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Hotfix/Compiler Warnings MuJocO #989

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Merged
juan-g-bonilla merged 4 commits into from
Apr 21, 2025
Merged

Hotfix/Compiler Warnings MuJocO #989

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3e5b0e8
Add missing override in MJQPosStateData::clone
juan-g-bonilla Apr 20, 2025
61c38a1
Mark functions that throw as noreturn
juan-g-bonilla Apr 20, 2025
17364d1
Add static cast to int from size_t
juan-g-bonilla Apr 20, 2025
21704d1
Prevent double library linkage for mujocoDynamics
juan-g-bonilla Apr 20, 2025
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7 changes: 5 additions & 2 deletions src/CMakeLists.txt
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Expand Up @@ -188,13 +188,16 @@ function(generate_package_libraries INIT_DIRECTORY AllLibs)
endif()

# Link all necessary libraries
target_link_libraries(${LIB_NAME} PUBLIC ArchitectureUtilities)
target_link_libraries(${LIB_NAME} PRIVATE ModuleIdGenerator)
target_link_libraries(${LIB_NAME} PUBLIC cMsgCInterface)
target_link_libraries(${LIB_NAME} PRIVATE ${PYTHON3_MODULE})
target_link_libraries(${LIB_NAME} PRIVATE Eigen3::Eigen3)
if(${PARENT_DIR_NAME} STREQUAL "mujocoDynamics")
target_link_libraries(${LIB_NAME} PUBLIC dynamicsLib)
# dynamicsLib already has ArchitectureUtilities and cMsgCInterface
# publicly linked, so no need to add them (again) for mujocoDynamics
else()
target_link_libraries(${LIB_NAME} PUBLIC ArchitectureUtilities)
target_link_libraries(${LIB_NAME} PUBLIC cMsgCInterface)
endif()

# define build location, IDE generation specifications
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2 changes: 1 addition & 1 deletion src/simulation/mujocoDynamics/_GeneralModuleFiles/MJQPosStateData.h
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Expand Up @@ -50,7 +50,7 @@ class MJQPosStateData : public StateData
*
* @return A unique pointer to the cloned `StateData` object.
*/
virtual std::unique_ptr<StateData> clone() const;
virtual std::unique_ptr<StateData> clone() const override;

/**
* @brief Configures the state data with the given MuJoCo model.
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2 changes: 1 addition & 1 deletion src/simulation/mujocoDynamics/_GeneralModuleFiles/MJScene.h
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Expand Up @@ -519,7 +519,7 @@ class MJScene : public DynamicObject
* @param error The error message.
*/
template <typename T = std::invalid_argument>
void logAndThrow (const std::string& error);
[[noreturn]] void logAndThrow (const std::string& error);

public:
static const int FWD_KINEMATICS_PRIORITY = 10000; ///< Priority for default forward kinematics model.
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2 changes: 1 addition & 1 deletion src/simulation/mujocoDynamics/_GeneralModuleFiles/MJSite.cpp
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Expand Up @@ -77,7 +77,7 @@ void MJSite::writeFwdKinematicsMessage(mjModel* model, mjData* data, uint64_t Cu
mrpd = rot;

double res[6];
mj_objectVelocity(model, data, mjOBJ_SITE, this->getId(), res, 0);
mj_objectVelocity(model, data, mjOBJ_SITE, static_cast<int>(this->getId()), res, 0);

// TODO: Double check this is right
std::copy_n(res, 3, payload.omega_BN_B);
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2 changes: 1 addition & 1 deletion src/simulation/mujocoDynamics/_GeneralModuleFiles/MJUtils.h
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Expand Up @@ -54,7 +54,7 @@ using mjVFSDeleter = mjDeleter<mjVFS, mj_deleteVFS>;

/** Loggs an error message and then throws an error. */
template <typename T = std::invalid_argument>
inline void logAndThrow (const std::string& error, BSKLogger* logger = nullptr)
[[noreturn]] inline void logAndThrow (const std::string& error, BSKLogger* logger = nullptr)
{
if (logger) {
logger->bskLog(BSK_ERROR, error.c_str());
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