core: Don't use -Wno-maybe-uninitialized, ignore the warning locally

stack-of-tasks · Jan 26, 2024 · eccd6f7 · eccd6f7
1 parent d9023ee
commit eccd6f7
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Showing 14 changed files with 123 additions and 25 deletions.
diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
@@ -46,7 +46,7 @@ IF(BUILD_PYTHON_INTERFACE)
   #  -Wcomment as latex equations have multi-line comments.
   #  -Wself-assign-overloaded as bp::self operations trigger this (Clang only)
   CXX_FLAGS_BY_COMPILER_FRONTEND(
-    GNU -Wno-conversion -Wno-comment -Wno-maybe-uninitialized
+    GNU -Wno-conversion -Wno-comment
     CLANG -Wno-conversion -Wno-comment -Wno-self-assign-overloaded
     OUTPUT PRIVATE_OPTIONS)
   TARGET_COMPILE_OPTIONS(${PYWRAP} PRIVATE ${PRIVATE_OPTIONS})

diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
@@ -8,11 +8,6 @@ FUNCTION(ADD_PINOCCHIO_CPP_EXAMPLE EXAMPLE)
   ADD_UNIT_TEST(${EXAMPLE_NAME} "${EXAMPLE}.cpp")
   TARGET_LINK_LIBRARIES(${EXAMPLE_NAME} PUBLIC ${PROJECT_NAME})
 
-  CXX_FLAGS_BY_COMPILER_FRONTEND(
-    GNU -Wno-maybe-uninitialized
-    OUTPUT PRIVATE_OPTIONS)
-  TARGET_COMPILE_OPTIONS(${EXAMPLE_NAME} PRIVATE ${PRIVATE_OPTIONS})
-
   CXX_FLAGS_BY_COMPILER_FRONTEND(
     MSVC _USE_MATH_DEFINES
     OUTPUT PRIVATE_DEFINITIONS)

diff --git a/examples/overview-lie.cpp b/examples/overview-lie.cpp
@@ -12,6 +12,7 @@ int main()
   SE2Operation aSE2;
   SE2Operation::ConfigVector_t pose_s,pose_g;
   SE2Operation::TangentVector_t delta_u;
+  delta_u.setZero();
 
   // Starting configuration
   pose_s(0) = 1.0; pose_s(1) = 1.0;

diff --git a/include/pinocchio/multibody/liegroup/liegroup-base.hxx b/include/pinocchio/multibody/liegroup/liegroup-base.hxx
@@ -557,8 +557,11 @@ namespace pinocchio {
       const AssignmentOperatorType op) const
   {
     Index nv_ (nv());
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
     JacobianMatrix_t J (nv_, nv_);
     dIntegrate(q, v, J, arg);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
     switch (op) {
       case SETTO:
         if(dIntegrateOnTheLeft) Jout = J * Jin;
@@ -585,8 +588,11 @@ namespace pinocchio {
                                                        const AssignmentOperatorType op) const
   {
     Index nv_ (nv());
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
     JacobianMatrix_t J (nv_, nv_);
     dDifference<arg>(q0, q1, J);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
     switch (op) {
       case SETTO:
         if(dDifferenceOnTheLeft) Jout = J * Jin;
@@ -627,8 +633,11 @@ namespace pinocchio {
       const Eigen::MatrixBase<ConfigL_t> & q0,
       const Eigen::MatrixBase<ConfigR_t> & q1) const
   {
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
     TangentVector_t t(nv());
     difference(q0.derived(), q1.derived(), t);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
     return t.squaredNorm();
   }
 

diff --git a/include/pinocchio/multibody/liegroup/special-euclidean.hpp b/include/pinocchio/multibody/liegroup/special-euclidean.hpp
@@ -243,8 +243,11 @@ namespace pinocchio
       Vector2 t (R0.transpose() * (t1 - t0));
 
       if (arg == ARG0) {
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
         JacobianMatrix_t J1;
         Jlog (R, t, J1);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
         // pcross = [ y1-y0, - (x1 - x0) ]
         Vector2 pcross (q1(1) - q0(1), q0(0) - q1(0));
@@ -267,10 +270,13 @@ namespace pinocchio
     {
       ConfigOut_t & out = PINOCCHIO_EIGEN_CONST_CAST(ConfigOut_t,qout);
 
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Matrix2 R0, R;
       Vector2 t0, t;
       forwardKinematics(R0, t0, q);
       exp(v, R, t);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
       out.template head<2>().noalias() = R0 * t + t0;
       out.template tail<2>().noalias() = R0 * R.col(0);
@@ -300,9 +306,12 @@ namespace pinocchio
     {
       JacobianOut_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J);
 
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Matrix2 R;
       Vector2 t;
       exp(v, R, t);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
       toInverseActionMatrix(R, t, Jout, op);
     }
@@ -316,8 +325,11 @@ namespace pinocchio
       JacobianOut_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J);
       // TODO sparse version
       MotionTpl<Scalar,0> nu; nu.toVector() << v.template head<2>(), 0, 0, 0, v[2]; 
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Eigen::Matrix<Scalar,6,6> Jtmp6;
       Jexp6(nu, Jtmp6);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
       switch(op)
         {
@@ -350,9 +362,12 @@ namespace pinocchio
                                      const Eigen::MatrixBase<JacobianOut_t> & J_out) const
     {
       JacobianOut_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J_out);
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Matrix2 R;
       Vector2 t;
       exp(v, R, t);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
       Vector2 tinv = (R.transpose() * t).reverse();
       tinv[0] *= Scalar(-1.);
@@ -371,8 +386,11 @@ namespace pinocchio
       JacobianOut_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J_out);
       MotionTpl<Scalar,0> nu; nu.toVector() << v.template head<2>(), 0, 0, 0, v[2]; 
 
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Eigen::Matrix<Scalar,6,6> Jtmp6;
       Jexp6(nu, Jtmp6);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
       Jout.template topRows<2>().noalias()
       = Jtmp6.template topLeftCorner<2,2>() * Jin.template topRows<2>();
@@ -391,9 +409,12 @@ namespace pinocchio
                                      const Eigen::MatrixBase<Jacobian_t> & J) const
     {
       Jacobian_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t,J);
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Matrix2 R;
       Vector2 t;
       exp(v, R, t);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
       Vector2 tinv = (R.transpose() * t).reverse();
       tinv[0] *= Scalar(-1);
@@ -411,8 +432,11 @@ namespace pinocchio
       Jacobian_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t,J);
       MotionTpl<Scalar,0> nu; nu.toVector() << v.template head<2>(), 0, 0, 0, v[2]; 
 
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Eigen::Matrix<Scalar,6,6> Jtmp6;
       Jexp6(nu, Jtmp6);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
       //TODO: Remove aliasing
       Jout.template topRows<2>()
       = Jtmp6.template topLeftCorner<2,2>() * Jout.template topRows<2>();
@@ -570,8 +594,11 @@ namespace pinocchio
                    * SE3(R1, q1.template head<3>()));
 
       if (arg == ARG0) {
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
         JacobianMatrix_t J1;
         Jlog6 (M, J1);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
         const Vector3 p1_p0 = R1.transpose()*(q1.template head<3>() - q0.template head<3>());
 
@@ -638,13 +665,16 @@ namespace pinocchio
 
       typedef Eigen::Matrix<Scalar,4,3,JacobianPlainType::Options|Eigen::RowMajor> Jacobian43;
       typedef SE3Tpl<Scalar,ConfigPlainType::Options> SE3;
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Jacobian43 Jexp3QuatCoeffWise;
 
       Scalar theta;
       typename SE3::Vector3 v = quaternion::log3(quat_map,theta);
       quaternion::Jexp3CoeffWise(v,Jexp3QuatCoeffWise);
       typename SE3::Matrix3 Jlog;
       Jlog3(theta,v,Jlog);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
 //      std::cout << "Jexp3QuatCoeffWise\n" << Jexp3QuatCoeffWise << std::endl;
 //      std::cout << "Jlog\n" << Jlog << std::endl;
@@ -729,8 +759,11 @@ namespace pinocchio
                                      const Eigen::MatrixBase<JacobianOut_t> & J_out) const
     {
       JacobianOut_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J_out);
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Eigen::Matrix<Scalar,6,6> Jtmp6;
       Jexp6<SETTO>(MotionRef<const Tangent_t>(v.derived()), Jtmp6);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
       Jout.template topRows<3>().noalias()
       = Jtmp6.template topLeftCorner<3,3>() * Jin.template topRows<3>();
@@ -765,8 +798,11 @@ namespace pinocchio
                                      const Eigen::MatrixBase<Jacobian_t> & J_out) const
     {
       Jacobian_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t,J_out);
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Eigen::Matrix<Scalar,6,6> Jtmp6;
       Jexp6<SETTO>(MotionRef<const Tangent_t>(v.derived()), Jtmp6);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
       Jout.template topRows<3>()
       = Jtmp6.template topLeftCorner<3,3>() * Jout.template topRows<3>();
@@ -780,8 +816,11 @@ namespace pinocchio
     static Scalar squaredDistance_impl(const Eigen::MatrixBase<ConfigL_t> & q0,
                                        const Eigen::MatrixBase<ConfigR_t> & q1)
     {
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       TangentVector_t t;
       difference_impl(q0, q1, t);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
       return t.squaredNorm();
     }
 

diff --git a/include/pinocchio/multibody/liegroup/special-orthogonal.hpp b/include/pinocchio/multibody/liegroup/special-orthogonal.hpp
@@ -401,8 +401,11 @@ namespace pinocchio
       const Quaternion_t quat_diff = quat0.conjugate() * quat1;
 
       if (arg == ARG0) {
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
         JacobianMatrix_t J1;
         quaternion::Jlog3(quat_diff, J1);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
         const Matrix3 R = (quat_diff).matrix();
 
         PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J).noalias() = - J1 * R.transpose();
@@ -439,13 +442,16 @@ namespace pinocchio
       ConstQuaternionMap_t quat_map(q.derived().data());
       assert(quaternion::isNormalized(quat_map,RealScalar(PINOCCHIO_DEFAULT_QUATERNION_NORM_TOLERANCE_VALUE)));
 
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Eigen::Matrix<Scalar,NQ,NV,JacobianPlainType::Options|Eigen::RowMajor> Jexp3QuatCoeffWise;
 
       Scalar theta;
       const Vector3 v = quaternion::log3(quat_map,theta);
       quaternion::Jexp3CoeffWise(v,Jexp3QuatCoeffWise);
       Matrix3 Jlog;
       Jlog3(theta,v,Jlog);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
 
 //      if(quat_map.w() >= 0.) // comes from the log3 for quaternions which may change the sign.
       if(quat_map.coeffs()[3] >= 0.) // comes from the log3 for quaternions which may change the sign.
@@ -523,8 +529,11 @@ namespace pinocchio
     {
       typedef typename SE3::Matrix3 Matrix3;
       JacobianOut_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(JacobianOut_t,J_out);
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Matrix3 Jtmp3;
       Jexp3<SETTO>(v, Jtmp3);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
       Jout.noalias() = Jtmp3 * Jin;
     }
 
@@ -546,8 +555,11 @@ namespace pinocchio
     {
       typedef typename SE3::Matrix3 Matrix3;
       Jacobian_t & Jout = PINOCCHIO_EIGEN_CONST_CAST(Jacobian_t,J_out);
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Matrix3 Jtmp3;
       Jexp3<SETTO>(v, Jtmp3);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
       Jout = Jtmp3 * Jout;
     }
 
@@ -573,8 +585,11 @@ namespace pinocchio
     static Scalar squaredDistance_impl(const Eigen::MatrixBase<ConfigL_t> & q0,
                                        const Eigen::MatrixBase<ConfigR_t> & q1)
     {
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       TangentVector_t t;
       difference_impl(q0, q1, t);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
       return t.squaredNorm();
     }
 

diff --git a/include/pinocchio/spatial/explog.hpp b/include/pinocchio/spatial/explog.hpp
@@ -485,8 +485,11 @@ namespace pinocchio
       }
       case ADDTO:
       {
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
         Matrix3 Jtmp3;
         Jexp3<SETTO>(w, Jtmp3);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
         Jout.template bottomRightCorner<3,3>() += Jtmp3;
         Jout.template topLeftCorner<3,3>() += Jtmp3;
         const Vector3 p = Jtmp3.transpose() * v;
@@ -502,8 +505,11 @@ namespace pinocchio
       }
       case RMTO:
       {
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
         Matrix3 Jtmp3;
         Jexp3<SETTO>(w, Jtmp3);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
         Jout.template bottomRightCorner<3,3>() -= Jtmp3;
         Jout.template topLeftCorner<3,3>() -= Jtmp3;
         const Vector3 p = Jtmp3.transpose() * v;

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -44,16 +44,10 @@ MODERNIZE_TARGET_LINK_LIBRARIES(${PROJECT_NAME}_headers SCOPE INTERFACE
   INCLUDE_DIRS ${Boost_INCLUDE_DIRS})
 TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME}_headers INTERFACE $<INSTALL_INTERFACE:include>)
 
-# Do not report:
-# -Wmaybe-uninitialized as Eigen const_cast_derived hack trigger this
 CXX_FLAGS_BY_COMPILER_FRONTEND(
   MSVC "/bigobj"
   OUTPUT PUBLIC_OPTIONS)
-CXX_FLAGS_BY_COMPILER_FRONTEND(
-  GNU -Wno-maybe-uninitialized
-  OUTPUT PRIVATE_OPTIONS)
-TARGET_COMPILE_OPTIONS(${PROJECT_NAME} PUBLIC ${PUBLIC_OPTIONS}
-                                       PRIVATE ${PRIVATE_OPTIONS})
+TARGET_COMPILE_OPTIONS(${PROJECT_NAME} PUBLIC ${PUBLIC_OPTIONS})
 
 SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES VERSION ${PROJECT_VERSION})
 IF(BUILD_WITH_COMMIT_VERSION)

diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
@@ -7,8 +7,10 @@
 # --- MACROS ------------------------------------------------------------------
 # --- MACROS ------------------------------------------------------------------
 
-MACRO(ADD_TEST_CFLAGS target flag)
-  SET_PROPERTY(TARGET "test-cpp-${target}" APPEND_STRING PROPERTY COMPILE_FLAGS " ${flag}")
+MACRO(ADD_TEST_CFLAGS target)
+  foreach(ARG ${ARGN})
+    SET_PROPERTY(TARGET "test-cpp-${target}" APPEND_STRING PROPERTY COMPILE_FLAGS "${ARG} ")
+  endforeach()
 ENDMACRO(ADD_TEST_CFLAGS)
 
 MACRO(ADD_PINOCCHIO_UNIT_TEST NAME)
@@ -23,11 +25,6 @@ MACRO(ADD_PINOCCHIO_UNIT_TEST NAME)
   SET(TEST_NAME "test-cpp-${NAME}")
   ADD_UNIT_TEST(${TEST_NAME} ${NAME}.cpp)
 
-  CXX_FLAGS_BY_COMPILER_FRONTEND(
-    GNU -Wno-maybe-uninitialized
-    OUTPUT PRIVATE_OPTIONS)
-  TARGET_COMPILE_OPTIONS(${TEST_NAME} PRIVATE ${PRIVATE_OPTIONS})
-
   CXX_FLAGS_BY_COMPILER_FRONTEND(
     MSVC _USE_MATH_DEFINES
     OUTPUT PRIVATE_DEFINITIONS)
@@ -167,7 +164,15 @@ ADD_PINOCCHIO_UNIT_TEST(finite-differences)
 ADD_PINOCCHIO_UNIT_TEST(visitor)
 ADD_PINOCCHIO_UNIT_TEST(algo-check)
 
+# Warning ignore with pragma doesn't work for
+# a part of this test, so we ignore two warning
+# globally
+CXX_FLAGS_BY_COMPILER_FRONTEND(
+  GNU -Wno-maybe-uninitialized -Wuse-after-free=0
+  OUTPUT LIEGROUPS_OPTIONS)
 ADD_PINOCCHIO_UNIT_TEST(liegroups)
+ADD_TEST_CFLAGS(liegroups ${LIEGROUPS_OPTIONS})
+
 ADD_PINOCCHIO_UNIT_TEST(cartesian-product-liegroups)
 ADD_PINOCCHIO_UNIT_TEST(regressor)
 ADD_PINOCCHIO_UNIT_TEST(version)