Merge branch '6.13/build_mode_flag'

dartsim · Mar 24, 2024 · a5b2b79 · a5b2b79
2 parents 2437749 + ce0fca3
commit a5b2b79
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Showing 41 changed files with 516 additions and 413 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,3 +1,5 @@
+# DART Changelog
+
 ## DART 6
 
 ### [DART 6.14.0 (TBD)](https://github.com/dartsim/dart/milestone/73?closed=1)
@@ -14,6 +16,20 @@
 
   * Removed planning component
 
+### [DART 6.13.2 (2024-03-17)](https://github.com/dartsim/dart/milestone/75?closed=1)
+
+* Tested Platforms
+
+  * Linux
+    * Ubuntu 22.04 LTS on amd64 / GCC 11.2 / amd64
+    * Ubuntu 24.04 LTS on amd64 / GCC 13.2 / amd64
+  * macOS 12 (Monterey) / AppleClang 14 / amd64
+  * Windows / MSVC 19.38 / amd64
+
+* Build
+
+  * Fixed build with GCC >= 13: [#1793](https://github.com/dartsim/dart/pull/1793)
+
 ### [DART 6.13.1 (2024-01-04)](https://github.com/dartsim/dart/milestone/74?closed=1)
 
 * Tested Platforms

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -166,19 +166,17 @@ if(NOT CMAKE_BUILD_TYPE)
 endif()
 string(TOUPPER ${CMAKE_BUILD_TYPE} CMAKE_BUILD_TYPE_UPPERCASE)
 
-set(BUILD_TYPE_DEBUG FALSE)
-set(BUILD_TYPE_RELEASE FALSE)
-set(BUILD_TYPE_RELWITHDEBINFO FALSE)
-set(BUILD_TYPE_MINSIZEREL FALSE)
+set(DART_BUILD_MODE_DEBUG FALSE)
+set(DART_BUILD_MODE_RELEASE FALSE)
 
 if("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "DEBUG")
-  set(BUILD_TYPE_DEBUG TRUE)
+  set(DART_BUILD_MODE_DEBUG TRUE)
 elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELEASE")
-  set(BUILD_TYPE_RELEASE TRUE)
+  set(DART_BUILD_MODE_RELEASE TRUE)
 elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELWITHDEBINFO")
-  set(BUILD_TYPE_RELWITHDEBINFO TRUE)
+  set(DART_BUILD_MODE_RELEASE TRUE)
 elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "MINSIZEREL")
-  set(BUILD_TYPE_MINSIZEREL TRUE)
+  set(DART_BUILD_MODE_RELEASE TRUE)
 else()
   message(WARNING "CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} unknown. Valid options are: Debug | Release | RelWithDebInfo | MinSizeRel")
 endif()
@@ -192,14 +190,14 @@ endif()
 # - ERROR: To enable log with DART_ERROR() and below
 # - FATAL: To enable log with DART_FATAL()
 # - OFF: To turn off all the logs
-if(BUILD_TYPE_DEBUG)
+if(DART_BUILD_MODE_DEBUG)
   set(DART_ACTIVE_LOG_LEVEL "DEBUG" CACHE STRING "Compile time active log level to enable")
 else()
   set(DART_ACTIVE_LOG_LEVEL "INFO" CACHE STRING "Compile time active log level to enable")
 endif()
 set_property(CACHE DART_ACTIVE_LOG_LEVEL PROPERTY STRINGS TRACE DEBUG INFO WARN ERROR FATAL OFF)
 
-if(BUILD_TYPE_DEBUG)
+if(DART_BUILD_MODE_DEBUG)
   option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
 else()
   option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" ON)
@@ -291,6 +289,10 @@ elseif(CMAKE_COMPILER_IS_GNUCXX)
     # TODO: These warnings should be properly addressed and these compiler options removed
     add_compile_options(-Wno-overloaded-virtual -Wno-alloc-size-larger-than -Wno-dangling-pointer)
   endif()
+  if(GCC_VERSION VERSION_GREATER_EQUAL 13.2.0)
+    # TODO: These warnings should be properly addressed and these compiler options removed
+    add_compile_options(-Wno-overloaded-virtual -Wno-alloc-size-larger-than -Wno-dangling-pointer)
+  endif()
   set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
   set(CMAKE_CXX_FLAGS_DEBUG "-g -fno-omit-frame-pointer -fno-inline-functions -fno-inline-functions-called-once -fno-optimize-sibling-calls")
   if(DART_FAST_DEBUG)

diff --git a/dart/common/FreeListAllocator.cpp b/dart/common/FreeListAllocator.cpp
@@ -372,7 +372,7 @@ void FreeListAllocator::MemoryBlockHeader::merge(MemoryBlockHeader* other)
 }
 
 //==============================================================================
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
 bool FreeListAllocator::MemoryBlockHeader::isValid() const
 {
   if (mPrev != nullptr && mPrev->mNext != this) {

diff --git a/dart/common/FreeListAllocator.hpp b/dart/common/FreeListAllocator.hpp
@@ -126,7 +126,7 @@ class FreeListAllocator : public MemoryAllocator
     /// Merges this memory block with the given memory block
     void merge(MemoryBlockHeader* other);
 
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
     /// [Debug only] Returns whether this memory block is valid
     bool isValid() const;
 #endif

diff --git a/dart/common/MemoryManager.cpp b/dart/common/MemoryManager.cpp
@@ -32,7 +32,7 @@
 
 #include "dart/common/MemoryManager.hpp"
 
-#ifndef NDEBUG // debug
+#if DART_BUILD_MODE_DEBUG
   #include "dart/common/Logging.hpp"
 #endif
 
@@ -49,7 +49,7 @@ MemoryManager& MemoryManager::GetDefault()
 MemoryManager::MemoryManager(MemoryAllocator& baseAllocator)
   : mBaseAllocator(baseAllocator),
     mFreeListAllocator(mBaseAllocator),
-#ifdef NDEBUG
+#if DART_BUILD_MODE_RELEASE
     mPoolAllocator(mFreeListAllocator)
 #else
     mPoolAllocator(mFreeListAllocator.getInternalAllocator())
@@ -73,7 +73,7 @@ MemoryAllocator& MemoryManager::getBaseAllocator()
 //==============================================================================
 FreeListAllocator& MemoryManager::getFreeListAllocator()
 {
-#ifdef NDEBUG
+#if DART_BUILD_MODE_RELEASE
   return mFreeListAllocator;
 #else
   return mFreeListAllocator.getInternalAllocator();
@@ -83,7 +83,7 @@ FreeListAllocator& MemoryManager::getFreeListAllocator()
 //==============================================================================
 PoolAllocator& MemoryManager::getPoolAllocator()
 {
-#ifdef NDEBUG
+#if DART_BUILD_MODE_RELEASE
   return mPoolAllocator;
 #else
   return mPoolAllocator.getInternalAllocator();
@@ -144,7 +144,7 @@ void MemoryManager::deallocateUsingPool(void* pointer, size_t bytes)
   deallocate(Type::Pool, pointer, bytes);
 }
 
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
 //==============================================================================
 bool MemoryManager::hasAllocated(void* pointer, size_t size) const noexcept
 {

diff --git a/dart/common/MemoryManager.hpp b/dart/common/MemoryManager.hpp
@@ -33,7 +33,7 @@
 #ifndef DART_COMMON_MEMORYMANAGER_HPP_
 #define DART_COMMON_MEMORYMANAGER_HPP_
 
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
   #include <mutex>
 #endif
 #include <dart/common/FreeListAllocator.hpp>
@@ -151,7 +151,7 @@ class MemoryManager final
   template <typename T>
   void destroyUsingPool(T* pointer) noexcept;
 
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
   /// Returns true if a pointer is allocated by the internal allocator.
   [[nodiscard]] bool hasAllocated(void* pointer, size_t size) const noexcept;
 #endif
@@ -164,10 +164,10 @@ class MemoryManager final
       std::ostream& os, const MemoryManager& memoryManager);
 
 private:
-  /// The base allocator to allocate memory chunck.
+  /// The base allocator to allocate memory chunk.
   MemoryAllocator& mBaseAllocator;
 
-#ifdef NDEBUG
+#if DART_BUILD_MODE_RELEASE
   /// The free list allocator.
   FreeListAllocator mFreeListAllocator;
 

diff --git a/dart/config.hpp.in b/dart/config.hpp.in
@@ -62,10 +62,9 @@
   #define DART_COMPILER_MSVC
 #endif
 
-#cmakedefine01 BUILD_TYPE_DEBUG
-#cmakedefine01 BUILD_TYPE_RELEASE
-#cmakedefine01 BUILD_TYPE_RELWITHDEBINFO
-#cmakedefine01 BUILD_TYPE_MINSIZEREL
+// Indicates the build mode used for compiling
+#cmakedefine01 DART_BUILD_MODE_DEBUG
+#cmakedefine01 DART_BUILD_MODE_RELEASE
 
 #cmakedefine01 HAVE_NLOPT
 #cmakedefine01 HAVE_IPOPT

diff --git a/dart/constraint/BoxedLcpConstraintSolver.cpp b/dart/constraint/BoxedLcpConstraintSolver.cpp
@@ -33,7 +33,7 @@
 #include "dart/constraint/BoxedLcpConstraintSolver.hpp"
 
 #include <cassert>
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
   #include <iomanip>
   #include <iostream>
 #endif
@@ -149,7 +149,7 @@ void BoxedLcpConstraintSolver::solveConstrainedGroup(ConstrainedGroup& group)
     return;
 
   const int nSkip = dPAD(n);
-#ifdef NDEBUG // release
+#if DART_BUILD_MODE_RELEASE
   mA.resize(n, nSkip);
 #else // debug
   mA.setZero(n, nSkip);
@@ -295,7 +295,7 @@ void BoxedLcpConstraintSolver::solveConstrainedGroup(ConstrainedGroup& group)
 }
 
 //==============================================================================
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
 bool BoxedLcpConstraintSolver::isSymmetric(std::size_t n, double* A)
 {
   std::size_t nSkip = dPAD(n);

diff --git a/dart/constraint/BoxedLcpConstraintSolver.hpp b/dart/constraint/BoxedLcpConstraintSolver.hpp
@@ -154,12 +154,12 @@ class BoxedLcpConstraintSolver : public ConstraintSolver
   /// Cache data for boxed LCP formulation
   Eigen::VectorXi mOffset;
 
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
 private:
   /// Return true if the matrix is symmetric
   bool isSymmetric(std::size_t n, double* A);
 
-  /// Return true if the diagonla block of matrix is symmetric
+  /// Return true if the diagonal block of matrix is symmetric
   bool isSymmetric(
       std::size_t n, double* A, std::size_t begin, std::size_t end);
 

diff --git a/dart/constraint/BoxedLcpSolver.hpp b/dart/constraint/BoxedLcpSolver.hpp
@@ -88,7 +88,7 @@ class BoxedLcpSolver : public common::Castable<BoxedLcpSolver>
       bool earlyTermination = false)
       = 0;
 
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
   virtual bool canSolve(int n, const double* A) = 0;
 #endif
 };

diff --git a/dart/constraint/ConstrainedGroup.cpp b/dart/constraint/ConstrainedGroup.cpp
@@ -101,7 +101,7 @@ void ConstrainedGroup::removeAllConstraints()
 }
 
 //==============================================================================
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
 bool ConstrainedGroup::containConstraint(
     const ConstConstraintBasePtr& _constraint) const
 {

diff --git a/dart/constraint/ConstrainedGroup.hpp b/dart/constraint/ConstrainedGroup.hpp
@@ -100,7 +100,7 @@ class ConstrainedGroup
   friend class ConstraintSolver;
 
 private:
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
   /// Return true if _constraint is contained
   bool containConstraint(const ConstConstraintBasePtr& _constraint) const;
 #endif

diff --git a/dart/constraint/DantzigBoxedLcpSolver.cpp b/dart/constraint/DantzigBoxedLcpSolver.cpp
@@ -66,7 +66,7 @@ bool DantzigBoxedLcpSolver::solve(
       n, A, x, b, nullptr, 0, lo, hi, findex, earlyTermination);
 }
 
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
 //==============================================================================
 bool DantzigBoxedLcpSolver::canSolve(int /*n*/, const double* /*A*/)
 {

diff --git a/dart/constraint/DantzigBoxedLcpSolver.hpp b/dart/constraint/DantzigBoxedLcpSolver.hpp
@@ -59,7 +59,7 @@ class DantzigBoxedLcpSolver : public BoxedLcpSolver
       int* findex,
       bool earlyTermination) override;
 
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
   // Documentation inherited.
   bool canSolve(int n, const double* A) override;
 #endif

diff --git a/dart/constraint/DantzigLCPSolver.cpp b/dart/constraint/DantzigLCPSolver.cpp
@@ -32,7 +32,7 @@
 
 #include "dart/constraint/DantzigLCPSolver.hpp"
 
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
   #include <iomanip>
   #include <iostream>
 #endif
@@ -79,7 +79,7 @@ void DantzigLCPSolver::solve(ConstrainedGroup* _group)
   int* findex = new int[n];
 
   // Set w to 0 and findex to -1
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
   std::memset(A, 0.0, n * nSkip * sizeof(double));
 #endif
   std::memset(w, 0.0, n * sizeof(double));
@@ -182,7 +182,7 @@ void DantzigLCPSolver::solve(ConstrainedGroup* _group)
 }
 
 //==============================================================================
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
 bool DantzigLCPSolver::isSymmetric(std::size_t _n, double* _A)
 {
   std::size_t nSkip = dPAD(_n);

diff --git a/dart/constraint/DantzigLCPSolver.hpp b/dart/constraint/DantzigLCPSolver.hpp
@@ -59,7 +59,7 @@ class DantzigLCPSolver : public LCPSolver
   // Documentation inherited
   void solve(ConstrainedGroup* _group) override;
 
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
 private:
   /// Return true if the matrix is symmetric
   bool isSymmetric(std::size_t _n, double* _A);

diff --git a/dart/constraint/JointConstraint.cpp b/dart/constraint/JointConstraint.cpp
@@ -373,8 +373,9 @@ void JointConstraint::getInformation(ConstraintInfo* lcp)
     if (!mActive[i])
       continue;
 
-#ifndef NDEBUG // debug
-    if (std::abs(lcp->w[index]) > 1e-6) {
+#if DART_BUILD_MODE_DEBUG
+    if (std::abs(lcp->w[index]) > 1e-6)
+    {
       dterr << "Invalid " << index
             << "-th slack variable. Expected: 0.0. Actual: " << lcp->w[index]
             << ".\n";
@@ -387,8 +388,9 @@ void JointConstraint::getInformation(ConstraintInfo* lcp)
     lcp->lo[index] = mImpulseLowerBound[i];
     lcp->hi[index] = mImpulseUpperBound[i];
 
-#ifndef NDEBUG // debug
-    if (lcp->findex[index] != -1) {
+#if DART_BUILD_MODE_DEBUG
+    if (lcp->findex[index] != -1)
+    {
       dterr << "Invalid " << index
             << "-th friction index. Expected: -1. Actual: "
             << lcp->findex[index] << ".\n";

diff --git a/dart/constraint/PGSLCPSolver.cpp b/dart/constraint/PGSLCPSolver.cpp
@@ -32,7 +32,7 @@
 
 #include "dart/constraint/PGSLCPSolver.hpp"
 
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
   #include <iomanip>
   #include <iostream>
 #endif
@@ -72,7 +72,7 @@ void PGSLCPSolver::solve(ConstrainedGroup* _group)
   int* findex = new int[n];
 
   // Set w to 0 and findex to -1
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
   std::memset(A, 0.0, n * nSkip * sizeof(double));
 #endif
   std::memset(w, 0.0, n * sizeof(double));
@@ -178,7 +178,7 @@ void PGSLCPSolver::solve(ConstrainedGroup* _group)
 }
 
 //==============================================================================
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
 bool PGSLCPSolver::isSymmetric(std::size_t _n, double* _A)
 {
   std::size_t nSkip = dPAD(_n);

diff --git a/dart/constraint/PGSLCPSolver.hpp b/dart/constraint/PGSLCPSolver.hpp
@@ -43,7 +43,7 @@ namespace dart {
 namespace constraint {
 
 /// \deprecated This header has been deprecated in DART 6.7. Please include
-/// PgsBoxedLcpSolver.hpp intead.
+/// PgsBoxedLcpSolver.hpp instead.
 ///
 /// PGSLCPSolver
 class PGSLCPSolver : public LCPSolver
@@ -58,7 +58,7 @@ class PGSLCPSolver : public LCPSolver
   // Documentation inherited
   void solve(ConstrainedGroup* _group) override;
 
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
 private:
   /// Return true if the matrix is symmetric
   bool isSymmetric(std::size_t _n, double* _A);

diff --git a/dart/constraint/PgsBoxedLcpSolver.cpp b/dart/constraint/PgsBoxedLcpSolver.cpp
@@ -228,7 +228,7 @@ bool PgsBoxedLcpSolver::solve(
   return possibleToTerminate;
 }
 
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
 //==============================================================================
 bool PgsBoxedLcpSolver::canSolve(int n, const double* A)
 {

diff --git a/dart/constraint/PgsBoxedLcpSolver.hpp b/dart/constraint/PgsBoxedLcpSolver.hpp
@@ -78,7 +78,7 @@ class PgsBoxedLcpSolver : public BoxedLcpSolver
       int* findex,
       bool earlyTermination) override;
 
-#ifndef NDEBUG
+#if DART_BUILD_MODE_DEBUG
   // Documentation inherited.
   bool canSolve(int n, const double* A) override;
 #endif