Add compiler options

problib/CMakeLists.txt

@@ -1,6 +1,9 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(problib)
 
+add_compile_options(-Wall -Werror=all)
+add_compile_options(-Wextra -Werror=extra)
+
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
@@ -28,9 +31,10 @@ catkin_package(
 ###########
 
 include_directories(
-        ${ARMADILLO_INCLUDE_DIRS}
-        ${catkin_INCLUDE_DIRS}
-        include
+    include
+    SYSTEM
+    ${catkin_INCLUDE_DIRS}
+    ${ARMADILLO_INCLUDE_DIRS}
 )
 
 ########## feature extraction ###########

problib/include/problib/globals.h

@@ -46,10 +46,9 @@
 #include <stdio.h>
 #include <math.h>
 
-#include "problib/pdfs/PDF.h"
 #include "problib/datatypes.h"
 
 //#define assert_msg(_Expression, _Msg) if (!_Expression) { printf(_Msg); printf("\n"); throw std::logic_error(""); }
-#define assert_msg(_Expression, _Msg) do { if (!_Expression) { printf(_Msg); printf("\n"); assert(_Expression); } } while (false);
+#define assert_msg(_Expression, _Msg) do { if (!(_Expression)) { printf(_Msg); printf("\n"); assert(_Expression); } } while (false);
 
 #endif /* GLOBALS_H_ */

problib/src/pdfs/Gaussian.cpp

@@ -108,7 +108,7 @@ double Gaussian::getDensity(const arma::vec& v, double max_mah_dist) const {
 	return getDensity(v, ptr_->mu_, ptr_->cov_, max_mah_dist);
 }
 
-double Gaussian::getDensity(const Gaussian& G, double max_mah_dist) const {
+double Gaussian::getDensity(const Gaussian& G, double /*max_mah_dist*/) const {
 	CHECK_INITIALIZED
 	arma::mat S = G.getCovariance() + ptr_->cov_;
 	return getDensity(ptr_->mu_, G.getMean(), S);
@@ -188,7 +188,7 @@ const arma::mat& Gaussian::getCovariance() const {
 	return ptr_->cov_;
 }
 
-std::string Gaussian::toString(const std::string& indent) const {
+std::string Gaussian::toString(const std::string& /*indent*/) const {
 	if (!ptr_) {
 		return "N(-)";
 	}

problib/src/pdfs/Hybrid.cpp

@@ -84,7 +84,7 @@ void Hybrid::cloneStruct() {
 	}
 }
 
-double Hybrid::getLikelihood(const PDF& pdf) const {
+double Hybrid::getLikelihood(const PDF& /*pdf*/) const {
     assert_msg(false, "Likelihood method not implemented. Please create a subclass of Hybrid and implement your own method.");
     return 0.; // Never reached because of assertion of false
 }
@@ -104,7 +104,7 @@ double Hybrid::getMaxDensity() const {
 	return 0;
 }
 
-void Hybrid::addPDF(const PDF& pdf, double priority) {
+void Hybrid::addPDF(const PDF& pdf, double /*priority*/) {
 	if (dimensions_ < 0) {
 		dimensions_ = pdf.dimensions();
 	} else {

problib/src/pdfs/Mixture.cpp

@@ -170,7 +170,7 @@ std::string Mixture::toString(const std::string& indent) const {
 	ss << "MIX{\n";
 	std::vector<double>::const_iterator it_w = ptr_->weights_.begin();
 	for (std::vector<PDF*>::const_iterator it_pdf = ptr_->components_.begin(); it_pdf != ptr_->components_.end(); ++it_pdf) {
-		ss << new_indent << (*it_w) << " : " << (*it_pdf)->toString(new_indent) << "\n";
+		ss << new_indent << (*it_w) << ": " << (*it_pdf)->toString(new_indent) << "\n";
 		++it_w;
 	}
 	ss << indent << "}";

problib/src/pdfs/PDF.cpp

@@ -57,10 +57,10 @@ PDF::PDFType PDF::type() const {
 	return type_;
 }
 
-bool PDF::getExpectedValue(std::string& v) const {
+bool PDF::getExpectedValue(std::string& /*v*/) const {
 	return false;
 }
 
-bool PDF::getExpectedValue(arma::vec& v) const {
+bool PDF::getExpectedValue(arma::vec& /*v*/) const {
 	return false;
 }

problib/src/pdfs/PMF.cpp

@@ -280,7 +280,7 @@ void PMF::normalize() {
 	ptr_->total_prob_ = 1;
 }
 
-double PMF::getDensity(const arma::vec& v) const {
+double PMF::getDensity(const arma::vec& /*v*/) const {
 	assert_msg(false, "Cannot get density of a PMF");
 	return 0;
 }
@@ -290,9 +290,9 @@ double PMF::getMaxDensity() const {
 	return 0;
 }
 
-std::string PMF::toString(const std::string& indent) const {
+std::string PMF::toString(const std::string& /*indent*/) const {
 	std::stringstream ss;
-	ss << indent << "PMF(" << ptr_->domain_size_ << ")[";
+	ss << "PMF(" << ptr_->domain_size_ << ")[";
 
 	std::map<std::string, double>::const_iterator it = ptr_->pmf_.begin();
 	if (it != ptr_->pmf_.end()) {

problib/src/pdfs/Uniform.cpp

@@ -125,7 +125,7 @@ void Uniform::setDensity(const double& density) {
     size_is_set_ = false;
 }
 
-double Uniform::getDensity(const arma::vec& vec) const {
+double Uniform::getDensity(const arma::vec& /*vec*/) const {
 	return uniform_probability_;
 }
 
@@ -151,12 +151,12 @@ void Uniform::calculateUniformDensity() {
     size_is_set_ = true;
 }
 
-std::string Uniform::toString(const std::string& indent) const {
+std::string Uniform::toString(const std::string& /*indent*/) const {
 	std::stringstream s;
     s << "U(" << uniform_probability_;
 
     if (size_is_set_) {
-        s << ", mean = " << mean_ << ", size = " << size_;
+        s << ", mean =\n" << mean_ << ", size =\n" << size_;
     }
 
     s << ")";

problib/src/test.cpp

@@ -52,13 +52,13 @@ list<timespec> TIMERS;
 stringstream TIMER_LOG;
 stringstream OUTPUT_LOG;
 
-inline void startTimer(int ID = 0) {
+inline void startTimer(int /*ID*/=0) {
 	timespec t_start;
 	clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &t_start);
 	TIMERS.push_back(t_start);
 }
 
-inline void stopTimer(string msg, int ID = 0, double factor = 1) {
+inline void stopTimer(string msg, int /*ID*/=0, double factor=1) {
 	timespec t_end;
 	clock_gettime(CLOCK_PROCESS_CPUTIME_ID, &t_end);
 
@@ -148,7 +148,7 @@ void test() {
 	for (int i = 0; i < 1000; ++i) {
 		d = mix2.getLikelihood(exact2);
 	}
-	cout << "Density of mixture at " << mean2 << " = " << d << endl << endl;
+	cout << "Density of mixture at:\n" << mean2 << " = " << d << endl << endl;
 
 	cout << "Converting to msg ..." << endl << endl;
 	problib_msgs::PDF pdf_msg;
@@ -159,7 +159,7 @@ void test() {
 	PDF* received_pdf = pbl::msgToPDF(pdf_msg);
 	cout << "Result:" << endl << received_pdf->toString() << endl << endl;
 
-	cout << "Density of mixture at " << mean2 << " = " << received_pdf->getLikelihood(exact2) << endl << endl;
+	cout << "Density of mixture at:\n" << mean2 << " = " << received_pdf->getLikelihood(exact2) << endl << endl;
 
 	delete received_pdf;
 
@@ -253,7 +253,7 @@ void test() {
 	delete pdf_exact_real;
 }
 
-int main(int argc, char **argv) {
+int main() {
 
 	startTimer();
 	test();

wire_core/CMakeLists.txt

@@ -1,6 +1,9 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(wire_core)
 
+add_compile_options(-Wall -Werror=all)
+add_compile_options(-Wextra -Werror=extra)
+
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
@@ -32,13 +35,14 @@ catkin_package(
     TinyXML2
 )
 
-include_directories(include ${catkin_INCLUDE_DIRS} ${TinyXML2_INCLUDE_DIRS})
+include_directories(
+  include
+  SYSTEM
+  ${catkin_INCLUDE_DIRS}
+  ${TinyXML2_INCLUDE_DIRS}
+)
 
 ## Build
-add_compile_options(-Wreturn-type) # Return type checking
-add_compile_options(-Wreorder)
-
-
 add_library(wire
     src/WorldModelROS.cpp
     src/models/FixedState.cpp
@@ -74,7 +78,6 @@ add_library(wire
     include/wire/logic/AssignmentMatrix.h
     include/wire/logic/Hypothesis.h
     include/wire/logic/HypothesesTree.h
-
 )
 
 target_link_libraries(wire ${catkin_LIBRARIES} ${TinyXML2_LIBRARIES})

wire_core/src/WorldModelROS.cpp

@@ -301,7 +301,7 @@ void WorldModelROS::processEvidence(const wire_msgs::WorldEvidence& world_eviden
     }
 }
 
-bool WorldModelROS::resetWorldModel(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res) {
+bool WorldModelROS::resetWorldModel(std_srvs::Empty::Request& /*req*/, std_srvs::Empty::Response& /*res*/) {
     delete world_model_;
     world_model_ = new HypothesisTree(max_num_hyps_, min_prob_ratio_);
     return true;

wire_core/src/core/PropertySet.cpp

@@ -103,7 +103,7 @@ void PropertySet::propagate(const Time& time) {
     timestamp_ = time;
 }
 
-void PropertySet::update(const pbl::PDF& z, const Time& time) {
+void PropertySet::update(const pbl::PDF& /*z*/, const Time& /*time*/) {
     assert(false);
 }
 
@@ -115,6 +115,7 @@ void PropertySet::reset() {
 
 const pbl::PDF& PropertySet::getValue() const {
     assert(false);
+    return pbl::PDF(0, pbl::PDF::UNKNOWN);
 }
 
 double PropertySet::getLikelihood(const PropertySet& P) const {

wire_core/src/models/FixedState.cpp

@@ -27,7 +27,7 @@ FixedState* FixedState::clone() const {
     return new FixedState(*this);
 }
 
-void FixedState::update(const pbl::PDF& z, const mhf::Time& /*time*/) {
+void FixedState::update(const pbl::PDF& /*z*/, const mhf::Time& /*time*/) {
 }
 
 void FixedState::propagate(const mhf::Time& /*time*/) {

wire_core/src/util/ObjectModelParser.cpp

@@ -104,7 +104,7 @@ bool ObjectModelParser::parseStateEstimator(ClassModel* obj_model, const tinyxml
     // check behavior model's attribute and model type
     std::string attribute_name, model_type;
     if (!getAttributeValue(elem, "attribute", attribute_name, error)
-            | !getAttributeValue(elem, "model", model_type, error)) {
+            || !getAttributeValue(elem, "model", model_type, error)) {
         return false;
     }
 

wire_state_estimators/CMakeLists.txt

@@ -1,6 +1,9 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(wire_state_estimators)
 
+add_compile_options(-Wall -Werror=all)
+add_compile_options(-Wextra -Werror=extra)
+
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
@@ -18,7 +21,11 @@ catkin_package(
     pluginlib
 )
 
-include_directories(include ${catkin_INCLUDE_DIRS})
+include_directories(
+  include
+  SYSTEM
+  ${catkin_INCLUDE_DIRS}
+)
 
 ## Build