From 1878c8277a917ab4382e11948e3976be3eb53ad4 Mon Sep 17 00:00:00 2001
From: Christoph Pohl <christoph.pohl@kit.edu>
Date: Sat, 23 Dec 2023 13:26:59 +0100
Subject: [PATCH] Fix missing c++2b compile option under gcc 8
---
.../ArticulatedObjectLocalizerExample.cpp | 2 +-
.../components/ArticulatedObjectLocalizerExample/CMakeLists.txt | 1 -
.../RobotAPI/components/DynamicObstacleManager/CMakeLists.txt | 1 -
.../DynamicObstacleManager/DynamicObstacleManager.cpp | 2 +-
.../armem/client/VirtualRobotWriterExample/CMakeLists.txt | 1 -
.../VirtualRobotWriterExample/VirtualRobotWriterExample.cpp | 2 +-
6 files changed, 3 insertions(+), 6 deletions(-)
diff --git a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
index e5762482e..35f546692 100644
--- a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
+++ b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/ArticulatedObjectLocalizerExample.cpp
@@ -176,7 +176,7 @@ namespace armarx::articulated_object
const float t = static_cast<float>((now - start).toSecondsDouble());
// move joints at certain frequency
- const float k = (1 + std::sin(t / (M_2_PIf32))) / 2; // in [0,1]
+ const float k = (1 + std::sin(t / (M_2_PI))) / 2; // in [0,1]
auto jointValues = articulatedObject->getJointValues();
diff --git a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/CMakeLists.txt b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/CMakeLists.txt
index bac8435fc..e92a5b368 100644
--- a/source/RobotAPI/components/ArticulatedObjectLocalizerExample/CMakeLists.txt
+++ b/source/RobotAPI/components/ArticulatedObjectLocalizerExample/CMakeLists.txt
@@ -17,7 +17,6 @@ armarx_add_component(
# Add unit tests
add_subdirectory(test)
-target_compile_options("${LIB_NAME}" PRIVATE -std=c++2b)
# Generate the application
armarx_generate_and_add_component_executable(
diff --git a/source/RobotAPI/components/DynamicObstacleManager/CMakeLists.txt b/source/RobotAPI/components/DynamicObstacleManager/CMakeLists.txt
index da370a54d..7136f05db 100644
--- a/source/RobotAPI/components/DynamicObstacleManager/CMakeLists.txt
+++ b/source/RobotAPI/components/DynamicObstacleManager/CMakeLists.txt
@@ -40,7 +40,6 @@ set(HEADERS
armarx_add_component("${SOURCES}" "${HEADERS}")
-target_compile_options("DynamicObstacleManager" PRIVATE -std=c++2b)
armarx_generate_and_add_component_executable()
diff --git a/source/RobotAPI/components/DynamicObstacleManager/DynamicObstacleManager.cpp b/source/RobotAPI/components/DynamicObstacleManager/DynamicObstacleManager.cpp
index 61497d62d..5d077bca2 100644
--- a/source/RobotAPI/components/DynamicObstacleManager/DynamicObstacleManager.cpp
+++ b/source/RobotAPI/components/DynamicObstacleManager/DynamicObstacleManager.cpp
@@ -260,7 +260,7 @@ namespace armarx
std::shared_lock<std::shared_mutex> l{m_managed_obstacles_mutex};
const Eigen::Vector2f diff = goal - agentPosition;
- const Eigen::Vector2f orthogonal_normalized = Eigen::Vector2f(Eigen::Rotation2Df(M_PI_2f32) * diff).normalized();
+ const Eigen::Vector2f orthogonal_normalized = Eigen::Vector2f(Eigen::Rotation2Df(M_PI_2) * diff).normalized();
const float sample_step = 5; // in [mm], sample step size towards goal.
const float distance_to_goal = diff.norm() + safetyRadius;
diff --git a/source/RobotAPI/components/armem/client/VirtualRobotWriterExample/CMakeLists.txt b/source/RobotAPI/components/armem/client/VirtualRobotWriterExample/CMakeLists.txt
index 025c71bf7..678a03c3a 100644
--- a/source/RobotAPI/components/armem/client/VirtualRobotWriterExample/CMakeLists.txt
+++ b/source/RobotAPI/components/armem/client/VirtualRobotWriterExample/CMakeLists.txt
@@ -15,7 +15,6 @@ armarx_add_component(
VirtualRobotWriterExample.h
)
-target_compile_options("${LIB_NAME}" PRIVATE -std=c++2b)
# Generate the application
armarx_generate_and_add_component_executable(
diff --git a/source/RobotAPI/components/armem/client/VirtualRobotWriterExample/VirtualRobotWriterExample.cpp b/source/RobotAPI/components/armem/client/VirtualRobotWriterExample/VirtualRobotWriterExample.cpp
index d2a7eff51..675d2dae9 100644
--- a/source/RobotAPI/components/armem/client/VirtualRobotWriterExample/VirtualRobotWriterExample.cpp
+++ b/source/RobotAPI/components/armem/client/VirtualRobotWriterExample/VirtualRobotWriterExample.cpp
@@ -133,7 +133,7 @@ namespace armarx::virtual_robot_writer_example
const float t = float((now - start).toSecondsDouble());
// move joints at certain frequency
- const float m = (1 + std::sin(t / (M_2_PIf32 * 10))) / 2; // in [0,1]
+ const float m = (1 + std::sin(t / (M_2_PI * 10))) / 2; // in [0,1]
auto jointValues = robot->getJointValues();
for (auto& [k, v] : jointValues)
--
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