const std::vector<double> &rhs, const double tol)
{
Expand Down
9 changes: 7 additions & 2 deletions descartes_moveit/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,7 +1,9 @@
cmake_minimum_required(VERSION 2.8.11)
project(descartes_moveit)

add_compile_options(-std=c++11 -Wall -Wextra)
if(NOT MSVC)
add_compile_options(-std=c++11 -Wall -Wextra)
endif()

find_package(catkin REQUIRED COMPONENTS
cmake_modules
Expand All @@ -12,6 +14,7 @@ find_package(catkin REQUIRED COMPONENTS
pluginlib
rosconsole_bridge
tf
eigen_conversions
)

find_package(Boost REQUIRED)
Expand Down Expand Up @@ -65,7 +68,9 @@ target_link_libraries(${PROJECT_NAME}

install(
TARGETS ${PROJECT_NAME}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})

install(
FILES moveit_adapter_plugins.xml
Expand Down
1 change: 1 addition & 0 deletions descartes_moveit/package.xml
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Expand Up @@ -23,6 +23,7 @@
<depend>moveit_ros_planning</depend>
<depend>pluginlib</depend>
<build_depend>eigen</build_depend>
<build_depend>eigen_conversions</build_depend>

<export>
<descartes_core plugin="${prefix}/moveit_adapter_plugins.xml"/>
Expand Down
4 changes: 3 additions & 1 deletion descartes_planner/CMakeLists.txt
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Expand Up @@ -75,7 +75,9 @@ add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
#############
install(
TARGETS ${PROJECT_NAME}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})

install(
FILES ${PROJECT_NAME}_plugins.xml
Expand Down
8 changes: 7 additions & 1 deletion descartes_planner/include/descartes_planner/ladder_graph.h
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Expand Up @@ -22,10 +22,16 @@
#include "descartes_core/trajectory_id.h"
#include "descartes_core/trajectory_timing_constraint.h"

#ifndef _MSC_VER
#define COMPILER_PACKED __attribute__ ((__packed__))
#else
#define COMPILER_PACKED
#endif

namespace descartes_planner
{

struct __attribute__ ((__packed__)) Edge
struct COMPILER_PACKED Edge
{
double cost; // transition cost from vertex who owns this object to 'idx' in next rung
unsigned idx; // from THIS rung to 'idx' into the NEXT rung
Expand Down
4 changes: 2 additions & 2 deletions descartes_planner/src/planning_graph.cpp
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Expand Up @@ -64,7 +64,7 @@ bool PlanningGraph::insertGraph(const std::vector<TrajectoryPtPtr>& points)

// now we have a graph with data in the 'rungs' and we need to compute the edges
#pragma omp parallel for
for (std::size_t i = 0; i < graph_.size() - 1; ++i)
for (int i = 0; i < graph_.size() - 1; ++i)
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Why change the iterator type?

{
computeAndAssignEdges(i, i + 1);
}
Expand Down Expand Up @@ -190,7 +190,7 @@ bool PlanningGraph::calculateJointSolutions(const TrajectoryPtPtr* points, const
bool success = true;

#pragma omp parallel for shared(success)
for (std::size_t i = 0; i < count; ++i)
for (int i = 0; i < count; ++i)
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Why change the iterator datatype here?

{
if (success)
{
Expand Down
11 changes: 6 additions & 5 deletions descartes_tests/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,7 +1,9 @@
cmake_minimum_required(VERSION 2.8.3)
project(descartes_tests)

add_compile_options(-std=c++11 -Wall -Wextra)
if(NOT MSVC)
add_compile_options(-std=c++11 -Wall -Wextra)
endif()

find_package(catkin REQUIRED COMPONENTS
descartes_moveit
Expand Down Expand Up @@ -38,10 +40,9 @@ target_link_libraries(${PROJECT_NAME}
)

install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})

install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
Expand Down
10 changes: 8 additions & 2 deletions descartes_trajectory/CMakeLists.txt
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@@ -1,7 +1,11 @@
cmake_minimum_required(VERSION 2.8.11)
project(descartes_trajectory)

add_compile_options(-std=c++11 -Wall -Wextra)
if(NOT MSVC)
add_compile_options(-std=c++11 -Wall -Wextra)
else()
add_definitions(-D__PRETTY_FUNCTION__=__FUNCTION__)
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What does this definition do?

endif()

find_package(catkin REQUIRED COMPONENTS
cmake_modules
Expand Down Expand Up @@ -63,7 +67,9 @@ target_link_libraries(${PROJECT_NAME}

install(
TARGETS ${PROJECT_NAME}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

install(
DIRECTORY include/${PROJECT_NAME}/
Expand Down
11 changes: 6 additions & 5 deletions descartes_utilities/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,7 +1,9 @@
cmake_minimum_required(VERSION 2.8.11)
project(descartes_utilities)

add_compile_options(-std=c++11 -Wall -Wextra)
if(NOT MSVC)
add_compile_options(-std=c++11 -Wall -Wextra)
endif()

find_package(catkin REQUIRED COMPONENTS
descartes_core
Expand Down Expand Up @@ -33,10 +35,9 @@ target_link_libraries(${PROJECT_NAME}
)

install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})

install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
Expand Down