Clean up various warnings caught by clang12

python/CMakeLists.txt

@@ -81,6 +81,18 @@ install(TARGETS sdformat
 configure_build_install_location(gazebo)
 configure_build_install_location(common)
 
+if ("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
+ # Workaround for Clang and pybind11 on Focal
+ # https:/pybind/pybind11/issues/1604
+ # Resolved by newer versions of pybind11
+ if(${pybind11_VERSION} VERSION_LESS "2.4.4")
+ target_compile_options(common PRIVATE -fsized-deallocation)
+ target_compile_options(gazebo PRIVATE -fsized-deallocation)
+ target_compile_options(sdformat PRIVATE -fsized-deallocation)
+ endif()
+endif()
+
+
 if (BUILD_TESTING)
  set(python_tests
  testFixture_TEST

src/gui/plugins/scene3d/Scene3D.cc

@@ -1908,8 +1908,6 @@ void IgnRenderer::HandleMouseTransformControl()
  this->dataPtr->startWorldPos =
  target->WorldPosition();
  }
- ignition::math::Vector3d worldPos =
- target->WorldPosition();
  math::Vector3d distance =
  this->dataPtr->transformControl.TranslationFrom2d(axis, start, end);
  if (this->dataPtr->keyEvent.Control())

src/gui/plugins/transform_control/TransformControl.cc

@@ -827,7 +827,6 @@ void TransformControlPrivate::HandleTransform()
  this->isStartWorldPosSet = true;
  this->startWorldPos = target->WorldPosition();
  }
- ignition::math::Vector3d worldPos = target->WorldPosition();
  math::Vector3d distance =
  this->transformControl.TranslationFrom2d(axis, start, end);
  if (this->keyEvent.Control())

src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc

@@ -1778,7 +1778,7 @@ void VisualizationCapabilitiesPrivate::ViewCollisions(const Entity &_entity)
  }
 
  // Find all existing child links for this entity
- std::vector<Entity> links = std::move(this->FindChildLinks(_entity));
+ std::vector<Entity> links = this->FindChildLinks(_entity);
 
  for (const auto &link : links)
  {
@@ -1828,7 +1828,7 @@ void VisualizationCapabilitiesPrivate::ViewCollisions(const Entity &_entity)
 /////////////////////////////////////////////////
 void VisualizationCapabilitiesPrivate::ViewInertia(const Entity &_entity)
 {
- std::vector<Entity> inertiaLinks = std::move(this->FindChildLinks(_entity));
+ std::vector<Entity> inertiaLinks = this->FindChildLinks(_entity);
 
  // check if _entity has an inertial component (_entity is a link)
  if (this->entityInertials.find(_entity) !=
@@ -1956,7 +1956,7 @@ void VisualizationCapabilitiesPrivate::ViewJoints(const Entity &_entity)
 /////////////////////////////////////////////////
 void VisualizationCapabilitiesPrivate::ViewCOM(const Entity &_entity)
 {
- std::vector<Entity> inertiaLinks = std::move(this->FindChildLinks(_entity));
+ std::vector<Entity> inertiaLinks = this->FindChildLinks(_entity);
 
  // check if _entity has an inertial component (_entity is a link)
  if (this->entityInertials.find(_entity) !=
@@ -2014,7 +2014,7 @@ void VisualizationCapabilitiesPrivate::ViewWireframes(const Entity &_entity)
  }
 
  // Find all existing child links for this entity
- std::vector<Entity> links = std::move(this->FindChildLinks(_entity));
+ std::vector<Entity> links = this->FindChildLinks(_entity);
 
  for (const auto &link : links)
  {
@@ -2068,7 +2068,7 @@ void VisualizationCapabilitiesPrivate::ViewFrames(const Entity &_entity)
  bool showFrames = (this->viewingFrames.find(_entity) ==
  this->viewingFrames.end()) || !this->viewingFrames[_entity];
 
- auto descendants = std::move(this->FindChildFrames(_entity));
+ auto descendants = this->FindChildFrames(_entity);
 
  for (const auto &descendant : descendants)
  {
@@ -2107,7 +2107,7 @@ void VisualizationCapabilitiesPrivate::ViewTransparent(const Entity &_entity)
  }
 
  // Find all existing child links for this entity
- std::vector<Entity> links = std::move(this->FindChildLinks(_entity));
+ std::vector<Entity> links = this->FindChildLinks(_entity);
 
  for (const auto &link : links)
  {
@@ -2286,7 +2286,7 @@ void VisualizationCapabilitiesPrivate::FindInertialLinks(
  _ecm.EntityMatches(entity,
  std::set<ComponentTypeId>{components::Link::typeId}))
  {
- links = std::move(this->FindChildLinksFromECM(_ecm, entity));
+ links = this->FindChildLinksFromECM(_ecm, entity);
  }
  else
  {
@@ -2310,7 +2310,7 @@ void VisualizationCapabilitiesPrivate::FindInertialLinks(
  _ecm.EntityMatches(entity,
  std::set<ComponentTypeId>{components::Link::typeId}))
  {
- links = std::move(this->FindChildLinksFromECM(_ecm, entity));
+ links = this->FindChildLinksFromECM(_ecm, entity);
  }
  else
  {
@@ -2342,7 +2342,7 @@ void VisualizationCapabilitiesPrivate::FindCollisionLinks(
  _ecm.EntityMatches(entity,
  std::set<ComponentTypeId>{components::Link::typeId}))
  {
- links = std::move(this->FindChildLinksFromECM(_ecm, entity));
+ links = this->FindChildLinksFromECM(_ecm, entity);
  }
  else
  {
@@ -2372,7 +2372,7 @@ void VisualizationCapabilitiesPrivate::PopulateViewModeVisualLinks(
  _ecm.EntityMatches(entity,
  std::set<ComponentTypeId>{components::Link::typeId}))
  {
- links = std::move(this->FindChildLinksFromECM(_ecm, entity));
+ links = this->FindChildLinksFromECM(_ecm, entity);
  }
  else
  {
@@ -2397,7 +2397,7 @@ void VisualizationCapabilitiesPrivate::PopulateViewModeVisualLinks(
  _ecm.EntityMatches(entity,
  std::set<ComponentTypeId>{components::Link::typeId}))
  {
- links = std::move(this->FindChildLinksFromECM(_ecm, entity));
+ links = this->FindChildLinksFromECM(_ecm, entity);
  }
  else
  {

src/rendering/RenderUtil.cc

@@ -829,7 +829,7 @@ void RenderUtilPrivate::FindInertialLinks(const EntityComponentManager &_ecm)
  _ecm.EntityMatches(entity,
  std::set<ComponentTypeId>{components::Link::typeId}))
  {
- links = std::move(this->FindChildLinksFromECM(_ecm, entity));
+ links = this->FindChildLinksFromECM(_ecm, entity);
  }
  else
  {
@@ -853,7 +853,7 @@ void RenderUtilPrivate::FindInertialLinks(const EntityComponentManager &_ecm)
  _ecm.EntityMatches(entity,
  std::set<ComponentTypeId>{components::Link::typeId}))
  {
- links = std::move(this->FindChildLinksFromECM(_ecm, entity));
+ links = this->FindChildLinksFromECM(_ecm, entity);
  }
  else
  {
@@ -931,7 +931,7 @@ void RenderUtilPrivate::PopulateViewModeVisualLinks(
  _ecm.EntityMatches(entity,
  std::set<ComponentTypeId>{components::Link::typeId}))
  {
- links = std::move(this->FindChildLinksFromECM(_ecm, entity));
+ links = this->FindChildLinksFromECM(_ecm, entity);
  }
  else
  {
@@ -956,7 +956,7 @@ void RenderUtilPrivate::PopulateViewModeVisualLinks(
  _ecm.EntityMatches(entity,
  std::set<ComponentTypeId>{components::Link::typeId}))
  {
- links = std::move(this->FindChildLinksFromECM(_ecm, entity));
+ links = this->FindChildLinksFromECM(_ecm, entity);
  }
  else
  {
@@ -988,7 +988,7 @@ void RenderUtilPrivate::FindCollisionLinks(const EntityComponentManager &_ecm)
  _ecm.EntityMatches(entity,
  std::set<ComponentTypeId>{components::Link::typeId}))
  {
- links = std::move(this->FindChildLinksFromECM(_ecm, entity));
+ links = this->FindChildLinksFromECM(_ecm, entity);
  }
  else
  {
@@ -3138,7 +3138,7 @@ void RenderUtil::HideWireboxes(const Entity &_entity)
 /////////////////////////////////////////////////
 void RenderUtil::ViewInertia(const Entity &_entity)
 {
- std::vector<Entity> inertiaLinks = std::move(this->FindChildLinks(_entity));
+ std::vector<Entity> inertiaLinks = this->FindChildLinks(_entity);
 
  // check if _entity has an inertial component (_entity is a link)
  if (this->dataPtr->entityInertials.find(_entity) !=
@@ -3197,7 +3197,7 @@ void RenderUtil::ViewInertia(const Entity &_entity)
 /////////////////////////////////////////////////
 void RenderUtil::ViewCOM(const Entity &_entity)
 {
- std::vector<Entity> inertiaLinks = std::move(this->FindChildLinks(_entity));
+ std::vector<Entity> inertiaLinks = this->FindChildLinks(_entity);
 
  // check if _entity has an inertial component (_entity is a link)
  if (this->dataPtr->entityInertials.find(_entity) !=
@@ -3351,7 +3351,7 @@ void RenderUtil::ViewTransparent(const Entity &_entity)
  }
 
  // Find all existing child links for this entity
- std::vector<Entity> links = std::move(this->FindChildLinks(_entity));
+ std::vector<Entity> links = this->FindChildLinks(_entity);
 
  for (const auto &link : links)
  {
@@ -3423,7 +3423,7 @@ void RenderUtil::ViewWireframes(const Entity &_entity)
  }
 
  // Find all existing child links for this entity
- std::vector<Entity> links = std::move(this->FindChildLinks(_entity));
+ std::vector<Entity> links = this->FindChildLinks(_entity);
 
  for (const auto &link : links)
  {
@@ -3493,7 +3493,7 @@ void RenderUtil::ViewCollisions(const Entity &_entity)
  }
 
  // Find all existing child links for this entity
- std::vector<Entity> links = std::move(this->FindChildLinks(_entity));
+ std::vector<Entity> links = this->FindChildLinks(_entity);
 
  for (const auto &link : links)
  {

src/systems/collada_world_exporter/ColladaWorldExporter.hh

@@ -35,7 +35,7 @@ namespace systems
  /// \brief A plugin that exports a world to a mesh.
  /// When loaded the plugin will dump a mesh containing all the models in
  /// the world to the current directory.
- class ColladaWorldExporter:
+ class ColladaWorldExporter final:
  public System,
  public ISystemPostUpdate
  {

src/systems/contact/Contact.hh

@@ -36,7 +36,7 @@ namespace systems
  **/
  /// \brief Contact sensor system which manages all contact sensors in
  /// simulation
- class Contact :
+ class Contact final:
  public System,
  public ISystemPreUpdate,
  public ISystemPostUpdate

src/systems/kinetic_energy_monitor/KineticEnergyMonitor.hh

@@ -97,7 +97,7 @@ namespace systems
  </plugin>
  </model>
  \endverbatim */
- class KineticEnergyMonitor :
+ class KineticEnergyMonitor final:
  public System,
  public ISystemConfigure,
  public ISystemPostUpdate

src/systems/log_video_recorder/LogVideoRecorder.hh

@@ -50,7 +50,7 @@ namespace systems
  /// When recording is finished. An `end` string will be published to the
  /// `/log_video_recorder/status` topic and the videos are saved to a
  /// timestamped directory
- class LogVideoRecorder:
+ class LogVideoRecorder final:
  public System,
  public ISystemConfigure,
  public ISystemPostUpdate

src/systems/particle_emitter/ParticleEmitter.cc

@@ -158,7 +158,7 @@ void ParticleEmitter::PreUpdate(const ignition::gazebo::UpdateInfo &_info,
  // hack to avoid breaking the particle_emitter.proto message.
  if (_emitter->Data().has_header())
  {
- for (const auto data : _emitter->Data().header().data())
+ for (const auto & data : _emitter->Data().header().data())
  {
  if (data.key() == "topic" && !data.value().empty())
  {
@@ -218,7 +218,7 @@ void ParticleEmitter::PreUpdate(const ignition::gazebo::UpdateInfo &_info,
  return;
 
  // Process each command
- for (const auto cmd : this->dataPtr->userCmd)
+ for (const auto & cmd : this->dataPtr->userCmd)
  {
  // Create component.
  auto emitterComp = _ecm.Component<components::ParticleEmitterCmd>(

src/systems/particle_emitter2/ParticleEmitter2.cc

@@ -158,7 +158,7 @@ void ParticleEmitter2::PreUpdate(const ignition::gazebo::UpdateInfo &_info,
  // hack to avoid breaking the particle_emitter.proto message.
  if (_emitter->Data().has_header())
  {
- for (const auto data : _emitter->Data().header().data())
+ for (const auto & data : _emitter->Data().header().data())
  {
  if (data.key() == "topic" && !data.value().empty())
  {
@@ -218,7 +218,7 @@ void ParticleEmitter2::PreUpdate(const ignition::gazebo::UpdateInfo &_info,
  return;
 
  // Process each command
- for (const auto cmd : this->dataPtr->userCmd)
+ for (const auto & cmd : this->dataPtr->userCmd)
  {
  // Create component.
  auto emitterComp = _ecm.Component<components::ParticleEmitterCmd>(

src/systems/scene_broadcaster/SceneBroadcaster.hh

@@ -37,7 +37,7 @@ namespace systems
  **/
  /// \brief System which periodically publishes an ignition::msgs::Scene
  /// message with updated information.
- class SceneBroadcaster:
+ class SceneBroadcaster final:
  public System,
  public ISystemConfigure,
  public ISystemPostUpdate

src/systems/thruster/Thruster.cc

@@ -395,8 +395,6 @@ void Thruster::PreUpdate(
 
  ignition::gazebo::Link link(this->dataPtr->linkEntity);
 
- auto pose = worldPose(this->dataPtr->linkEntity, _ecm);
-
  // TODO(arjo129): add logic for custom coordinate frame
  // Convert joint axis to the world frame
  const auto linkWorldPose = worldPose(this->dataPtr->linkEntity, _ecm);

src/systems/user_commands/UserCommands.hh

@@ -54,7 +54,7 @@ namespace systems
  /// * **Response type*: ignition.msgs.Boolean
  ///
  /// Try some examples described on examples/worlds/empty.sdf
- class UserCommands:
+ class UserCommands final:
  public System,
  public ISystemConfigure,
  public ISystemPreUpdate

src/systems/wind_effects/WindEffects.hh

@@ -86,7 +86,7 @@ namespace systems
  /// - `<vertical><noise>`
  /// Parameters for the noise that is added to the vertical wind velocity
  /// magnitude.
- class WindEffects:
+ class WindEffects final:
  public System,
  public ISystemConfigure,
  public ISystemPreUpdate

test/integration/breadcrumbs.cc

@@ -396,7 +396,6 @@ TEST_F(BreadcrumbsTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(PerformerSetVolume))
  const std::size_t iterTestStart = 1000;
  const std::size_t nIters = iterTestStart + 2000;
 
- std::optional<math::Pose3d> initialPose;
  testSystem.OnPostUpdate([&](const gazebo::UpdateInfo &_info,
  const gazebo::EntityComponentManager &_ecm)
  {

test/integration/log_system.cc

@@ -276,7 +276,6 @@ TEST_F(LogSystemTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(LogPlaybackStatistics))
  Server server(config);
 
  test::Relay testSystem;
- math::Pose3d spherePose;
  std::chrono::steady_clock::time_point startTime;
  std::chrono::steady_clock::time_point endTime;
  testSystem.OnPostUpdate(

test/integration/pose_publisher_system.cc

@@ -752,7 +752,6 @@ TEST_F(PosePublisherTest,
  ASSERT_LT(0, msg.header().data(1).value_size());
  std::string childFrameId = msg.header().data(1).value(0);
  EXPECT_EQ(expectedEntityName, childFrameId);
- math::Pose3d pose;
  auto p = msgs::Convert(poseMsgs[0]);
  EXPECT_EQ(expectedEntityPose, p);
  }