Adapt KDL for compile with clang 3.4, which is stricter with friend classes,

fixes ‘friend declaration specifying a default argument must be a definition’,
based on information from here:
http://www.orocos.org/forum/rtt/rtt-dev/bug-1053-new-compile-error-clang-34-patch-attached

8 files changed, 79 insertions, 48 deletions

diff --git a/intern/itasc/SConscript b/intern/itasc/SConscript
index 1b7709bb986..bd20368f001 100644
--- a/intern/itasc/SConscript
+++ b/intern/itasc/SConscript
@@ -35,7 +35,4 @@ incs = '. ../../extern/Eigen3'
 
 defs = []
 
-if env['OURPLATFORM']=='darwin' and env['C_COMPILER_ID'] == 'clang' and env['CCVERSION'] >= '3.4': # workaround for friend declaration specifies a default argument expression, not allowed anymore
-    env.BlenderLib ('bf_intern_itasc', sources, Split(incs), defs, libtype=['intern','player'], priority=[20,100], cc_compilerchange='/usr/bin/gcc', cxx_compilerchange='/usr/bin/g++' )
-else:
-    env.BlenderLib ('bf_intern_itasc', sources, Split(incs), defs, libtype=['intern','player'], priority=[20,100])
+env.BlenderLib ('bf_intern_itasc', sources, Split(incs), defs, libtype=['intern','player'], priority=[20,100])
diff --git a/intern/itasc/kdl/frameacc.hpp b/intern/itasc/kdl/frameacc.hpp
index 40dd5bfa712..bccd229804d 100644
--- a/intern/itasc/kdl/frameacc.hpp
+++ b/intern/itasc/kdl/frameacc.hpp
@@ -78,9 +78,9 @@ public:
     IMETHOD friend VectorAcc operator / (const VectorAcc& r2,const doubleAcc& r1);
 
 
-    IMETHOD friend bool Equal(const VectorAcc& r1,const VectorAcc& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const Vector& r1,const VectorAcc& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const VectorAcc& r1,const Vector& r2,double eps=epsilon);
+    IMETHOD friend bool Equal(const VectorAcc& r1,const VectorAcc& r2,double eps);
+    IMETHOD friend bool Equal(const Vector& r1,const VectorAcc& r2,double eps);
+    IMETHOD friend bool Equal(const VectorAcc& r1,const Vector& r2,double eps);
     IMETHOD friend VectorAcc operator - (const VectorAcc& r);
     IMETHOD friend doubleAcc dot(const VectorAcc& lhs,const VectorAcc& rhs);
     IMETHOD friend doubleAcc dot(const VectorAcc& lhs,const Vector& rhs);
@@ -132,9 +132,9 @@ public:
     IMETHOD friend RotationAcc operator* (const RotationAcc& r1,const RotationAcc& r2);
     IMETHOD friend RotationAcc operator* (const Rotation& r1,const RotationAcc& r2);
     IMETHOD friend RotationAcc operator* (const RotationAcc& r1,const Rotation& r2);
-    IMETHOD friend bool Equal(const RotationAcc& r1,const RotationAcc& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const Rotation& r1,const RotationAcc& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const RotationAcc& r1,const Rotation& r2,double eps=epsilon);
+    IMETHOD friend bool Equal(const RotationAcc& r1,const RotationAcc& r2,double eps);
+    IMETHOD friend bool Equal(const Rotation& r1,const RotationAcc& r2,double eps);
+    IMETHOD friend bool Equal(const RotationAcc& r1,const Rotation& r2,double eps);
     IMETHOD TwistAcc Inverse(const TwistAcc& arg) const;
     IMETHOD TwistAcc Inverse(const Twist& arg) const;
     IMETHOD TwistAcc operator * (const TwistAcc& arg) const;
@@ -170,9 +170,9 @@ public:
     IMETHOD friend FrameAcc operator * (const FrameAcc& f1,const FrameAcc& f2);
     IMETHOD friend FrameAcc operator * (const Frame& f1,const FrameAcc& f2);
     IMETHOD friend FrameAcc operator * (const FrameAcc& f1,const Frame& f2);
-    IMETHOD friend bool Equal(const FrameAcc& r1,const FrameAcc& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const Frame& r1,const FrameAcc& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const FrameAcc& r1,const Frame& r2,double eps=epsilon);
+    IMETHOD friend bool Equal(const FrameAcc& r1,const FrameAcc& r2,double eps);
+    IMETHOD friend bool Equal(const Frame& r1,const FrameAcc& r2,double eps);
+    IMETHOD friend bool Equal(const FrameAcc& r1,const Frame& r2,double eps);
 
     IMETHOD TwistAcc  Inverse(const TwistAcc& arg) const;
     IMETHOD TwistAcc  Inverse(const Twist& arg) const;
@@ -226,9 +226,9 @@ public:
      // the new point.
      // Complexity : 6M+6A
 
-     IMETHOD friend bool Equal(const TwistAcc& a,const TwistAcc& b,double eps=epsilon);
-     IMETHOD friend bool Equal(const Twist& a,const TwistAcc& b,double eps=epsilon);
-     IMETHOD friend bool Equal(const TwistAcc& a,const Twist& b,double eps=epsilon);
+     IMETHOD friend bool Equal(const TwistAcc& a,const TwistAcc& b,double eps);
+     IMETHOD friend bool Equal(const Twist& a,const TwistAcc& b,double eps);
+     IMETHOD friend bool Equal(const TwistAcc& a,const Twist& b,double eps);
 
 
      IMETHOD Twist GetTwist() const;
@@ -240,9 +240,18 @@ public:
 };
 
 
-
-
-
+IMETHOD bool Equal(const VectorAcc&,   const VectorAcc&,   double = epsilon);
+IMETHOD bool Equal(const Vector&,      const VectorAcc&,   double = epsilon);
+IMETHOD bool Equal(const VectorAcc&,   const Vector&,      double = epsilon);
+IMETHOD bool Equal(const RotationAcc&, const RotationAcc&, double = epsilon);
+IMETHOD bool Equal(const Rotation&,    const RotationAcc&, double = epsilon);
+IMETHOD bool Equal(const RotationAcc&, const Rotation&,    double = epsilon);
+IMETHOD bool Equal(const FrameAcc&,    const FrameAcc&,    double = epsilon);
+IMETHOD bool Equal(const Frame&,       const FrameAcc&,    double = epsilon);
+IMETHOD bool Equal(const FrameAcc&,    const Frame&,       double = epsilon);
+IMETHOD bool Equal(const TwistAcc&,    const TwistAcc&,    double = epsilon);
+IMETHOD bool Equal(const Twist&,       const TwistAcc&,    double = epsilon);
+IMETHOD bool Equal(const TwistAcc&,    const Twist&,       double = epsilon);
 
 
 #ifdef KDL_INLINE
diff --git a/intern/itasc/kdl/frames.hpp b/intern/itasc/kdl/frames.hpp
index 28a59898e20..87eedea29f7 100644
--- a/intern/itasc/kdl/frames.hpp
+++ b/intern/itasc/kdl/frames.hpp
@@ -248,10 +248,10 @@ public:
 
      //! do not use operator == because the definition of Equal(.,.) is slightly
      //! different.  It compares whether the 2 arguments are equal in an eps-interval
-     inline friend bool Equal(const Vector& a,const Vector& b,double eps=epsilon);
+     inline friend bool Equal(const Vector& a,const Vector& b,double eps);
 
 	 //! return a normalized vector
-	 inline friend Vector Normalize(const Vector& a, double eps=epsilon);
+	 inline friend Vector Normalize(const Vector& a, double eps);
 
 	 //! The literal equality operator==(), also identical.
      inline friend bool operator==(const Vector& a,const Vector& b);
@@ -261,7 +261,7 @@ public:
      friend class Rotation;
      friend class Frame;
 };
-
+	inline Vector Normalize(const Vector&, double eps=epsilon);
 
 /**
   \brief represents rotations in 3 dimensional space.
@@ -502,7 +502,7 @@ public:
 
      //! do not use operator == because the definition of Equal(.,.) is slightly
      //! different.  It compares whether the 2 arguments are equal in an eps-interval
-     friend bool Equal(const Rotation& a,const Rotation& b,double eps=epsilon);
+
 
 	 //! The literal equality operator==(), also identical.
      friend bool operator==(const Rotation& a,const Rotation& b);
@@ -663,7 +663,7 @@ public:
 
      //! do not use operator == because the definition of Equal(.,.) is slightly
      //! different.  It compares whether the 2 arguments are equal in an eps-interval
-     inline friend bool Equal(const Frame& a,const Frame& b,double eps=epsilon);
+     inline friend bool Equal(const Frame& a,const Frame& b,double eps);
 
 	 //! The literal equality operator==(), also identical.
      inline friend bool operator==(const Frame& a,const Frame& b);
@@ -735,7 +735,7 @@ public:
 
      //! do not use operator == because the definition of Equal(.,.) is slightly
      //! different.  It compares whether the 2 arguments are equal in an eps-interval
-     inline friend bool Equal(const Twist& a,const Twist& b,double eps=epsilon);
+     inline friend bool Equal(const Twist& a,const Twist& b,double eps);
 
 	 //! The literal equality operator==(), also identical.
      inline friend bool operator==(const Twist& a,const Twist& b);
@@ -898,7 +898,7 @@ public:
 
      //! do not use operator == because the definition of Equal(.,.) is slightly
      //! different.  It compares whether the 2 arguments are equal in an eps-interval
-     inline friend bool Equal(const Wrench& a,const Wrench& b,double eps=epsilon);
+     inline friend bool Equal(const Wrench& a,const Wrench& b,double eps);
 
 	 //! The literal equality operator==(), also identical.
      inline friend bool operator==(const Wrench& a,const Wrench& b);
@@ -979,7 +979,7 @@ public:
 
      //! do not use operator == because the definition of Equal(.,.) is slightly
      //! different.  It compares whether the 2 arguments are equal in an eps-interval
-     inline friend bool Equal(const Vector2& a,const Vector2& b,double eps=epsilon);
+     inline friend bool Equal(const Vector2& a,const Vector2& b,double eps);
 
     friend class Rotation2;
 };
@@ -1026,7 +1026,7 @@ public:
 
      //! do not use operator == because the definition of Equal(.,.) is slightly
      //! different.  It compares whether the 2 arguments are equal in an eps-interval
-     inline friend bool Equal(const Rotation2& a,const Rotation2& b,double eps=epsilon);
+     inline friend bool Equal(const Rotation2& a,const Rotation2& b,double eps);
 };
 
 //! A 2D frame class, for further documentation see the Frames class
@@ -1067,9 +1067,18 @@ public:
         tmp.SetIdentity();
         return tmp;
      }
-     inline friend bool Equal(const Frame2& a,const Frame2& b,double eps=epsilon);
+     inline friend bool Equal(const Frame2& a,const Frame2& b,double eps);
 };
 
+inline bool Equal(const Vector&,    const Vector&,    double = epsilon);
+       bool Equal(const Rotation&,  const Rotation&,  double = epsilon);
+inline bool Equal(const Frame&,     const Frame&,     double = epsilon);
+inline bool Equal(const Twist&,     const Twist&,     double = epsilon);
+inline bool Equal(const Wrench&,    const Wrench&,    double = epsilon);
+inline bool Equal(const Vector2&,   const Vector2&,   double = epsilon);
+inline bool Equal(const Rotation2&, const Rotation2&, double = epsilon);
+inline bool Equal(const Frame2&,    const Frame2&,    double = epsilon);
+       
 IMETHOD Vector diff(const Vector& a,const Vector& b,double dt=1);
 IMETHOD Vector diff(const Rotation& R_a_b1,const Rotation& R_a_b2,double dt=1);
 IMETHOD Twist diff(const Frame& F_a_b1,const Frame& F_a_b2,double dt=1);
diff --git a/intern/itasc/kdl/framevel.hpp b/intern/itasc/kdl/framevel.hpp
index e95c5ef7907..17e1f2adfa0 100644
--- a/intern/itasc/kdl/framevel.hpp
+++ b/intern/itasc/kdl/framevel.hpp
@@ -110,9 +110,9 @@ public:
     IMETHOD friend void SetToZero(VectorVel& v);
 
 
-    IMETHOD friend bool Equal(const VectorVel& r1,const VectorVel& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const Vector& r1,const VectorVel& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const VectorVel& r1,const Vector& r2,double eps=epsilon);
+    IMETHOD friend bool Equal(const VectorVel& r1,const VectorVel& r2,double eps);
+    IMETHOD friend bool Equal(const Vector& r1,const VectorVel& r2,double eps);
+    IMETHOD friend bool Equal(const VectorVel& r1,const Vector& r2,double eps);
     IMETHOD friend VectorVel operator - (const VectorVel& r);
     IMETHOD friend doubleVel dot(const VectorVel& lhs,const VectorVel& rhs);
     IMETHOD friend doubleVel dot(const VectorVel& lhs,const Vector& rhs);
@@ -166,9 +166,9 @@ public:
     IMETHOD friend RotationVel operator* (const RotationVel& r1,const RotationVel& r2);
     IMETHOD friend RotationVel operator* (const Rotation& r1,const RotationVel& r2);
     IMETHOD friend RotationVel operator* (const RotationVel& r1,const Rotation& r2);
-    IMETHOD friend bool Equal(const RotationVel& r1,const RotationVel& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const Rotation& r1,const RotationVel& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const RotationVel& r1,const Rotation& r2,double eps=epsilon);
+    IMETHOD friend bool Equal(const RotationVel& r1,const RotationVel& r2,double eps);
+    IMETHOD friend bool Equal(const Rotation& r1,const RotationVel& r2,double eps);
+    IMETHOD friend bool Equal(const RotationVel& r1,const Rotation& r2,double eps);
 
     IMETHOD TwistVel Inverse(const TwistVel& arg) const;
     IMETHOD TwistVel Inverse(const Twist& arg) const;
@@ -220,9 +220,9 @@ public:
     IMETHOD friend FrameVel operator * (const FrameVel& f1,const FrameVel& f2);
     IMETHOD friend FrameVel operator * (const Frame& f1,const FrameVel& f2);
     IMETHOD friend FrameVel operator * (const FrameVel& f1,const Frame& f2);
-    IMETHOD friend bool Equal(const FrameVel& r1,const FrameVel& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const Frame& r1,const FrameVel& r2,double eps=epsilon);
-    IMETHOD friend bool Equal(const FrameVel& r1,const Frame& r2,double eps=epsilon);
+    IMETHOD friend bool Equal(const FrameVel& r1,const FrameVel& r2,double eps);
+    IMETHOD friend bool Equal(const Frame& r1,const FrameVel& r2,double eps);
+    IMETHOD friend bool Equal(const FrameVel& r1,const Frame& r2,double eps);
 
     IMETHOD TwistVel  Inverse(const TwistVel& arg) const;
     IMETHOD TwistVel  Inverse(const Twist& arg) const;
@@ -292,9 +292,9 @@ public:
      // = Equality operators
      // do not use operator == because the definition of Equal(.,.) is slightly
      // different.  It compares whether the 2 arguments are equal in an eps-interval
-     IMETHOD friend bool Equal(const TwistVel& a,const TwistVel& b,double eps=epsilon);
-     IMETHOD friend bool Equal(const Twist& a,const TwistVel& b,double eps=epsilon);
-     IMETHOD friend bool Equal(const TwistVel& a,const Twist& b,double eps=epsilon);
+     IMETHOD friend bool Equal(const TwistVel& a,const TwistVel& b,double eps);
+     IMETHOD friend bool Equal(const Twist& a,const TwistVel& b,double eps);
+     IMETHOD friend bool Equal(const TwistVel& a,const Twist& b,double eps);
 
 // = Conversion to other entities
      IMETHOD Twist GetTwist() const;
@@ -305,6 +305,19 @@ public:
 
 };
 
+IMETHOD bool Equal(const VectorVel&,   const VectorVel&,   double = epsilon);
+IMETHOD bool Equal(const Vector&,      const VectorVel&,   double = epsilon);
+IMETHOD bool Equal(const VectorVel&,   const Vector&,      double = epsilon);
+IMETHOD bool Equal(const RotationVel&, const RotationVel&, double = epsilon);
+IMETHOD bool Equal(const Rotation&,    const RotationVel&, double = epsilon);
+IMETHOD bool Equal(const RotationVel&, const Rotation&,    double = epsilon);
+IMETHOD bool Equal(const FrameVel&,    const FrameVel&,    double = epsilon);
+IMETHOD bool Equal(const Frame&,       const FrameVel&,    double = epsilon);
+IMETHOD bool Equal(const FrameVel&,    const Frame&,       double = epsilon);
+IMETHOD bool Equal(const TwistVel&,    const TwistVel&,    double = epsilon);
+IMETHOD bool Equal(const Twist&,       const TwistVel&,    double = epsilon);
+IMETHOD bool Equal(const TwistVel&,    const Twist&,       double = epsilon);
+
 IMETHOD VectorVel diff(const VectorVel& a,const VectorVel& b,double dt=1.0) {
 	return VectorVel(diff(a.p,b.p,dt),diff(a.v,b.v,dt));
 }
diff --git a/intern/itasc/kdl/jacobian.hpp b/intern/itasc/kdl/jacobian.hpp
index e9057451c9f..9708ebd37be 100644
--- a/intern/itasc/kdl/jacobian.hpp
+++ b/intern/itasc/kdl/jacobian.hpp
@@ -45,7 +45,7 @@ namespace KDL
         bool operator ==(const Jacobian& arg);
         bool operator !=(const Jacobian& arg);
         
-        friend bool Equal(const Jacobian& a,const Jacobian& b,double eps=epsilon);
+        friend bool Equal(const Jacobian& a,const Jacobian& b,double eps);
         
 
         ~Jacobian();
@@ -63,6 +63,7 @@ namespace KDL
 
 
     };
+	bool Equal(const Jacobian&, const Jacobian&, double = epsilon);
 }
 
 #endif
diff --git a/intern/itasc/kdl/jntarray.hpp b/intern/itasc/kdl/jntarray.hpp
index ece6b0bdb6b..886171b11db 100644
--- a/intern/itasc/kdl/jntarray.hpp
+++ b/intern/itasc/kdl/jntarray.hpp
@@ -209,12 +209,12 @@ class MyTask : public RTT::TaskContext
          * @return true if each element of src1 is within eps of the same
 		 * element in src2, or if both src1 and src2 have no data (ie 0==rows())
          */
-        friend bool Equal(const JntArray& src1,const JntArray& src2,double eps=epsilon);
+        friend bool Equal(const JntArray& src1,const JntArray& src2,double eps);
 
         friend bool operator==(const JntArray& src1,const JntArray& src2);
         //friend bool operator!=(const JntArray& src1,const JntArray& src2);
         };
-
+	bool Equal(const JntArray&,const JntArray&, double = epsilon);
     bool operator==(const JntArray& src1,const JntArray& src2);
     //bool operator!=(const JntArray& src1,const JntArray& src2);
 
diff --git a/intern/itasc/kdl/jntarrayacc.hpp b/intern/itasc/kdl/jntarrayacc.hpp
index 275aa58f21e..fd1c26430e8 100644
--- a/intern/itasc/kdl/jntarrayacc.hpp
+++ b/intern/itasc/kdl/jntarrayacc.hpp
@@ -58,9 +58,10 @@ namespace KDL
         friend void Divide(const JntArrayAcc& src,const doubleVel& factor,JntArrayAcc& dest);
         friend void Divide(const JntArrayAcc& src,const doubleAcc& factor,JntArrayAcc& dest);
         friend void SetToZero(JntArrayAcc& array);
-        friend bool Equal(const JntArrayAcc& src1,const JntArrayAcc& src2,double eps=epsilon);
-
+        friend bool Equal(const JntArrayAcc& src1,const JntArrayAcc& src2,double eps);
     };
+
+    bool Equal(const JntArrayAcc&, const JntArrayAcc&, double = epsilon);
 }
 
 #endif
diff --git a/intern/itasc/kdl/jntarrayvel.hpp b/intern/itasc/kdl/jntarrayvel.hpp
index faa82076ebb..480f84f1708 100644
--- a/intern/itasc/kdl/jntarrayvel.hpp
+++ b/intern/itasc/kdl/jntarrayvel.hpp
@@ -51,9 +51,10 @@ namespace KDL
         friend void Divide(const JntArrayVel& src,const double& factor,JntArrayVel& dest);
         friend void Divide(const JntArrayVel& src,const doubleVel& factor,JntArrayVel& dest);
         friend void SetToZero(JntArrayVel& array);
-        friend bool Equal(const JntArrayVel& src1,const JntArrayVel& src2,double eps=epsilon);
-
+        friend bool Equal(const JntArrayVel& src1,const JntArrayVel& src2,double eps);
     };
+
+    bool Equal(const JntArrayVel&, const JntArrayVel&, double = epsilon);
 }
 
 #endif