fixup

tesseract-robotics · Nov 27, 2023 · 609ddb1 · 609ddb1
1 parent 95660ac
commit 609ddb1
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Showing 2 changed files with 5 additions and 6 deletions.
diff --git a/trajopt_sco/CMakeLists.txt b/trajopt_sco/CMakeLists.txt
@@ -59,7 +59,6 @@ if(HAVE_BPMPD)
   target_link_libraries(bpmpd_caller ${BPMPD_LIBRARY} -static)
   target_compile_definitions(bpmpd_caller PUBLIC BPMPD_WORKING_DIR="${CMAKE_CURRENT_BINARY_DIR}")
   target_cxx_version(bpmpd_caller PUBLIC VERSION ${TRAJOPT_CXX_VERSION})
-  target_compile_options(bpmpd_caller PUBLIC -std=c++${TRAJOPT_CXX_VERSION})
   target_include_directories(bpmpd_caller PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                                  "$<INSTALL_INTERFACE:include>")
   target_include_directories(bpmpd_caller SYSTEM

diff --git a/trajopt_sco/src/bpmpd_interface.cpp b/trajopt_sco/src/bpmpd_interface.cpp
@@ -234,23 +234,23 @@ BPMPDModel::BPMPDModel()
 
 Var BPMPDModel::addVar(const std::string& name)
 {
-  std::scoped_lock lock(m_mutex);
+  std::lock_guard<std::mutex> lock(m_mutex);
   m_vars.push_back(std::make_shared<VarRep>(m_vars.size(), name, this));
   m_lbs.push_back(-BPMPD_BIG);
   m_ubs.push_back(BPMPD_BIG);
   return m_vars.back();
 }
 Cnt BPMPDModel::addEqCnt(const AffExpr& expr, const std::string& /*name*/)
 {
-  std::scoped_lock lock(m_mutex);
+  std::lock_guard<std::mutex> lock(m_mutex);
   m_cnts.push_back(std::make_shared<CntRep>(m_cnts.size(), this));
   m_cntExprs.push_back(expr);
   m_cntTypes.push_back(EQ);
   return m_cnts.back();
 }
 Cnt BPMPDModel::addIneqCnt(const AffExpr& expr, const std::string& /*name*/)
 {
-  std::scoped_lock lock(m_mutex);
+  std::lock_guard<std::mutex> lock(m_mutex);
   m_cnts.push_back(std::make_shared<CntRep>(m_cnts.size(), this));
   m_cntExprs.push_back(expr);
   m_cntTypes.push_back(INEQ);
@@ -263,7 +263,7 @@ Cnt BPMPDModel::addIneqCnt(const QuadExpr&, const std::string& /*name*/)
 
 void BPMPDModel::removeVars(const VarVector& vars)
 {
-  std::scoped_lock lock(m_mutex);
+  std::lock_guard<std::mutex> lock(m_mutex);
   SizeTVec inds;
   vars2inds(vars, inds);
   for (const auto& var : vars)
@@ -272,7 +272,7 @@ void BPMPDModel::removeVars(const VarVector& vars)
 
 void BPMPDModel::removeCnts(const CntVector& cnts)
 {
-  std::scoped_lock lock(m_mutex);
+  std::lock_guard<std::mutex> lock(m_mutex);
   SizeTVec inds;
   cnts2inds(cnts, inds);
   for (auto& cnt : cnts)  // NOLINT