Fix errors with recent compilers and C++17/20 standard (#394)

- fix definition of OcTreeBase(double res) constructor (it fixes gcc12/C++20 compilation errors)
- more robust detection of C++11 for Visual Studio (it fixes Visual Studio2022/C++17 compilation errors)
- remove several illegal semicolon (unlikely the reason of compilation errors, but it's neater to fix that)

Author: SpaceIm

Diff for: octomap/include/octomap/AbstractOcTree.h

@@ -51,7 +51,7 @@ namespace octomap {
     friend class StaticMapInit;
   public:
     AbstractOcTree();
-    virtual ~AbstractOcTree() {};
+    virtual ~AbstractOcTree() {}
 
     /// virtual constructor: creates a new object of same type
     virtual AbstractOcTree* create() const = 0;

Diff for: octomap/include/octomap/AbstractOccupancyOcTree.h

@@ -52,7 +52,7 @@ namespace octomap {
   class AbstractOccupancyOcTree : public AbstractOcTree {
   public:
     AbstractOccupancyOcTree();
-    virtual ~AbstractOccupancyOcTree() {};
+    virtual ~AbstractOccupancyOcTree() {}
 
     //-- IO
 

Diff for: octomap/include/octomap/ColorOcTree.h

@@ -192,7 +192,7 @@ namespace octomap {
          * StaticMemberInitializer, causing this tree failing to register.
          * Needs to be called from the constructor of this octree.
          */
-         void ensureLinking() {};
+         void ensureLinking() {}
     };
     /// static member to ensure static initialization (only once)
     static StaticMemberInitializer colorOcTreeMemberInit;

Diff for: octomap/include/octomap/CountingOcTree.h

@@ -110,7 +110,7 @@ namespace octomap {
          * StaticMemberInitializer, causing this tree failing to register.
          * Needs to be called from the constructor of this octree.
          */
-         void ensureLinking() {};
+         void ensureLinking() {}
     };
     /// static member to ensure static initialization (only once)
     static StaticMemberInitializer countingOcTreeMemberInit;

Diff for: octomap/include/octomap/OcTree.h

@@ -59,7 +59,7 @@ namespace octomap {
      */
     OcTree(std::string _filename);
 
-    virtual ~OcTree(){};
+    virtual ~OcTree(){}
 
     /// virtual constructor: creates a new object of same type
     /// (Covariant return type requires an up-to-date compiler)
@@ -89,7 +89,7 @@ namespace octomap {
 	     * StaticMemberInitializer, causing this tree failing to register.
 	     * Needs to be called from the constructor of this octree.
 	     */
-	    void ensureLinking() {};
+	    void ensureLinking() {}
     };
 
     /// to ensure static initialization (only once)

Diff for: octomap/include/octomap/OcTreeBase.h

@@ -43,7 +43,7 @@ namespace octomap {
   template <class NODE>
   class OcTreeBase : public OcTreeBaseImpl<NODE,AbstractOcTree> {
   public:
-    OcTreeBase<NODE>(double res) : OcTreeBaseImpl<NODE,AbstractOcTree>(res) {};
+    OcTreeBase(double res) : OcTreeBaseImpl<NODE,AbstractOcTree>(res) {}
 
     /// virtual constructor: creates a new object of same type
     /// (Covariant return type requires an up-to-date compiler)

Diff for: octomap/include/octomap/OcTreeBaseImpl.h

@@ -244,7 +244,7 @@ namespace octomap {
     virtual size_t memoryUsage() const;
 
     /// \return Memory usage of a single octree node
-    virtual inline size_t memoryUsageNode() const {return sizeof(NODE); };
+    virtual inline size_t memoryUsageNode() const {return sizeof(NODE); }
 
     /// \return Memory usage of a full grid of the same size as the OcTree in bytes (for comparison)
     /// \note this can be larger than the adressable memory - size_t may not be enough to hold it!
@@ -324,12 +324,12 @@ namespace octomap {
     typedef leaf_iterator iterator;
 
     /// @return beginning of the tree as leaf iterator
-    iterator begin(unsigned char maxDepth=0) const {return iterator(this, maxDepth);};
+    iterator begin(unsigned char maxDepth=0) const {return iterator(this, maxDepth);}
     /// @return end of the tree as leaf iterator
-    const iterator end() const {return leaf_iterator_end;}; // TODO: RVE?
+    const iterator end() const {return leaf_iterator_end;} // TODO: RVE?
 
     /// @return beginning of the tree as leaf iterator
-    leaf_iterator begin_leafs(unsigned char maxDepth=0) const {return leaf_iterator(this, maxDepth);};
+    leaf_iterator begin_leafs(unsigned char maxDepth=0) const {return leaf_iterator(this, maxDepth);}
     /// @return end of the tree as leaf iterator
     const leaf_iterator end_leafs() const {return leaf_iterator_end;}
 

Diff for: octomap/include/octomap/OcTreeDataNode.h

@@ -100,9 +100,9 @@ namespace octomap {
     OCTOMAP_DEPRECATED(bool hasChildren() const);
 
     /// @return value stored in the node
-    T getValue() const{return value;};
+    T getValue() const{return value;}
     /// sets value to be stored in the node
-    void setValue(T v) {value = v;};
+    void setValue(T v) {value = v;}
 
     // file IO:
 

Diff for: octomap/include/octomap/OcTreeIterator.hxx

@@ -102,7 +102,7 @@
         maxDepth = other.maxDepth;
         stack = other.stack;
         return *this;
-      };
+      }
 
       /// Ptr operator will return the current node in the octree which the
       /// iterator is referring to
@@ -220,7 +220,7 @@
        * @param ptree OcTreeBaseImpl on which the iterator is used on
        * @param depth Maximum depth to traverse the tree. 0 (default): unlimited
        */
-      tree_iterator(OcTreeBaseImpl<NodeType,INTERFACE> const* ptree, uint8_t depth=0) : iterator_base<NodeType>(ptree, depth) {};
+      tree_iterator(OcTreeBaseImpl<NodeType,INTERFACE> const* ptree, uint8_t depth=0) : iterator_base<NodeType>(ptree, depth) {}
 
       /// postfix increment operator of iterator (it++)
       tree_iterator operator++(int){
@@ -287,7 +287,7 @@
             }
           }
 
-          leaf_iterator(const leaf_iterator& other) : iterator_base<NodeType>(other) {};
+          leaf_iterator(const leaf_iterator& other) : iterator_base<NodeType>(other) {}
 
           /// postfix increment operator of iterator (it++)
           leaf_iterator operator++(int){
@@ -341,7 +341,7 @@
      */
     class leaf_bbx_iterator : public iterator_base<NodeType> {
     public:
-      leaf_bbx_iterator() : iterator_base<NodeType>() {};
+      leaf_bbx_iterator() : iterator_base<NodeType>() {}
       /**
       * Constructor of the iterator. The bounding box corners min and max are
       * converted into an OcTreeKey first.
@@ -432,7 +432,7 @@
 
 
         return *this;
-      };
+      }
 
     protected:
 

Diff for: octomap/include/octomap/OcTreeStamped.h

@@ -116,7 +116,7 @@ namespace octomap {
       * StaticMemberInitializer, causing this tree failing to register.
       * Needs to be called from the constructor of this octree.
       */
-      void ensureLinking() {};
+      void ensureLinking() {}
     };
     /// to ensure static initialization (only once)
     static StaticMemberInitializer ocTreeStampedMemberInit;

Diff for: octomap/include/octomap/ScanGraph.h

@@ -115,7 +115,7 @@ namespace octomap {
 
    public:
 
-    ScanGraph() {};
+    ScanGraph() {}
     ~ScanGraph();
 
     /// Clears all nodes and edges, and will delete the corresponding objects

Diff for: octomap/src/Pointcloud.cpp

@@ -38,7 +38,7 @@
 
 #if defined(_MSC_VER) || defined(_LIBCPP_VERSION)
   #include <algorithm>
-  #if __cplusplus > 199711L
+  #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201103L) || __cplusplus >= 201103L)
     #include <random>
   #endif
 #else
@@ -213,7 +213,7 @@ namespace octomap {
   #if defined(_MSC_VER) || defined(_LIBCPP_VERSION)
     samples.reserve(this->size());
     samples.insert(samples.end(), this->begin(), this->end());
-    #if __cplusplus > 199711L
+    #if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201103L) || __cplusplus >= 201103L)
       std::random_device r;
       std::mt19937 urbg(r());
       std::shuffle(samples.begin(), samples.end(), urbg);

Diff for: octomap/src/compare_octrees.cpp

@@ -132,7 +132,7 @@ int main(int argc, char** argv) {
       else
         kld +=log(p1/p2)*p1 + log((1-p1)/(1-p2))*(1-p1);
 
-#if __cplusplus >= 201103L
+#if ((defined(_MSVC_LANG) && _MSVC_LANG >= 201103L) || __cplusplus >= 201103L)
       if (std::isnan(kld)){
 #else
       if (isnan(kld)){

Diff for: octovis/include/octovis/OcTreeDrawer.h

@@ -62,14 +62,14 @@ namespace octomap {
     void setAlternativeDrawing(bool flag){m_alternativeDrawing = flag;}
 
     void enableOcTree(bool enabled = true);
-    void enableOcTreeCells(bool enabled = true) { m_update = true; m_drawOccupied = enabled; };
-    void enableFreespace(bool enabled = true) { m_update = true; m_drawFree = enabled; };
-    void enableSelection(bool enabled = true) { m_update = true; m_drawSelection = enabled; };
-    void setMax_tree_depth(unsigned int max_tree_depth) { m_update = true; m_max_tree_depth = max_tree_depth;};
+    void enableOcTreeCells(bool enabled = true) { m_update = true; m_drawOccupied = enabled; }
+    void enableFreespace(bool enabled = true) { m_update = true; m_drawFree = enabled; }
+    void enableSelection(bool enabled = true) { m_update = true; m_drawSelection = enabled; }
+    void setMax_tree_depth(unsigned int max_tree_depth) { m_update = true; m_max_tree_depth = max_tree_depth;}
 
     // set new origin (move object)
     void setOrigin(octomap::pose6d t);
-    void enableAxes(bool enabled = true) { m_update = true; m_displayAxes = enabled; };
+    void enableAxes(bool enabled = true) { m_update = true; m_displayAxes = enabled; }
 
   protected:
     //void clearOcTree();

Diff for: octovis/include/octovis/SceneObject.h

@@ -57,7 +57,7 @@ namespace octomap {
 
   public:
     SceneObject();
-    virtual ~SceneObject(){};
+    virtual ~SceneObject(){}
 
     /**
     * Actual draw function which will be called to visualize the object
@@ -67,7 +67,7 @@ namespace octomap {
     /**
     * Clears the object's representation (will be called when it gets invalid)
     */
-    virtual void clear(){};
+    virtual void clear(){}
 
   public:
     //! the color mode has to be set before calling OcTreDrawer::setMap()
@@ -95,8 +95,8 @@ namespace octomap {
   */
   class ScanGraphDrawer : public SceneObject {
   public:
-    ScanGraphDrawer(): SceneObject(){};
-    virtual ~ScanGraphDrawer(){};
+    ScanGraphDrawer(): SceneObject(){}
+    virtual ~ScanGraphDrawer(){}
 
     /**
     * Notifies drawer of a new or changed ScanGraph, so that the internal

Diff for: octovis/include/octovis/ViewerSettings.h

@@ -40,12 +40,12 @@ class ViewerSettings : public QDialog
 public:
     ViewerSettings(QWidget *parent = 0);
     ~ViewerSettings();
-    double getResolution(){return ui.resolution->value(); };
-    void setResolution(double resolution){ui.resolution->setValue(resolution);};
-    unsigned int getLaserType(){return ui.laserType->currentIndex(); };
-    void setLaserType(int type){ui.laserType->setCurrentIndex(type); };
-    double getMaxRange(){return ui.maxRange->value(); };
-    void setMaxRange(double range){ui.maxRange->setValue(range); };
+    double getResolution(){return ui.resolution->value(); }
+    void setResolution(double resolution){ui.resolution->setValue(resolution);}
+    unsigned int getLaserType(){return ui.laserType->currentIndex(); }
+    void setLaserType(int type){ui.laserType->setCurrentIndex(type); }
+    double getMaxRange(){return ui.maxRange->value(); }
+    void setMaxRange(double range){ui.maxRange->setValue(range); }
 
 private:
     Ui::ViewerSettingsClass ui;

Diff for: octovis/src/extern/QGLViewer/VRender/Exporter.h

@@ -60,7 +60,7 @@ namespace vrender
 	{
 		public:
 			Exporter() ;
-			virtual ~Exporter() {};
+			virtual ~Exporter() {}
 
 			virtual void exportToFile(const QString& filename,const std::vector<PtrPrimitive>&,VRenderParams&) ;
 
@@ -92,7 +92,7 @@ namespace vrender
 	{
 		public:
 			EPSExporter() ;
-			virtual ~EPSExporter() {};
+			virtual ~EPSExporter() {}
 
 		protected:
 			virtual void spewPoint(const Point *, QTextStream& out) ;
@@ -120,7 +120,7 @@ namespace vrender
 	class PSExporter: public EPSExporter
 	{
 		public:
-			virtual ~PSExporter() {};
+			virtual ~PSExporter() {}
 		protected:
 			virtual void writeFooter(QTextStream& out) const ;
 	};
@@ -129,7 +129,7 @@ namespace vrender
 	{
 		public:
 			FIGExporter() ;
-			virtual ~FIGExporter() {};
+			virtual ~FIGExporter() {}
 
 		protected:
 			virtual void spewPoint(const Point *, QTextStream& out) ;

Diff for: octovis/src/extern/QGLViewer/camera.cpp

@@ -199,8 +199,8 @@ void Camera::setScreenWidthAndHeight(int width, int height)
  \code
  class myCamera :: public qglviewer::Camera
  {
-   virtual qreal Camera::zNear() const { return 0.001; };
-   virtual qreal Camera::zFar() const { return 100.0; };
+   virtual qreal Camera::zNear() const { return 0.001; }
+   virtual qreal Camera::zFar() const { return 100.0; }
  }
  \endcode