From 41c90d4fd482c84e1456bd3c0acb2d55587fb75b Mon Sep 17 00:00:00 2001
From: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>
Date: Fri, 21 Jun 2013 10:35:10 +0200
Subject: [PATCH] fixes #1424: reduce public link interface

* Remove external dependencies from converter headers (as they are note
  required there anyways) to reduce the public link interface of the library.
* In CMake, explicitly state the reduced link interface.
---
 cpp/src/CMakeLists.txt                             | 18 ++++---
 .../boost/TransformationPoseConverter.cpp          |  3 ++
 .../converters/boost/TransformationPoseConverter.h |  4 --
 cpp/src/rst/converters/boost/TwoDPoseConverter.cpp |  3 ++
 cpp/src/rst/converters/boost/TwoDPoseConverter.h   |  4 --
 cpp/src/rst/converters/naoqi/ALImageConverter.cpp  |  3 ++
 cpp/src/rst/converters/naoqi/ALImageConverter.h    |  3 --
 cpp/src/rst/converters/rci/DoublesConverter.cpp    |  2 +
 cpp/src/rst/converters/rci/DoublesConverter.h      |  2 -
 .../rst/converters/rci/JointAnglesConverter.cpp    |  2 +
 cpp/src/rst/converters/rci/JointAnglesConverter.h  |  2 -
 .../rst/converters/rci/JointImpedanceConverter.cpp |  2 +
 .../rst/converters/rci/JointImpedanceConverter.h   |  2 -
 .../rst/converters/rci/JointTorquesConverter.cpp   |  2 +
 cpp/src/rst/converters/rci/JointTorquesConverter.h |  2 -
 cpp/src/rst/converters/rci/LengthConverter.cpp     |  2 +
 cpp/src/rst/converters/rci/LengthConverter.h       |  2 -
 cpp/src/rst/converters/rci/PhaseConverter.cpp      |  2 +
 cpp/src/rst/converters/rci/PhaseConverter.h        |  2 -
 cpp/src/rst/converters/rci/PoseConverter.cpp       | 56 +++++++++++-----------
 cpp/src/rst/converters/rci/PoseConverter.h         |  8 ----
 cpp/src/rst/converters/rci/PressureConverter.cpp   |  2 +
 cpp/src/rst/converters/rci/PressureConverter.h     |  2 -
 .../rst/converters/rci/TranslationConverter.cpp    |  2 +
 cpp/src/rst/converters/rci/TranslationConverter.h  |  2 -
 25 files changed, 62 insertions(+), 72 deletions(-)

diff --git a/cpp/src/CMakeLists.txt b/cpp/src/CMakeLists.txt
index 55b060f..ac548cf 100644
--- a/cpp/src/CMakeLists.txt
+++ b/cpp/src/CMakeLists.txt
@@ -4,13 +4,14 @@ SET(SOURCES)
 SET(HEADERS)
 SET(LIBRARIES ${RSB_LIBRARIES}
               ${RST_LIBRARIES})
+# List of libraries to expose in the external link interface
+SET(INTERFACE_LIBRARIES ${RSB_LIBRARIES}
+                        ${RST_LIBRARIES})
 
 # --- converters ---
 
 SET(PKGCONFIG_REQUIRES)
 
-# TODO ALImageConverter
-
 # ALImageConverter
 SET_FEATURE_INFO(ALImageConverter "Converter for images received from the humanoid robot NAO using the NAOqi API.")
 IF(ALVISION_FOUND)
@@ -27,6 +28,7 @@ IF(OpenCV_FOUND)
     SET_PROPERTY(GLOBAL APPEND PROPERTY ENABLED_FEATURES IplImageConverter)
     LIST(APPEND SOURCES "rst/converters/opencv/IplImageConverter.cpp")
     LIST(APPEND HEADERS "rst/converters/opencv/IplImageConverter.h")
+    LIST(APPEND LIBRARIES ${OpenCV_LIBS})
 ELSE()
     SET_PROPERTY(GLOBAL APPEND PROPERTY DISABLED_FEATURES IplImageConverter)
 ENDIF()
@@ -66,8 +68,7 @@ IF(RCI_FOUND)
                         "rst/converters/rci/PoseConverter.cpp"
                         "rst/converters/rci/PressureConverter.cpp"
                         "rst/converters/rci/TranslationConverter.cpp"
-                        "rst/converters/rci/DoublesConverter.cpp"
-                        )
+                        "rst/converters/rci/DoublesConverter.cpp")
     LIST(APPEND HEADERS "rst/converters/rci/JointAnglesConverter.h"
                         "rst/converters/rci/JointImpedanceConverter.h"
                         "rst/converters/rci/JointTorquesConverter.h"
@@ -76,8 +77,7 @@ IF(RCI_FOUND)
                         "rst/converters/rci/PoseConverter.h"
                         "rst/converters/rci/PressureConverter.h"
                         "rst/converters/rci/TranslationConverter.h"
-                        "rst/converters/rci/DoublesConverter.h"
-                        )
+                        "rst/converters/rci/DoublesConverter.h")
 
     LIST(APPEND LIBRARIES ${RCI_LIBRARIES})
     LIST(APPEND PKGCONFIG_REQUIRES ", rci0.4")
@@ -97,10 +97,8 @@ LIST(APPEND HEADERS ${CMAKE_CURRENT_BINARY_DIR}/rst/rstconvertersexports.h)
 
 ADD_LIBRARY(${RST_CONVERTERS_NAME} SHARED ${SOURCES} ${HEADERS})
 TARGET_LINK_LIBRARIES(${RST_CONVERTERS_NAME} ${LIBRARIES})
-# special hack for the strange opencv library list
-IF(OpenCV_FOUND)
-    TARGET_LINK_LIBRARIES(${RST_CONVERTERS_NAME} ${OpenCV_LIBS})
-ENDIF()
+# Restrict the link interface to the explicitly specified interface
+TARGET_LINK_LIBRARIES(${RST_CONVERTERS_NAME} LINK_INTERFACE_LIBRARIES ${INTERFACE_LIBRARIES})
 SET_TARGET_PROPERTIES(${RST_CONVERTERS_NAME}
                       PROPERTIES
                       VERSION ${SO_VERSION})
diff --git a/cpp/src/rst/converters/boost/TransformationPoseConverter.cpp b/cpp/src/rst/converters/boost/TransformationPoseConverter.cpp
index 2efde88..a34b4b0 100644
--- a/cpp/src/rst/converters/boost/TransformationPoseConverter.cpp
+++ b/cpp/src/rst/converters/boost/TransformationPoseConverter.cpp
@@ -29,9 +29,12 @@
 #include "TransformationPoseConverter.h"
 
 #include <boost/shared_ptr.hpp>
+#include <boost/multi_array.hpp>
 
 #include <rsc/runtime/TypeStringTools.h>
 
+typedef ::boost::multi_array<double, 2> DoubleMatrix;
+
 #define IS_ZERO(a) (abs(a) < 1e-6)
 
 using namespace std;
diff --git a/cpp/src/rst/converters/boost/TransformationPoseConverter.h b/cpp/src/rst/converters/boost/TransformationPoseConverter.h
index abe8aab..1e5c59f 100644
--- a/cpp/src/rst/converters/boost/TransformationPoseConverter.h
+++ b/cpp/src/rst/converters/boost/TransformationPoseConverter.h
@@ -29,8 +29,6 @@
 
 #include <string>
 
-#include <boost/multi_array.hpp>
-
 #include <rsb/converter/Converter.h>
 #include <rsb/converter/ProtocolBufferConverter.h>
 
@@ -42,8 +40,6 @@ namespace rst {
 namespace converters {
 namespace boost {
 
-typedef ::boost::multi_array<double, 2> DoubleMatrix;
-
 /**
  * Converter for 4x4 transformation matrix to PoseMessage type.
  *
diff --git a/cpp/src/rst/converters/boost/TwoDPoseConverter.cpp b/cpp/src/rst/converters/boost/TwoDPoseConverter.cpp
index 7bd62bf..43d5659 100644
--- a/cpp/src/rst/converters/boost/TwoDPoseConverter.cpp
+++ b/cpp/src/rst/converters/boost/TwoDPoseConverter.cpp
@@ -29,9 +29,12 @@
 #include "TwoDPoseConverter.h"
 
 #include <boost/shared_ptr.hpp>
+#include <boost/multi_array.hpp>
 
 #include <rsc/runtime/TypeStringTools.h>
 
+typedef ::boost::multi_array<double, 1> DoubleVector;
+
 #define IS_NONZERO(a) (a > 0.5)
 #define IS_ZERO(a) (abs(a) < 1e-6)
 
diff --git a/cpp/src/rst/converters/boost/TwoDPoseConverter.h b/cpp/src/rst/converters/boost/TwoDPoseConverter.h
index ecc5cc0..343fd20 100644
--- a/cpp/src/rst/converters/boost/TwoDPoseConverter.h
+++ b/cpp/src/rst/converters/boost/TwoDPoseConverter.h
@@ -29,8 +29,6 @@
 
 #include <string>
 
-#include <boost/multi_array.hpp>
-
 #include <rsb/converter/Converter.h>
 #include <rsb/converter/ProtocolBufferConverter.h>
 
@@ -42,8 +40,6 @@ namespace rst {
 namespace converters {
 namespace boost {
 
-typedef ::boost::multi_array<double, 1> DoubleVector;
-
 /**
  * Converter for 3 vector to PoseMessage type.
  *
diff --git a/cpp/src/rst/converters/naoqi/ALImageConverter.cpp b/cpp/src/rst/converters/naoqi/ALImageConverter.cpp
index b9c4cb4..8c821f1 100644
--- a/cpp/src/rst/converters/naoqi/ALImageConverter.cpp
+++ b/cpp/src/rst/converters/naoqi/ALImageConverter.cpp
@@ -31,6 +31,9 @@
 
 #include <rsc/misc/langutils.h>
 
+#include <alvisiondefinitions.h>
+#include <alimage.h>
+
 using namespace std;
 using namespace AL;
 
diff --git a/cpp/src/rst/converters/naoqi/ALImageConverter.h b/cpp/src/rst/converters/naoqi/ALImageConverter.h
index 3dab3d1..f45e603 100644
--- a/cpp/src/rst/converters/naoqi/ALImageConverter.h
+++ b/cpp/src/rst/converters/naoqi/ALImageConverter.h
@@ -32,9 +32,6 @@
 
 #include <rsb/converter/ProtocolBufferConverter.h>
 
-#include <alvisiondefinitions.h>
-#include <alimage.h>
-
 #include <rst/vision/Image.pb.h>
 
 #include "rst/rstconvertersexports.h"
diff --git a/cpp/src/rst/converters/rci/DoublesConverter.cpp b/cpp/src/rst/converters/rci/DoublesConverter.cpp
index 654bfdd..51121d5 100644
--- a/cpp/src/rst/converters/rci/DoublesConverter.cpp
+++ b/cpp/src/rst/converters/rci/DoublesConverter.cpp
@@ -31,6 +31,8 @@
 
 #include <rst/math/VectorDouble.pb.h>
 
+#include <rci/dto/Doubles.h>
+
 using namespace std;
 using namespace nemo;
 using namespace rci;
diff --git a/cpp/src/rst/converters/rci/DoublesConverter.h b/cpp/src/rst/converters/rci/DoublesConverter.h
index bc7f631..64311c8 100644
--- a/cpp/src/rst/converters/rci/DoublesConverter.h
+++ b/cpp/src/rst/converters/rci/DoublesConverter.h
@@ -31,8 +31,6 @@
 
 #include <rsb/converter/Converter.h>
 
-#include <rci/dto/Doubles.h>
-
 #include "rst/rstconvertersexports.h"
 
 namespace rst {
diff --git a/cpp/src/rst/converters/rci/JointAnglesConverter.cpp b/cpp/src/rst/converters/rci/JointAnglesConverter.cpp
index b4d1466..3a2db7e 100644
--- a/cpp/src/rst/converters/rci/JointAnglesConverter.cpp
+++ b/cpp/src/rst/converters/rci/JointAnglesConverter.cpp
@@ -31,6 +31,8 @@
 
 #include <rst/kinematics/JointAngles.pb.h>
 
+#include <rci/dto/JointAngles.h>
+
 using namespace std;
 using namespace nemo;
 using namespace rci;
diff --git a/cpp/src/rst/converters/rci/JointAnglesConverter.h b/cpp/src/rst/converters/rci/JointAnglesConverter.h
index fec0942..18fee02 100644
--- a/cpp/src/rst/converters/rci/JointAnglesConverter.h
+++ b/cpp/src/rst/converters/rci/JointAnglesConverter.h
@@ -31,8 +31,6 @@
 
 #include <rsb/converter/Converter.h>
 
-#include <rci/dto/JointAngles.h>
-
 #include "rst/rstconvertersexports.h"
 
 namespace rst {
diff --git a/cpp/src/rst/converters/rci/JointImpedanceConverter.cpp b/cpp/src/rst/converters/rci/JointImpedanceConverter.cpp
index 1fd681f..eef3f2f 100644
--- a/cpp/src/rst/converters/rci/JointImpedanceConverter.cpp
+++ b/cpp/src/rst/converters/rci/JointImpedanceConverter.cpp
@@ -31,6 +31,8 @@
 
 #include <rst/dynamics/JointImpedance.pb.h>
 
+#include <rci/dto/JointImpedance.h>
+
 using namespace std;
 using namespace nemo;
 using namespace rci;
diff --git a/cpp/src/rst/converters/rci/JointImpedanceConverter.h b/cpp/src/rst/converters/rci/JointImpedanceConverter.h
index a2edaab..0e4d1d8 100644
--- a/cpp/src/rst/converters/rci/JointImpedanceConverter.h
+++ b/cpp/src/rst/converters/rci/JointImpedanceConverter.h
@@ -31,8 +31,6 @@
 
 #include <rsb/converter/Converter.h>
 
-#include <rci/dto/JointImpedance.h>
-
 #include "rst/rstconvertersexports.h"
 
 namespace rst {
diff --git a/cpp/src/rst/converters/rci/JointTorquesConverter.cpp b/cpp/src/rst/converters/rci/JointTorquesConverter.cpp
index 20d9ada..7f3e8c1 100644
--- a/cpp/src/rst/converters/rci/JointTorquesConverter.cpp
+++ b/cpp/src/rst/converters/rci/JointTorquesConverter.cpp
@@ -31,6 +31,8 @@
 
 #include <rst/dynamics/JointTorques.pb.h>
 
+#include <rci/dto/JointTorques.h>
+
 using namespace std;
 using namespace nemo;
 using namespace rci;
diff --git a/cpp/src/rst/converters/rci/JointTorquesConverter.h b/cpp/src/rst/converters/rci/JointTorquesConverter.h
index 9297c27..e298f4b 100644
--- a/cpp/src/rst/converters/rci/JointTorquesConverter.h
+++ b/cpp/src/rst/converters/rci/JointTorquesConverter.h
@@ -31,8 +31,6 @@
 
 #include <rsb/converter/Converter.h>
 
-#include <rci/dto/JointTorques.h>
-
 #include "rst/rstconvertersexports.h"
 
 namespace rst {
diff --git a/cpp/src/rst/converters/rci/LengthConverter.cpp b/cpp/src/rst/converters/rci/LengthConverter.cpp
index 5bb58cd..64cf389 100644
--- a/cpp/src/rst/converters/rci/LengthConverter.cpp
+++ b/cpp/src/rst/converters/rci/LengthConverter.cpp
@@ -31,6 +31,8 @@
 
 #include <rst/geometry/Length.pb.h>
 
+#include <rci/dto/Length.h>
+
 using namespace std;
 using namespace nemo;
 using namespace rci;
diff --git a/cpp/src/rst/converters/rci/LengthConverter.h b/cpp/src/rst/converters/rci/LengthConverter.h
index 70ba0c5..7cc7ad3 100644
--- a/cpp/src/rst/converters/rci/LengthConverter.h
+++ b/cpp/src/rst/converters/rci/LengthConverter.h
@@ -31,8 +31,6 @@
 
 #include <rsb/converter/Converter.h>
 
-#include <rci/dto/Length.h>
-
 #include "rst/rstconvertersexports.h"
 
 namespace rst {
diff --git a/cpp/src/rst/converters/rci/PhaseConverter.cpp b/cpp/src/rst/converters/rci/PhaseConverter.cpp
index 6f36b8d..c91c217 100644
--- a/cpp/src/rst/converters/rci/PhaseConverter.cpp
+++ b/cpp/src/rst/converters/rci/PhaseConverter.cpp
@@ -31,6 +31,8 @@
 
 #include <rst/InstantaneousPhase.pb.h>
 
+#include <rci/dto/Phase.h>
+
 using namespace std;
 using namespace nemo;
 
diff --git a/cpp/src/rst/converters/rci/PhaseConverter.h b/cpp/src/rst/converters/rci/PhaseConverter.h
index 1482a0e..7e1c0fc 100644
--- a/cpp/src/rst/converters/rci/PhaseConverter.h
+++ b/cpp/src/rst/converters/rci/PhaseConverter.h
@@ -31,8 +31,6 @@
 
 #include <rsb/converter/Converter.h>
 
-#include <rci/dto/Phase.h>
-
 #include "rst/rstconvertersexports.h"
 
 namespace rst {
diff --git a/cpp/src/rst/converters/rci/PoseConverter.cpp b/cpp/src/rst/converters/rci/PoseConverter.cpp
index 11d71ee..573445b 100644
--- a/cpp/src/rst/converters/rci/PoseConverter.cpp
+++ b/cpp/src/rst/converters/rci/PoseConverter.cpp
@@ -29,6 +29,8 @@
 #include <rsb/converter/SerializationException.h>
 #include <rsb/converter/ProtocolBufferConverter.h>
 
+#include <rci/dto/CartesianPose.h>
+
 using namespace std;
 using namespace nemo;
 
@@ -36,6 +38,33 @@ namespace rst {
 namespace converters {
 namespace rci {
 
+void rstToDomain(const rst::geometry::Pose& rst,
+                 ::rci::Pose& domain) {
+    domain.setValue(0, rst.translation().x());
+    domain.setValue(1, rst.translation().y());
+    domain.setValue(2, rst.translation().z());
+
+    domain.setValue(3, rst.rotation().qw());
+    domain.setValue(4, rst.rotation().qx());
+    domain.setValue(5, rst.rotation().qy());
+    domain.setValue(6, rst.rotation().qz());
+}
+
+void domainToRST(const ::rci::Pose& domain,
+                 rst::geometry::Pose& rst) {
+
+    //    1. reserve()
+    //    2. std::copy(begin, begin+n) // oder memcpy
+    rst.mutable_translation()->set_x(domain.x());
+    rst.mutable_translation()->set_y(domain.y());
+    rst.mutable_translation()->set_z(domain.z());
+
+    rst.mutable_rotation()->set_qw(domain.q0()); // Check semantics
+    rst.mutable_rotation()->set_qx(domain.q1());
+    rst.mutable_rotation()->set_qy(domain.q2());
+    rst.mutable_rotation()->set_qz(domain.q3());
+}
+
 PoseConverter::PoseConverter() :
         rsb::converter::Converter<string>(
                 rsc::runtime::typeName<rst::geometry::Pose>(),
@@ -86,33 +115,6 @@ rsb::AnnotatedData PoseConverter::deserialize(const std::string &wireType,
     return rsb::AnnotatedData(getDataType(), domain);
 }
 
-void PoseConverter::rstToDomain(const rst::geometry::Pose& rst,
-        ::rci::Pose& domain) {
-    domain.setValue(0, rst.translation().x());
-    domain.setValue(1, rst.translation().y());
-    domain.setValue(2, rst.translation().z());
-
-    domain.setValue(3, rst.rotation().qw());
-    domain.setValue(4, rst.rotation().qx());
-    domain.setValue(5, rst.rotation().qy());
-    domain.setValue(6, rst.rotation().qz());
-}
-
-void PoseConverter::domainToRST(const ::rci::Pose& domain,
-        rst::geometry::Pose& rst) {
-
-    //    1. reserve()
-    //    2. std::copy(begin, begin+n) // oder memcpy
-    rst.mutable_translation()->set_x(domain.x());
-    rst.mutable_translation()->set_y(domain.y());
-    rst.mutable_translation()->set_z(domain.z());
-
-    rst.mutable_rotation()->set_qw(domain.q0()); // Check semantics
-    rst.mutable_rotation()->set_qx(domain.q1());
-    rst.mutable_rotation()->set_qy(domain.q2());
-    rst.mutable_rotation()->set_qz(domain.q3());
-}
-
 }
 }
 }
diff --git a/cpp/src/rst/converters/rci/PoseConverter.h b/cpp/src/rst/converters/rci/PoseConverter.h
index 008323b..325c420 100644
--- a/cpp/src/rst/converters/rci/PoseConverter.h
+++ b/cpp/src/rst/converters/rci/PoseConverter.h
@@ -31,8 +31,6 @@
 
 #include <rsb/converter/Converter.h>
 
-#include <rci/dto/CartesianPose.h>
-
 #include <rst/geometry/Pose.pb.h>
 
 #include "rst/rstconvertersexports.h"
@@ -58,12 +56,6 @@ public:
     rsb::AnnotatedData deserialize(const std::string &wireType,
             const std::string &wire);
 
-    static void rstToDomain(const rst::geometry::Pose& rst,
-                            ::rci::Pose&               domain);
-
-    static void domainToRST(const ::rci::Pose&   domain,
-                            rst::geometry::Pose& rst);
-
 private:
 
     boost::shared_ptr<rsb::converter::Converter<std::string> > converter;
diff --git a/cpp/src/rst/converters/rci/PressureConverter.cpp b/cpp/src/rst/converters/rci/PressureConverter.cpp
index 252e923..0f77277 100644
--- a/cpp/src/rst/converters/rci/PressureConverter.cpp
+++ b/cpp/src/rst/converters/rci/PressureConverter.cpp
@@ -31,6 +31,8 @@
 
 #include <rst/dynamics/Pressure.pb.h>
 
+#include <rci/dto/Pressure.h>
+
 using namespace std;
 using namespace nemo;
 using namespace rci;
diff --git a/cpp/src/rst/converters/rci/PressureConverter.h b/cpp/src/rst/converters/rci/PressureConverter.h
index 96a4650..f945498 100644
--- a/cpp/src/rst/converters/rci/PressureConverter.h
+++ b/cpp/src/rst/converters/rci/PressureConverter.h
@@ -31,8 +31,6 @@
 
 #include <rsb/converter/Converter.h>
 
-#include <rci/dto/Pressure.h>
-
 #include "rst/rstconvertersexports.h"
 
 namespace rst {
diff --git a/cpp/src/rst/converters/rci/TranslationConverter.cpp b/cpp/src/rst/converters/rci/TranslationConverter.cpp
index 59a684f..517eaf2 100644
--- a/cpp/src/rst/converters/rci/TranslationConverter.cpp
+++ b/cpp/src/rst/converters/rci/TranslationConverter.cpp
@@ -31,6 +31,8 @@
 
 #include <rst/geometry/Translation.pb.h>
 
+#include <rci/dto/CartesianPose.h>
+
 using namespace std;
 using namespace nemo;
 
diff --git a/cpp/src/rst/converters/rci/TranslationConverter.h b/cpp/src/rst/converters/rci/TranslationConverter.h
index 996e83c..1168906 100644
--- a/cpp/src/rst/converters/rci/TranslationConverter.h
+++ b/cpp/src/rst/converters/rci/TranslationConverter.h
@@ -31,8 +31,6 @@
 
 #include <rsb/converter/Converter.h>
 
-#include <rci/dto/CartesianPose.h>
-
 #include "rst/rstconvertersexports.h"
 
 namespace rst {
-- 
1.7.12.4 (Apple Git-37)