Merge branch 'master' into master

CMakeLists.txt

@@ -50,14 +50,14 @@ else()
 endif()
 
 # Whether to enable SSE
-set (SSE_FLAGS "")
+set(SSE_FLAGS "")
 option(FCL_USE_X64_SSE "Whether FCL should x64 SSE instructions" ON)
-if (FCL_USE_X64_SSE)
-  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
+if(FCL_USE_X64_SSE)
+  if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     set(SSE_FLAGS -mfpmath=sse -msse -msse2 -msse3 -mssse3)
   elseif(MSVC)
     # Win64 will add the flag automatically
-    if("$CMAKE_VS_PLATFORM_NAME}" STREQUAL "Win32")
+    if(CMAKE_VS_PLATFORM_NAME STREQUAL "Win32")
       set(SSE_FLAGS /arch:SSE2)
     endif()
   endif()

CMakeModules/CompilerSettings.cmake

@@ -1,14 +1,14 @@
 # GCC
 if(CMAKE_COMPILER_IS_GNUCXX)
-    add_definitions(-std=c++11 -W -Wall -Wextra -Wpedantic -Wno-unused-parameter)
+    add_definitions(-std=c++11 -W -Wall -Wextra -Wpedantic)
     if(FCL_TREAT_WARNINGS_AS_ERRORS)
         add_definitions(-Werror)
     endif()
 endif()
 
 # Clang
 if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
-    add_definitions(-std=c++11 -W -Wall -Wextra -Wno-unused-parameter)
+    add_definitions(-std=c++11 -W -Wall -Wextra)
     if(FCL_TREAT_WARNINGS_AS_ERRORS)
         add_definitions(-Werror)
     endif()
@@ -20,7 +20,7 @@ if(CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
     if (CMAKE_CXX_COMPILER_VERSION VERSION_LESS 6.1)
         message(FATAL_ERROR "AppleClang version must be at least 6.1!")
     endif()
-    add_definitions(-std=c++11 -W -Wall -Wextra -Wno-unused-parameter)
+    add_definitions(-std=c++11 -W -Wall -Wextra)
     if(FCL_TREAT_WARNINGS_AS_ERRORS)
         add_definitions(-Werror)
     endif()

include/fcl/broadphase/broadphase_collision_manager-inl.h

@@ -31,7 +31,7 @@
  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
- */ 
+ */
 
 /** @author Jia Pan */
 
@@ -40,6 +40,8 @@
 
 #include "fcl/broadphase/broadphase_collision_manager.h"
 
+#include "fcl/common/unused.h"
+
 namespace fcl {
 
 //==============================================================================
@@ -74,6 +76,8 @@ void BroadPhaseCollisionManager<S>::registerObjects(
 template <typename S>
 void BroadPhaseCollisionManager<S>::update(CollisionObject<S>* updated_obj)
 {
+  FCL_UNUSED(updated_obj);
+
   update();
 }
 
@@ -82,6 +86,8 @@ template <typename S>
 void BroadPhaseCollisionManager<S>::update(
     const std::vector<CollisionObject<S>*>& updated_objs)
 {
+  FCL_UNUSED(updated_objs);
+
   update();
 }
 

include/fcl/broadphase/broadphase_continuous_collision_manager-inl.h

@@ -31,7 +31,7 @@
  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
- */ 
+ */
 
 /** @author Jia Pan */
 
@@ -40,6 +40,8 @@
 
 #include "fcl/broadphase/broadphase_continuous_collision_manager.h"
 
+#include "fcl/common/unused.h"
+
 namespace fcl {
 
 //==============================================================================
@@ -74,6 +76,8 @@ template <typename S>
 void BroadPhaseContinuousCollisionManager<S>::update(
     ContinuousCollisionObject<S>* updated_obj)
 {
+  FCL_UNUSED(updated_obj);
+
   update();
 }
 
@@ -82,6 +86,8 @@ template <typename S>
 void BroadPhaseContinuousCollisionManager<S>::update(
     const std::vector<ContinuousCollisionObject<S>*>& updated_objs)
 {
+  FCL_UNUSED(updated_objs);
+
   update();
 }
 

include/fcl/broadphase/detail/hierarchy_tree_array-inl.h

@@ -40,6 +40,8 @@
 
 #include "fcl/broadphase/detail/hierarchy_tree_array.h"
 
+#include "fcl/common/unused.h"
+
 namespace fcl
 {
 
@@ -342,6 +344,10 @@ bool HierarchyTree<BV>::update(size_t leaf, const BV& bv)
 template<typename BV>
 bool HierarchyTree<BV>::update(size_t leaf, const BV& bv, const Vector3<S>& vel, S margin)
 {
+  FCL_UNUSED(bv);
+  FCL_UNUSED(vel);
+  FCL_UNUSED(margin);
+
   if(nodes[leaf].bv.contain(bv)) return false;
   update_(leaf, bv);
   return true;
@@ -351,6 +357,8 @@ bool HierarchyTree<BV>::update(size_t leaf, const BV& bv, const Vector3<S>& vel,
 template<typename BV>
 bool HierarchyTree<BV>::update(size_t leaf, const BV& bv, const Vector3<S>& vel)
 {
+  FCL_UNUSED(vel);
+
   if(nodes[leaf].bv.contain(bv)) return false;
   update_(leaf, bv);
   return true;
@@ -1071,11 +1079,21 @@ struct SelectImpl
 {
   static bool run(size_t query, size_t node1, size_t node2, NodeBase<BV>* nodes)
   {
+    FCL_UNUSED(query);
+    FCL_UNUSED(node1);
+    FCL_UNUSED(node2);
+    FCL_UNUSED(nodes);
+
     return 0;
   }
 
   static bool run(const BV& query, size_t node1, size_t node2, NodeBase<BV>* nodes)
   {
+    FCL_UNUSED(query);
+    FCL_UNUSED(node1);
+    FCL_UNUSED(node2);
+    FCL_UNUSED(nodes);
+
     return 0;
   }
 };

include/fcl/common/unused.h

@@ -0,0 +1,41 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2017, Open Source Robotics Foundation
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Open Source Robotics Foundation nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef FCL_COMMON_UNUSED_H
+#define FCL_COMMON_UNUSED_H
+
+// Macro to suppress -Wunused-parameter and -Wunused-variable warnings.
+#define FCL_UNUSED(x) do { (void)(x); } while (0)
+
+#endif

include/fcl/geometry/bvh/detail/BV_splitter-inl.h

@@ -40,6 +40,8 @@
 
 #include "fcl/geometry/bvh/detail/BV_splitter.h"
 
+#include "fcl/common/unused.h"
+
 namespace fcl
 {
 
@@ -591,6 +593,8 @@ void computeSplitValue_mean(
     const Vector3<S>& split_vector,
     S& split_value)
 {
+  FCL_UNUSED(bv);
+
   S sum = 0.0;
   if(type == BVH_MODEL_TRIANGLES)
   {
@@ -634,6 +638,8 @@ void computeSplitValue_median(
     const Vector3<S>& split_vector,
     S& split_value)
 {
+  FCL_UNUSED(bv);
+
   std::vector<S> proj(num_primitives);
 
   if(type == BVH_MODEL_TRIANGLES)

include/fcl/geometry/shape/utility-inl.h

@@ -40,6 +40,8 @@
 
 #include "fcl/geometry/shape/utility.h"
 
+#include "fcl/common/unused.h"
+
 #include "fcl/math/bv/utility.h"
 
 #include "fcl/geometry/shape/capsule.h"
@@ -359,6 +361,9 @@ struct ComputeBVImpl<S, OBB<S>, Halfspace<S>>
 {
   static void run(const Halfspace<S>& s, const Transform3<S>& tf, OBB<S>& bv)
   {
+    FCL_UNUSED(s);
+    FCL_UNUSED(tf);
+
     /// Half space can only have very rough OBB
     bv.axis.setIdentity();
     bv.To.setZero();
@@ -372,6 +377,9 @@ struct ComputeBVImpl<S, RSS<S>, Halfspace<S>>
 {
   static void run(const Halfspace<S>& s, const Transform3<S>& tf, RSS<S>& bv)
   {
+    FCL_UNUSED(s);
+    FCL_UNUSED(tf);
+
     /// Half space can only have very rough RSS
     bv.axis.setIdentity();
     bv.To.setZero();
@@ -1137,6 +1145,8 @@ void constructBox(const AABB<S>& bv, const Transform3<S>& tf_bv, Box<S>& box, Tr
 template <typename S>
 void constructBox(const OBB<S>& bv, const Transform3<S>& tf_bv, Box<S>& box, Transform3<S>& tf)
 {
+  FCL_UNUSED(tf_bv);
+
   box = Box<S>(bv.extent * 2);
   tf.linear() = bv.axis;
   tf.translation() = bv.To;
@@ -1156,6 +1166,8 @@ void constructBox(const OBBRSS<S>& bv, const Transform3<S>& tf_bv, Box<S>& box,
 template <typename S>
 void constructBox(const kIOS<S>& bv, const Transform3<S>& tf_bv, Box<S>& box, Transform3<S>& tf)
 {
+  FCL_UNUSED(tf_bv);
+
   box = Box<S>(bv.obb.extent * 2);
   tf.linear() = bv.obb.axis;
   tf.translation() = bv.obb.To;

include/fcl/math/bv/OBB-inl.h

@@ -40,6 +40,8 @@
 
 #include "fcl/math/bv/OBB.h"
 
+#include "fcl/common/unused.h"
+
 namespace fcl
 {
 
@@ -110,6 +112,8 @@ bool OBB<S>::overlap(const OBB<S>& other) const
 template <typename S>
 bool OBB<S>::overlap(const OBB& other, OBB& overlap_part) const
 {
+  FCL_UNUSED(overlap_part);
+
   return overlap(other);
 }
 
@@ -216,6 +220,10 @@ template <typename S>
 S OBB<S>::distance(const OBB& other, Vector3<S>* P,
                              Vector3<S>* Q) const
 {
+  FCL_UNUSED(other);
+  FCL_UNUSED(P);
+  FCL_UNUSED(Q);
+
   std::cerr << "OBB distance not implemented!" << std::endl;
   return 0.0;
 }

include/fcl/math/bv/kDOP-inl.h

@@ -40,6 +40,8 @@
 
 #include "fcl/math/bv/kDOP.h"
 
+#include "fcl/common/unused.h"
+
 namespace fcl
 {
 
@@ -243,6 +245,10 @@ Vector3<S> KDOP<S, N>::center() const
 template <typename S, std::size_t N>
 S KDOP<S, N>::distance(const KDOP<S, N>& other, Vector3<S>* P, Vector3<S>* Q) const
 {
+  FCL_UNUSED(other);
+  FCL_UNUSED(P);
+  FCL_UNUSED(Q);
+
   std::cerr << "KDOP distance not implemented!" << std::endl;
   return 0.0;
 }

include/fcl/math/bv/utility-inl.h

@@ -40,6 +40,8 @@
 
 #include "fcl/math/bv/utility.h"
 
+#include "fcl/common/unused.h"
+
 #include "fcl/math/bv/AABB.h"
 #include "fcl/math/bv/kDOP.h"
 #include "fcl/math/bv/kIOS.h"
@@ -661,6 +663,10 @@ class ConvertBVImpl
 private:
   static void run(const BV1& bv1, const Transform3<S>& tf1, BV2& bv2)
   {
+    FCL_UNUSED(bv1);
+    FCL_UNUSED(tf1);
+    FCL_UNUSED(bv2);
+
     // should only use the specialized version, so it is private.
   }
 };

include/fcl/math/motion/spline_motion-inl.h

@@ -40,6 +40,8 @@
 
 #include "fcl/math/motion/spline_motion.h"
 
+#include "fcl/common/unused.h"
+
 namespace fcl
 {
 
@@ -93,6 +95,11 @@ SplineMotion<S>::SplineMotion(
     const Matrix3<S>& R2, const Vector3<S>& T2)
   : MotionBase<S>()
 {
+  FCL_UNUSED(R1);
+  FCL_UNUSED(T1);
+  FCL_UNUSED(R2);
+  FCL_UNUSED(T2);
+
   // TODO
 }
 
@@ -102,6 +109,9 @@ SplineMotion<S>::SplineMotion(
     const Transform3<S>& tf1, const Transform3<S>& tf2)
   : MotionBase<S>()
 {
+  FCL_UNUSED(tf1);
+  FCL_UNUSED(tf2);
+
   // TODO
 }