Add virtual destructors

3rdparty/convexdecomposition/NvFloatMath.h

@@ -422,6 +422,7 @@ NxF64 fm_computeMeshVolume(const NxF64 *vertices,NxU32 tcount,const NxU32 *indic
 class fm_VertexIndex
 {
 public:
+  virtual ~fm_VertexIndex() = default;
   virtual NxU32          getIndex(const NxF32 pos[3],bool &newPos) = 0;  // get welded index for this NxF32 vector[3]
   virtual NxU32          getIndex(const NxF64 pos[3],bool &newPos) = 0;  // get welded index for this NxF64 vector[3]
   virtual const NxF32 *   getVerticesFloat(void) const = 0;
@@ -482,6 +483,7 @@ void           fm_releaseLineSweep(fm_LineSweep *sweep);
 class fm_Triangulate
 {
 public:
+  virtual ~fm_Triangulate() = default;
   virtual const NxF64 *       triangulate3d(NxU32 pcount,
                                              const NxF64 *points,
                                              NxU32 vstride,
@@ -555,6 +557,7 @@ void    fm_OBBtoAABB(const NxF32 obmin[3],const NxF32 obmax[3],const NxF32 matri
 class fm_Tesselate
 {
 public:
+  virtual ~fm_Tesselate() = default;
   virtual const NxU32 * tesselate(fm_VertexIndex *vindex,NxU32 tcount,const NxU32 *indices,NxF32 longEdge,NxU32 maxDepth,NxU32 &outcount) = 0;
 };
 

3rdparty/convexdecomposition/NvFloatMath.inl

@@ -2279,6 +2279,7 @@ public:
 class KdTreeInterface
 {
 public:
+  virtual ~KdTreeInterface() = default;
   virtual const NxF64 * getPositionDouble(NxU32 index) const = 0;
   virtual const NxF32  * getPositionFloat(NxU32 index) const = 0;
 };

3rdparty/convexdecomposition/NvMeshIslandGeneration.h

@@ -65,6 +65,7 @@ namespace CONVEX_DECOMPOSITION
 class MeshIslandGeneration
 {
 public:
+  virtual ~MeshIslandGeneration() = default;
 
   virtual NxU32 islandGenerate(NxU32 tcount,const NxU32 *indices,const NxF32 *vertices) = 0;
   virtual NxU32 islandGenerate(NxU32 tcount,const NxU32 *indices,const NxF64 *vertices) = 0;

3rdparty/convexdecomposition/NvRemoveTjunctions.h

@@ -96,6 +96,7 @@ class RemoveTjunctionsDesc
 class RemoveTjunctions
 {
 public:
+   virtual ~RemoveTjunctions() = default;
 
    virtual NxU32 removeTjunctions(RemoveTjunctionsDesc &desc) =0; // returns number of triangles output and the descriptor is filled with the appropriate results.
 

3rdparty/convexdecomposition/NvStanHull.h

@@ -167,6 +167,7 @@ class ConvexHullVertex
 class ConvexHullTriangleInterface
 {
 public:
+	virtual ~ConvexHullTriangleInterface() = default;
 	virtual void ConvexHullTriangle(const ConvexHullVertex &v1,const ConvexHullVertex &v2,const ConvexHullVertex &v3) = 0;
 };
 

3rdparty/convexdecomposition/NvThreadConfig.h

@@ -79,6 +79,7 @@ NxI32      tc_interlockedCompareExchange(void *dest, const NxI32 exchange1, cons
 class ThreadMutex
 {
 public:
+  virtual ~ThreadMutex() = default;
   virtual void lock(void) = 0;
   virtual void unlock(void) = 0;
   virtual bool tryLock(void) = 0;
@@ -91,6 +92,7 @@ void          tc_releaseThreadMutex(ThreadMutex *tm);
 class ThreadInterface
 {
 public:
+  virtual ~ThreadInterface() = default;
   virtual void threadMain(void) = 0;
 };
 
@@ -105,6 +107,7 @@ void          tc_releaseThread(Thread *t);
 class ThreadEvent
 {
 public:
+  virtual ~ThreadEvent() = default;
   virtual void setEvent(void) = 0; // signal the event
   virtual void resetEvent(void) = 0;
   virtual void waitForSingleObject(NxU32 ms) = 0;

3rdparty/convexdecomposition/wavefront.cpp

@@ -79,6 +79,7 @@ namespace WAVEFRONT
 class InPlaceParserInterface
 {
 public:
+	virtual ~InPlaceParserInterface() = default;
 	virtual NxI32 ParseLine(NxI32 lineno,NxI32 argc,const char **argv) =0;  // return TRUE to continue parsing, return FALSE to abort parsing process
 };
 
@@ -540,6 +541,7 @@ class GeometryVertex
 class GeometryInterface
 {
 public:
+	virtual ~GeometryInterface() = default;
 
 	virtual void NodeTriangle(const GeometryVertex *v1,const GeometryVertex *v2,const GeometryVertex *v3, bool textured)
 	{

CMakeLists.txt

@@ -4,7 +4,7 @@ set( CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE )
 
 # Define here the needed parameters
 set (OPENRAVE_VERSION_MAJOR 0)
-set (OPENRAVE_VERSION_MINOR 173)
+set (OPENRAVE_VERSION_MINOR 174)
 set (OPENRAVE_VERSION_PATCH 0)
 set (OPENRAVE_VERSION ${OPENRAVE_VERSION_MAJOR}.${OPENRAVE_VERSION_MINOR}.${OPENRAVE_VERSION_PATCH})
 set (OPENRAVE_SOVERSION ${OPENRAVE_VERSION_MAJOR}.${OPENRAVE_VERSION_MINOR})
@@ -190,6 +190,7 @@ endif()
 if( CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX OR COMPILER_IS_CLANG)
   add_definitions("-fno-strict-aliasing -Wall -Werror=shadow")
   add_definitions("-Werror=return-type")
+  add_definitions("-Werror=non-virtual-dtor")
 
   set(CMAKE_SHARED_LINKER_FLAGS "-Wl,--no-undefined ${CMAKE_SHARED_LINKER_FLAGS}")
 endif()
@@ -198,9 +199,6 @@ if( CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX )
   add_definitions("-Werror=return-local-addr")
 elseif( COMPILER_IS_CLANG )
   add_definitions("-Werror=return-stack-address")
-  # prevents CLANG from "error: integer value -1 is outside the valid range of values [0, 3]
-  # for the enumeration type 'sign_mixture_enum' [-Wenum-constexpr-conversion]"
-  add_definitions("-Wno-error=enum-constexpr-conversion")
 endif()
 
 set(OPENRAVE_EXPORT_CXXFLAGS)

docs/source/changelog.rst

@@ -3,6 +3,11 @@
 ChangeLog
 #########
 
+Version 0.174.0
+===============
+
+Add virtual destructors
+
 Version 0.173.0
 ===============
 

plugins/ikfastsolvers/CMakeLists.txt

@@ -8,6 +8,10 @@ if( OPT_IKFAST_FLOAT32 )
   set(PLUGIN_COMPILE_FLAGS "${PLUGIN_COMPILE_FLAGS} -DOPENRAVE_IKFAST_FLOAT32")
 endif()
 
+if( CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX OR COMPILER_IS_CLANG)
+  add_definitions("-Wno-error=non-virtual-dtor")
+endif()
+
 #file(GLOB ik_files "${CMAKE_CURRENT_SOURCE_DIR}/*.cpp")
 
 include_directories(${CMAKE_CURRENT_SOURCE_DIR}/../../python) # for ikfast.h

plugins/ikfastsolvers/jacobianinverse.h

@@ -53,6 +53,7 @@ class JacobianInverseSolver
         _lastiter = -1;
         _nMaxIterations = 100;
     }
+    virtual ~JacobianInverseSolver() = default;
 
     /// \brief initializes with the manipulator, but doesn't store it!
     ///

plugins/rmanipulation/taskmanipulation.cpp

@@ -238,6 +238,8 @@ Task-based manipulation planning involving target objects. A lot of the algorith
                 *it *= *it;
             }
         }
+        virtual ~ActiveDistMetric() = default;
+
         virtual dReal Eval(const std::vector<dReal>& c0, const std::vector<dReal>& c1)
         {
             dReal out = 0;

plugins/rplanners/ParabolicPathSmooth/DynamicPath.h

@@ -108,6 +108,8 @@ class RampFeasibilityChecker
     RampFeasibilityChecker(FeasibilityCheckerBase* feas);
     RampFeasibilityChecker(FeasibilityCheckerBase* feas,DistanceCheckerBase* distance,int maxiters);
 
+    virtual ~RampFeasibilityChecker() = default;
+
     /// \brief checks constraints given options
     ///
     /// \return if non-zero then failed. The return code gives the cause of the failure. \see OpenRAVE::ConstraintFilterOptions enum.
@@ -132,6 +134,7 @@ class RampFeasibilityChecker
 class RandomNumberGeneratorBase
 {
 public:
+    virtual ~RandomNumberGeneratorBase() = default;
     virtual Real Rand() {
         return ::ParabolicRampInternal::Rand();
     }

plugins/rplanners/piecewisepolynomials/cubicinterpolator.h

@@ -26,7 +26,7 @@ class CubicInterpolator : public InterpolatorBase {
     /*
      */
     CubicInterpolator(size_t ndof, int envid=0);
-    ~CubicInterpolator()
+    virtual ~CubicInterpolator()
     {
     }
 

plugins/rplanners/piecewisepolynomials/interpolatorbase.h

@@ -32,7 +32,7 @@ class InterpolatorBase {
     {
     }
     InterpolatorBase(size_t ndof, int envid=0);
-    ~InterpolatorBase()
+    virtual ~InterpolatorBase()
     {
     }
 

plugins/rplanners/piecewisepolynomials/polynomialtrajectory.h

@@ -52,7 +52,7 @@ class Polynomial {
     {
     };
     Polynomial(const dReal T, const std::vector<dReal>& c);
-    ~Polynomial()
+    virtual ~Polynomial()
     {
     }
 

plugins/rplanners/rampoptimizer/feasibilitychecker.h

@@ -80,6 +80,7 @@ class RampNDFeasibilityChecker {
 public:
     RampNDFeasibilityChecker(FeasibilityCheckerBase* feas);
     RampNDFeasibilityChecker(FeasibilityCheckerBase* feas, DistanceCheckerBase* dist, int maxiter);
+    virtual ~RampNDFeasibilityChecker() = default;
 
     virtual int Check(const std::vector<RampND>& rampsndVect, int options=0xffff);
     virtual CheckReturn Check2(const RampND& rampnd, int options, std::vector<RampND>& rampsndVectOut)
@@ -103,6 +104,7 @@ class RampNDFeasibilityChecker {
 
 class RandomNumberGeneratorBase {
 public:
+    virtual ~RandomNumberGeneratorBase() = default;
     virtual dReal Rand()
     {
         return ::OpenRAVE::RampOptimizerInternal::Rand();

plugins/rplanners/randomized-astar.cpp

@@ -22,6 +22,7 @@ class RandomizedAStarPlanner : public PlannerBase
 public:
         SimpleCostMetric(RobotBasePtr robot) {
         }
+        virtual ~SimpleCostMetric() = default;
         virtual float Eval(const vector<dReal>& pConfiguration) {
             return 1;
         }

plugins/rplanners/rplanners.h

@@ -111,6 +111,8 @@ class SimpleNode : public NodeBase
 class SpatialTreeBase
 {
 public:
+    virtual ~SpatialTreeBase() = default;
+
     virtual void Init(boost::weak_ptr<PlannerBase> planner, int dof, boost::function<dReal(const std::vector<dReal>&, const std::vector<dReal>&)>& distmetricfn, dReal fStepLength, dReal maxdistance) = 0;
 
     /// inserts a node in the try

python/bindings/include/openravepy/openravepy_environmentbase.h

@@ -91,6 +91,7 @@ class OPENRAVEPY_API PyEnvironmentBase : public OPENRAVE_ENABLE_SHARED_FROM_THIS
 public:
         PyEnvironmentBaseInfo();
         PyEnvironmentBaseInfo(const EnvironmentBase::EnvironmentBaseInfo& info);
+        virtual ~PyEnvironmentBaseInfo() = default;
         py::dict SerializeJSON(dReal fUnitScale=1.0, py::object options=py::none_());
         void DeserializeJSON(py::object obj, dReal fUnitScale=1.0, py::object options=py::none_());
         EnvironmentBase::EnvironmentBaseInfoPtr GetEnvironmentBaseInfo() const;

python/bindings/include/openravepy/openravepy_jointinfo.h

@@ -273,6 +273,7 @@ class OPENRAVEPY_API PyGeometry
     KinBody::Link::GeometryPtr _pgeometry;
 public:
     PyGeometry(KinBody::Link::GeometryPtr pgeometry);
+    virtual ~PyGeometry() = default;
 
     virtual void SetCollisionMesh(object pytrimesh);
 

python/bindings/include/openravepy/openravepy_kinbody.h

@@ -137,6 +137,7 @@ class OPENRAVEPY_API PyKinBody : public PyInterfaceBase
 public:
         PyKinBodyInfo();
         PyKinBodyInfo(const KinBody::KinBodyInfo& info);
+        virtual ~PyKinBodyInfo() = default;
         py::dict SerializeJSON(dReal fUnitScale=1.0, py::object options=py::none_());
         void DeserializeJSON(py::object obj, dReal fUnitScale=1.0, py::object options=py::none_());
         KinBody::KinBodyInfoPtr GetKinBodyInfo() const;

python/bindings/openravepy_global.cpp

@@ -289,6 +289,7 @@ class PyOrientedBox
     }
     PyOrientedBox(const OrientedBox& newobb) : obb(newobb) {
     }
+    virtual ~PyOrientedBox() = default;
 
     object extents() {
         return toPyVector3(obb.extents);