Make non-virtual-dtor errors

Author: Levi Armstrong

README.md

@@ -111,6 +111,7 @@ Tesseract currently leverages Compiler Warnigs, Clang Tidy and Code Coverage. Al
   - Wconversion
   - Wsign-conversion
   - Wno-sign-compare
+  - Wnon-virtual-dtor
 - Clang Tidy
   - clang-analyzer-*
   - bugprone-*

tesseract/tesseract_common/cmake/tesseract_macros.cmake

@@ -65,7 +65,7 @@ macro(tesseract_variables)
   else()
     set(TESSERACT_CLANG_TIDY_ARGS "-header-filter=.*" "-line-filter=[{'name':'EnvironmentMonitorDynamicReconfigureConfig.h','lines':[[9999999,9999999]]}, {'name':'.h'}, {'name':'.hpp'}]" "-checks=-*,clang-analyzer-*,bugprone-*,cppcoreguidelines-avoid-goto,cppcoreguidelines-c-copy-assignment-signature,cppcoreguidelines-interfaces-global-init,cppcoreguidelines-narrowing-conversions,cppcoreguidelines-no-malloc,cppcoreguidelines-slicing,cppcoreguidelines-special-member-functions,misc-*,modernize-*,performance-*,readability-avoid-const-params-in-decls,readability-container-size-empty,readability-delete-null-pointer,readability-deleted-default,readability-else-after-return,readability-function-size,readability-identifier-naming,readability-inconsistent-declaration-parameter-name,readability-misleading-indentation,readability-misplaced-array-index,readability-non-const-parameter,readability-redundant-*,readability-simplify-*,readability-static-*,readability-string-compare,readability-uniqueptr-delete-release,readability-rary-objects" "-warnings-as-errors=-*,clang-analyzer-*,bugprone-*,cppcoreguidelines-avoid-goto,cppcoreguidelines-c-copy-assignment-signature,cppcoreguidelines-interfaces-global-init,cppcoreguidelines-narrowing-conversions,cppcoreguidelines-no-malloc,cppcoreguidelines-slicing,cppcoreguidelines-special-member-functions,misc-*,modernize-*,performance-*,readability-avoid-const-params-in-decls,readability-container-size-empty,readability-delete-null-pointer,readability-deleted-default,readability-else-after-return,readability-function-size,readability-identifier-naming,readability-inconsistent-declaration-parameter-name,readability-misleading-indentation,readability-misplaced-array-index,readability-non-const-parameter,readability-redundant-*,readability-simplify-*,readability-static-*,readability-string-compare,readability-uniqueptr-delete-release,readability-rary-objects")
     if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-      set(TESSERACT_COMPILE_OPTIONS_PRIVATE -Werror=all -Werror=extra -Werror=conversion -Werror=sign-conversion -Wno-sign-compare -Wnon-virtual-dtor)
+      set(TESSERACT_COMPILE_OPTIONS_PRIVATE -Werror=all -Werror=extra -Werror=conversion -Werror=sign-conversion -Wno-sign-compare -Werror=non-virtual-dtor)
       set(TESSERACT_COMPILE_OPTIONS_PUBLIC -mno-avx)
     elseif(CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
       set(TESSERACT_COMPILE_OPTIONS_PRIVATE -Werror=all -Werror=extra -Werror=conversion -Werror=sign-conversion)

tesseract/tesseract_planning/tesseract_motion_planners/include/tesseract_motion_planners/core/trajectory_validator.h

@@ -75,6 +75,8 @@ class TrajectoryValidator
   {
   }
 
+  virtual ~TrajectoryValidator() = default;
+
   /**
    * @brief Performs checks on a planned trajectory to determine its validity
    * @param trajectory The planned trajectory

tesseract/tesseract_planning/tesseract_motion_planners/include/tesseract_motion_planners/trajopt/profile/trajopt_profile.h

@@ -50,6 +50,8 @@ class TrajOptPlanProfile
   using Ptr = std::shared_ptr<TrajOptPlanProfile>;
   using ConstPtr = std::shared_ptr<const TrajOptPlanProfile>;
 
+  virtual ~TrajOptPlanProfile() = default;
+
   virtual void apply(trajopt::ProblemConstructionInfo& pci,
                      const Eigen::Isometry3d& cartesian_waypoint,
                      const Instruction& parent_instruction,
@@ -73,6 +75,8 @@ class TrajOptCompositeProfile
   using Ptr = std::shared_ptr<TrajOptCompositeProfile>;
   using ConstPtr = std::shared_ptr<const TrajOptCompositeProfile>;
 
+  virtual ~TrajOptCompositeProfile() = default;
+
   virtual void apply(trajopt::ProblemConstructionInfo& pci,
                      int start_index,
                      int end_index,
@@ -89,6 +93,8 @@ class TrajOptSolverProfile
   using Ptr = std::shared_ptr<TrajOptSolverProfile>;
   using ConstPtr = std::shared_ptr<const TrajOptSolverProfile>;
 
+  virtual ~TrajOptSolverProfile() = default;
+
   virtual void apply(trajopt::ProblemConstructionInfo& pci) const = 0;
 
   virtual tinyxml2::XMLElement* toXML(tinyxml2::XMLDocument& doc) const = 0;