Possible fix for clang errors.

robotics-ETF · Mar 14, 2024 · 352226b · 352226b
1 parent e7230fa
commit 352226b
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Showing 4 changed files with 7 additions and 17 deletions.
diff --git a/include/planners/drbt/DRGBT.h b/include/planners/drbt/DRGBT.h
@@ -22,13 +22,8 @@ namespace planning
             ~DRGBT();                         
 
             bool solve() override;
-            #if defined(__clang__)
-                #pragma clang diagnostic push
-                #pragma clang diagnostic ignored "-Woverloaded-virtual"
-            bool checkTerminatingCondition();
-                #pragma clang diagnostic pop
-            #endif
-			void outputPlannerData(const std::string &filename, bool output_states_and_paths = true, bool append_output = false) const override;
+            bool checkTerminatingCondition(base::State::Status status) override;
+            void outputPlannerData(const std::string &filename, bool output_states_and_paths = true, bool append_output = false) const override;
 
 		protected:
             void generateHorizon();

diff --git a/include/planners/rbt_star/RGBMTStar.h b/include/planners/rbt_star/RGBMTStar.h
@@ -19,12 +19,7 @@ namespace planning
 
 			bool solve() override;
 
-            #if defined(__clang__)
-                #pragma clang diagnostic push
-                #pragma clang diagnostic ignored "-Woverloaded-virtual"
-            bool checkTerminatingCondition();
-                #pragma clang diagnostic pop
-            #endif
+            bool checkTerminatingCondition(base::State::Status status) override;
             void outputPlannerData(const std::string &filename, bool output_states_and_paths = true, bool append_output = false) const override;
 
 		protected:

diff --git a/src/planners/drbt/DRGBT.cpp b/src/planners/drbt/DRGBT.cpp
@@ -133,7 +133,7 @@ bool planning::drbt::DRGBT::solve()
         // Planner info and terminating condition
         planner_info->setNumIterations(planner_info->getNumIterations() + 1);
         planner_info->addIterationTime(getElapsedTime(time_start, std::chrono::steady_clock::now()));
-        if (checkTerminatingCondition())
+        if (checkTerminatingCondition(status))
             return planner_info->getSuccessState();
 
         std::cout << "----------------------------------------------------------------------------------------\n";
@@ -988,7 +988,7 @@ bool planning::drbt::DRGBT::checkMotionValidity(int num_checks)
     return is_valid;
 }
 
-bool planning::drbt::DRGBT::checkTerminatingCondition()
+bool planning::drbt::DRGBT::checkTerminatingCondition([[maybe_unused]] base::State::Status status)
 {
     int t_spline_current = getElapsedTime(time_start, std::chrono::steady_clock::now());    
     // std::cout << "Time elapsed: " << t_spline_current << " [ms] \n";

diff --git a/src/planners/rbt_star/RGBMTStar.cpp b/src/planners/rbt_star/RGBMTStar.cpp
@@ -170,7 +170,7 @@ bool planning::rbt_star::RGBMTStar::solve()
         planner_info->addCostConvergence(std::vector<float>(num_states_total - planner_info->getNumStates(), cost_opt));
         planner_info->addStateTimes(std::vector<int>(num_states_total - planner_info->getNumStates(), planner_info->getIterationTimes().back()));
         planner_info->setNumStates(num_states_total);
-        if (checkTerminatingCondition())
+        if (checkTerminatingCondition(status))
             return planner_info->getSuccessState();
     }
 }
@@ -371,7 +371,7 @@ void planning::rbt_star::RGBMTStar::computePath(std::shared_ptr<base::State> q_c
         std::reverse(path.begin(), path.end());
 }
 
-bool planning::rbt_star::RGBMTStar::checkTerminatingCondition()
+bool planning::rbt_star::RGBMTStar::checkTerminatingCondition([[maybe_unused]] base::State::Status status)
 {
     if ((getElapsedTime(time_start, std::chrono::steady_clock::now()) >= RGBMTStarConfig::MAX_PLANNING_TIME ||
         planner_info->getNumStates() >= RGBMTStarConfig::MAX_NUM_STATES ||