From e7f4349cb61f7ef990d3b2c284409675b9acd839 Mon Sep 17 00:00:00 2001
From: Francois Carouge <francois.carouge@gmail.com>
Date: Mon, 5 Sep 2022 16:55:06 -0700
Subject: [PATCH] [cmake] add strict compile options

---
 CMakeLists.txt                             | 32 +++++++++++++++++++++-
 sample/kf_8x4x0_deep_sort_bounding_box.cpp | 16 +++++------
 2 files changed, 39 insertions(+), 9 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 45fde75dba..39724c80c6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -33,6 +33,31 @@ add_library(kalman_main "source/main.cpp")
 target_include_directories(kalman INTERFACE "include"
                                             "support/include/fcarouge")
 
+set(KALMAN_COMPILE_OPTIONS
+    "-ansi"
+    "-fno-check-new"
+    "-fno-common"
+    "-fstrict-aliasing"
+    "-pedantic"
+    "-Wall"
+    "-Wcast-align"
+    "-Wchar-subscripts"
+    "-Wdouble-promotion"
+    "-Wenum-conversion"
+    "-Werror"
+    "-Wextra"
+    "-Wformat-security"
+    "-Wlogical-op"
+    "-Wno-long-long"
+    "-Wno-psabi"
+    "-Wno-variadic-macros"
+    "-Wnon-virtual-dtor"
+    "-Wpointer-arith"
+    "-Wshadow"
+    "-Wundef"
+    "-Wunused-local-typedefs"
+    "-Wwrite-strings")
+
 set(KALMAN_TEST_LIST
     "test/eigen_f.cpp"
     "test/eigen_h.cpp"
@@ -47,6 +72,8 @@ foreach(test ${KALMAN_TEST_LIST})
   add_executable(kalman_${test_name}_driver ${test})
   target_link_libraries(kalman_${test_name}_driver PRIVATE eigen fmt kalman
                                                            kalman_main)
+  target_compile_options(kalman_${test_name}_driver
+                         PRIVATE ${KALMAN_COMPILE_OPTIONS})
   add_test(kalman_test_${test_name} kalman_${test_name}_driver)
 endforeach()
 
@@ -56,12 +83,15 @@ set(KALMAN_SAMPLE_LIST
     "sample/kf_1x1x0_liquid_temperature.cpp"
     "sample/kf_1x1x1_dog_position.cpp"
     "sample/kf_2x1x1_rocket_altitude.cpp"
-    "sample/kf_6x2x0_vehicle_location.cpp")
+    "sample/kf_6x2x0_vehicle_location.cpp"
+    "sample/kf_8x4x0_deep_sort_bounding_box.cpp")
 
 foreach(sample ${KALMAN_SAMPLE_LIST})
   get_filename_component(sample_name ${sample} NAME_WE)
   add_executable(kalman_${sample_name}_driver ${sample})
   target_link_libraries(kalman_${sample_name}_driver PRIVATE eigen fmt kalman
                                                              kalman_main)
+  target_compile_options(kalman_${sample_name}_driver
+                         PRIVATE ${KALMAN_COMPILE_OPTIONS})
   add_test(kalman_sample_${sample_name} kalman_${sample_name}_driver)
 endforeach()
diff --git a/sample/kf_8x4x0_deep_sort_bounding_box.cpp b/sample/kf_8x4x0_deep_sort_bounding_box.cpp
index 097eb8da91..80e0f1887f 100644
--- a/sample/kf_8x4x0_deep_sort_bounding_box.cpp
+++ b/sample/kf_8x4x0_deep_sort_bounding_box.cpp
@@ -209,17 +209,17 @@ namespace {
     k(output);
   }
 
-  assert(std::abs(1 - k.x()[0] / 370.932041394761) < 0.001 &&
-         std::abs(1 - k.x()[1] / 251.173174229878) < 0.001 &&
-         std::abs(1 - k.x()[2] / 0.314757138075364) < 0.001 &&
-         std::abs(1 - k.x()[3] / 287.859996019444) < 0.001 &&
-         std::abs(1 - k.x()[4] / 1.95865368159518) < 0.001 &&
-         std::abs(1 - k.x()[5] / 0.229282868701086) < 0.001 &&
+  assert(std::abs(1 - k.x()[0] / 370.932041394761f) < 0.001f &&
+         std::abs(1 - k.x()[1] / 251.173174229878f) < 0.001f &&
+         std::abs(1 - k.x()[2] / 0.314757138075364f) < 0.001f &&
+         std::abs(1 - k.x()[3] / 287.859996019444f) < 0.001f &&
+         std::abs(1 - k.x()[4] / 1.95865368159518f) < 0.001f &&
+         std::abs(1 - k.x()[5] / 0.229282868701086f) < 0.001f &&
          // The precision of the velocity appears to saturate early on in the
          // original example. The parameter could be scaled or larger types used
          // to improve comparison accuracy.
-         std::abs(1 - k.x()[6] / 2.46138628550094E-06) < 0.5 &&
-         std::abs(1 - k.x()[7] / 0.81402529074969) < 0.001 &&
+         std::abs(1 - k.x()[6] / 2.46138628550094E-06f) < 0.5f &&
+         std::abs(1 - k.x()[7] / 0.81402529074969f) < 0.001f &&
          "The estimated states expected to meet Nwojke's Deep SORT filter's "
          "MOT16 sample tracker #201 dataset at 0.1% accuracy.");