fix a few win warnings

include/orca/gazebo/Utils.h

@@ -34,10 +34,6 @@
 //|  The fact that you are presently reading this means that you have had
 //|  knowledge of the CeCILL-C license and that you accept its terms.
 
-#pragma once
-#if defined(_WIN32) && !defined(_ENABLE_EXTENDED_ALIGNED_STORAGE)
-  #define _ENABLE_EXTENDED_ALIGNED_STORAGE
-#endif
 #include <Eigen/Geometry>
 #include <ignition/math/Vector3.hh>
 #include <ignition/math/Quaternion.hh>
@@ -145,8 +141,8 @@ namespace gazebo
 /**
  * \class GazeboWrenchSensor
  * \brief A Wrench sensor w.r.t. a base_link. Wrench is expressed from the world to the body, in the base_link frame.
- * 
- * This class is a wrapper to a ForceTorqueSensor or ContactSensor to store frame information. 
+ *
+ * This class is a wrapper to a ForceTorqueSensor or ContactSensor to store frame information.
  * Indeed there is no easy way to get the attributes of the Gazebo sensor.
  */
 class GazeboWrenchSensor
@@ -157,10 +153,10 @@ class GazeboWrenchSensor
 
     virtual ~GazeboWrenchSensor()
     {}
-    
+
 protected:
     GazeboWrenchSensor(const std::string& base_link)
-    : base_link_(base_link) 
+    : base_link_(base_link)
     {}
 
 public:
@@ -185,7 +181,7 @@ class GazeboWrenchSensor
     {
         connection_ptr_ = conn_ptr;
     }
-    
+
     /**
      * \brief sets the wrench in the base_link frame
      * \warning the input wrench should be in the base_link frame, from the world to the body
@@ -194,7 +190,7 @@ class GazeboWrenchSensor
     {
         wrench_ = wrench;
     }
-    
+
     Eigen::Matrix<double,6,1>& wrench()
     {
         return wrench_;
@@ -226,7 +222,7 @@ class GazeboForceTorqueSensor : public GazeboWrenchSensor
                 sensor_->ConnectUpdate(subscriber)
             );
     }
-    
+
     /**
      * \brief sets the ForceTorqueSensorPtr to connect to
      * \warning the ForceTorqueSensorPtr should be with attributes <measure_direction>child_to_parent</measure_direction> <frame>child</frame>
@@ -235,12 +231,12 @@ class GazeboForceTorqueSensor : public GazeboWrenchSensor
     {
         sensor_ = sensor;
     }
-    
+
     ::gazebo::sensors::ForceTorqueSensorPtr getSensor() const
     {
         return sensor_;
     }
-    
+
     void setWrenchFrom(const ::gazebo::msgs::WrenchStamped& wrench_stamped)
     {
         gazeboMsgToEigen(wrench_stamped, wrench());
@@ -265,7 +261,7 @@ class GazeboContactSensor : public GazeboWrenchSensor
                 sensor_->ConnectUpdated(subscriber)
             );
     }
-    
+
     const std::string& getCollisionName() const
     {
         return collision_;
@@ -278,7 +274,7 @@ class GazeboContactSensor : public GazeboWrenchSensor
     {
         sensor_ = sensor;
     }
-    
+
     ::gazebo::sensors::ContactSensorPtr getSensor() const
     {
         return sensor_;
@@ -288,7 +284,7 @@ class GazeboContactSensor : public GazeboWrenchSensor
     {
         return link_;
     }
-    
+
     void setWrenchFrom( void )
     {
         /**
@@ -322,7 +318,7 @@ class GazeboContactSensor : public GazeboWrenchSensor
                     wrench_res_atCoG_inLink.head<3>() += convVec3(contacts.contact(i).wrench(j).body_2_wrench().force());
                     wrench_res_atCoG_inLink.tail<3>() += convVec3(contacts.contact(i).wrench(j).body_2_wrench().torque());
                 }
-                else 
+                else
                     throw std::runtime_error("Mismatching collision bodies names");
             }
         }
@@ -333,7 +329,7 @@ class GazeboContactSensor : public GazeboWrenchSensor
     ::gazebo::sensors::ContactSensorPtr sensor_ = nullptr;
     ::gazebo::physics::LinkPtr link_ = nullptr;
     std::string collision_;
-}; // GazeboContactSensor 
+}; // GazeboContactSensor
 
 
 } // namespace gazebo

include/orca/math/WeightedEuclidianNormFunction.h

@@ -49,10 +49,13 @@ class WeightedEuclidianNormFunction : public AffineFunction
 {
 public:
     WeightedEuclidianNormFunction();
-
+    virtual ~WeightedEuclidianNormFunction() {}
+
     class QuadraticCost
     {
     public:
+        virtual ~QuadraticCost() {}
+
         void resize(int A_or_b_rows);
 
         Size getSize() const;

include/orca/optim/QPSolver.h

@@ -60,7 +60,7 @@ class QPSolver
     bool solve(orca::optim::ProblemData& data);
     common::ReturnCode getReturnCode() const;
 private:
-    std::unique_ptr<QPSolverImpl> pimpl_;
+    std::shared_ptr<QPSolverImpl> pimpl_;
     common::ReturnCode ret_ = common::ReturnCode::RET_INIT_FAILED;
     int nvar_ = 0;
     int nconstr_ = 0;

include/orca/robot/RobotModel.h

@@ -289,13 +289,13 @@ class RobotModel : public common::ConfigurableOrcaObject
     common::Parameter<Eigen::Vector3d> gravity_;
     common::Parameter<Eigen::VectorXd> home_joint_positions_;
     common::Parameter<std::string> name_;
-    
+
     bool loadFromParameters();
 private:
-    
+
     template<RobotModelImplType type = iDynTree> class RobotModelImpl;
-    std::unique_ptr<RobotModelImpl<> > impl_;
-    
+    std::shared_ptr<RobotModelImpl<> > impl_;
+
 };
 
 } // namespace robot

include/orca/utils/Logger.h

@@ -35,43 +35,38 @@
 //|  knowledge of the CeCILL-C license and that you accept its terms.
 
 #pragma once
-
 #include <plog/Log.h>
 
-
 namespace orca
 {
-    namespace utils
-    {
+namespace utils
+{
 
-        enum class LogLevel
-        {
-            none = 0,
-            fatal = 1,
-            error = 2,
-            warning = 3,
-            info = 4,
-            debug = 5,
-            verbose = 6
-        };
+    enum class LogLevel
+    {
+        none = 0,
+        fatal = 1,
+        error = 2,
+        warning = 3,
+        info = 4,
+        debug = 5,
+        verbose = 6
+    };
 
-        struct Logger
-        {
-            Logger();
-            static void setLogLevel(LogLevel log_level);
-			static void setLogLevel(int log_level);
-			static void setLogLevel(const std::string& log_level);
-			static void parseArgv(int argc,char ** argv);
-			static void parseArgv(const std::vector<std::string>& v);
-			static void parseArgv(int argc,char const* argv[]);
-        };
-    }
-}
+    struct Logger
+    {
+        Logger();
+        virtual ~Logger() {}
+        static void setLogLevel(LogLevel log_level);
+        static void setLogLevel(int log_level);
+        static void setLogLevel(const std::string& log_level);
+        static void parseArgv(int argc,char ** argv);
+        static void parseArgv(const std::vector<std::string>& v);
+        static void parseArgv(int argc,char const* argv[]);
+    };
+} // namespace utils
+} // namespace orca
 
-#ifdef _WIN32
-#if defined(_WIN32) && !defined(_ENABLE_EXTENDED_ALIGNED_STORAGE)
-  #define _ENABLE_EXTENDED_ALIGNED_STORAGE
-#endif
 #include <Eigen/Dense>
 #include <sstream>
 namespace plog
@@ -91,4 +86,3 @@ namespace plog
 		return record << ss.str();
 	}
 }
-#endif

include/orca/utils/Utils.h

@@ -36,9 +36,6 @@
 
 #pragma once
 #include <iostream>
-#if defined(_WIN32) && !defined(_ENABLE_EXTENDED_ALIGNED_STORAGE)
-  #define _ENABLE_EXTENDED_ALIGNED_STORAGE
-#endif
 #include <Eigen/Dense>
 #include <memory>
 #include <cstdlib>
@@ -52,8 +49,6 @@
 #include <map>
 #include "orca/utils/Logger.h"
 
-#define UNUSED(expr) (void)(expr)
-
 namespace orca
 {
 namespace utils

src/optim/QPSolverImpl_osqp.impl

@@ -1,9 +1,6 @@
 #include "orca/optim/QPSolverImpl.h"
 #include "orca/utils/Logger.h"
 #include <osqp.h>
-#if defined(_WIN32) && !defined(_ENABLE_EXTENDED_ALIGNED_STORAGE)
-  #define _ENABLE_EXTENDED_ALIGNED_STORAGE
-#endif
 #include <Eigen/Dense>
 #include <Eigen/Sparse>
 #include <iostream>

src/optim/QPSolverImpl_qpOASES.impl

@@ -12,7 +12,7 @@ namespace optim
 class QPSolverImpl_qpOASES : public QPSolverImpl
 {
 private:
-    std::unique_ptr<qpOASES::SQProblem> qpoases_;
+    std::shared_ptr<qpOASES::SQProblem> qpoases_;
     qpOASES::Options options_;
     bool qpoases_initialized_ = false;
 public: