Adapt to gcc 4.9 and 5.0

[jeffdelmerico]

GCC became more strict on a few things with 4.9 that now create errors in compilation...resolve these.

[jeffdelmerico]

The issue appears to stem from nested templates, and in both 4.9 and 5.0 it causes an internal compiler error, resulting in a segmentation fault for gcc.

4.9

In file included from /home/jeffdelmerico/catkin_ws/src/rpg_ig_active_reconstruction/ig_active_reconstruction_octomap/include/ig_active_reconstruction_octomap/octomap_world_representation.hpp:122:0, from /home/jeffdelmerico/catkin_ws/src/rpg_ig_active_reconstruction/ig_active_reconstruction_octomap/include/ig_active_reconstruction_octomap/octomap_ig_tree_world_representation.hpp:20, from /home/jeffdelmerico/catkin_ws/src/rpg_ig_active_reconstruction/ig_active_reconstruction_octomap/src/ros_nodes/octomap_world_representation.cpp:22: /home/jeffdelmerico/catkin_ws/src/rpg_ig_active_reconstruction/ig_active_reconstruction_octomap/include/../src/code_base/octomap_world_representation.inl: In instantiation of ‘boost::shared_ptr<typename INPUT_OBJ_TYPE<TREE_TYPE>::Type> ig_active_reconstruction::world_representation::octomap::WorldRepresentation<TREE_TYPE>::getLinkedObj(typename INPUT_OBJ_TYPE<TREE_TYPE>::Type::Config) [with INPUT_OBJ_TYPE = ig_active_reconstruction::world_representation::octomap::StdPclInputPointXYZ; TREE_TYPE = ig_active_reconstruction::world_representation::octomap::IgTree; typename INPUT_OBJ_TYPE<TREE_TYPE>::Type = ig_active_reconstruction::world_representation::octomap::StdPclInput<ig_active_reconstruction::world_representation::octomap::IgTree, pcl::PointCloudpcl::PointXYZ >; typename INPUT_OBJ_TYPE<TREE_TYPE>::Type::Config = ig_active_reconstruction::world_representation::octomap::StdPclInput<ig_active_reconstruction::world_representation::octomap::IgTree, pcl::PointCloudpcl::PointXYZ >::Config]’: /home/jeffdelmerico/catkin_ws/src/rpg_ig_active_reconstruction/ig_active_reconstruction_octomap/src/ros_nodes/octomap_world_representation.cpp:123:126: required from here /home/jeffdelmerico/catkin_ws/src/rpg_ig_active_reconstruction/ig_active_reconstruction_octomap/include/../src/code_base/octomap_world_representation.inl:19:16: internal compiler error: Segmentation fault #define CSCOPE WorldRepresentation<TREE_TYPE> ^ /home/jeffdelmerico/catkin_ws/src/rpg_ig_active_reconstruction/ig_active_reconstruction_octomap/include/../src/code_base/octomap_world_representation.inl:84:65: note: in expansion of macro ‘CSCOPE’ boost::shared_ptr< typename INPUT_OBJ_TYPE<TREE_TYPE>::Type > CSCOPE::getLinkedObj( typename INPUT_OBJ_TYPE<TREE_TYPE>::Type::Config config ) ^

5.0

In file included from /home/jeffdelmerico/catkin_ws/src/rpg_ig_active_reconstruction/ig_active_reconstruction_octomap/include/ig_active_reconstruction_octomap/octomap_ig_calculator.hpp:107:0, from /home/jeffdelmerico/catkin_ws/src/rpg_ig_active_reconstruction/ig_active_reconstruction_octomap/include/ig_active_reconstruction_octomap/octomap_basic_ray_ig_calculator.hpp:21, from /home/jeffdelmerico/catkin_ws/src/rpg_ig_active_reconstruction/ig_active_reconstruction_octomap/src/ros_nodes/octomap_world_representation.cpp:25: /home/jeffdelmerico/catkin_ws/src/rpg_ig_active_reconstruction/ig_active_reconstruction_octomap/include/../src/code_base/octomap_ig_calculator.inl: In instantiation of ‘boost::shared_ptr<ig_active_reconstruction::world_representation::octomap::InformationGain<TREE_TYPE> > ig_active_reconstruction::world_representation::octomap::IgCalculator<TREE_TYPE>::makeShared(typename IG_METRIC_TYPE<TREE_TYPE>::Utils::Config) [with IG_METRIC_TYPE = ig_active_reconstruction::world_representation::octomap::AverageEntropyIg; TREE_TYPE = ig_active_reconstruction::world_representation::octomap::IgTree; typename IG_METRIC_TYPE<TREE_TYPE>::Utils::Config = ig_active_reconstruction::world_representation::octomap::InformationGain<ig_active_reconstruction::world_representation::octomap::IgTree>::Utils::Config]’: /home/jeffdelmerico/catkin_ws/src/rpg_ig_active_reconstruction/ig_active_reconstruction_octomap/src/ros_nodes/octomap_world_representation.cpp:158:1: required from here /home/jeffdelmerico/catkin_ws/src/rpg_ig_active_reconstruction/ig_active_reconstruction_octomap/include/../src/code_base/octomap_ig_calculator.inl:19:16: internal compiler error: Segmentation fault #define CSCOPE IgCalculator<TREE_TYPE> ^ /home/jeffdelmerico/catkin_ws/src/rpg_ig_active_reconstruction/ig_active_reconstruction_octomap/include/../src/code_base/octomap_ig_calculator.inl:61:51: note: in expansion of macro ‘CSCOPE’ boost::shared_ptr< InformationGain<TREE_TYPE> > CSCOPE::makeShared(typename IG_METRIC_TYPE<TREE_TYPE>::Utils::Config utils) ^

But as is noted in the CMakeLists.txt for ig_active_reconstruction_octomap, the C++11 versions don't play nicely with the boost shared pointers from ROS, so I don't think the variadic template version that you (@islers) wrote is an option either.

As far as I can tell from the GCC Bugzilla, this is an open bug in the compiler. Do you think it would be possible to un-nest these templates even if the code becomes a bit less clean and efficient?

One other tiny issue that I did resolve is statically casting a stream return value to bool, since implicit casting is no longer supported.

[jeffdelmerico]

Pushed minor fix to #4.