6 files changed, 52 insertions, 32 deletions
diff --git a/compat/CMakeLists.txt b/compat/CMakeLists.txt
index 7655a223..33cb02bd 100644
--- a/compat/CMakeLists.txt
+++ b/compat/CMakeLists.txt
@@ -5,5 +5,5 @@ if(NOT WIN32 AND NOT APPLE)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX)
-    set_property(SOURCE nan.cpp APPEND_STRING PROPERTY COMPILE_FLAGS " -fno-lto -fno-fast-math -fno-finite-math-only -O0")
+    otr_prop(SOURCE nan.cpp COMPILE_FLAGS "-fno-lto -fno-fast-math -fno-finite-math-only -O0")
 endif()
diff --git a/compat/euler.cpp b/compat/euler.cpp
index ab119d3e..f02365c9 100644
--- a/compat/euler.cpp
+++ b/compat/euler.cpp
@@ -11,13 +11,17 @@ euler_t OTR_COMPAT_EXPORT rmat_to_euler(const rmat& R)
     const double cy = sqrt(R(2,2)*R(2, 2) + R(2, 1)*R(2, 1));
     const bool large_enough = cy > 1e-10;
     if (large_enough)
-        return euler_t(atan2(-R(1, 0), R(0, 0)),
-                       atan2(R(2, 0), cy),
-                       atan2(-R(2, 1), R(2, 2)));
+       return {
+           atan2(-R(1, 0), R(0, 0)),
+           atan2(R(2, 0), cy),
+           atan2(-R(2, 1), R(2, 2))
+       };
     else
-        return euler_t(atan2(R(0, 1), R(1, 1)),
-                       atan2(R(2, 0), cy),
-                       0);
+        return {
+           atan2(R(0, 1), R(1, 1)),
+           atan2(R(2, 0), cy),
+           0
+        };
 }
 
 // tait-bryan angles, not euler
@@ -37,20 +41,20 @@ rmat OTR_COMPAT_EXPORT euler_to_rmat(const euler_t& input)
     const auto c3 = cos(B);
     const auto s3 = sin(B);
 
-    return rmat(
-                // z
-                c1 * c2,
-                c1 * s2 * s3 - c3 * s1,
-                s1 * s3 + c1 * c3 * s2,
-                // y
-                c2 * s1,
-                c1 * c3 + s1 * s2 * s3,
-                c3 * s1 * s2 - c1 * s3,
-                // x
-                -s2,
-                c2 * s3,
-                c2 * c3
-                );
+    return {
+        // z
+        c1*c2,
+        c1*s2*s3 - c3*s1,
+        s1*s3 + c1*c3*s2,
+        // y
+        c2*s1,
+        c1*c3 + s1*s2*s3,
+        c3*s1*s2 - c1*s3,
+        // x
+        -s2,
+        c2*s3,
+        c2*c3
+    };
 }
 
 // https://en.wikipedia.org/wiki/Davenport_chained_rotations#Tait.E2.80.93Bryan_chained_rotations
@@ -67,9 +71,11 @@ void OTR_COMPAT_EXPORT tait_bryan_to_matrices(const euler_t& input,
         const double sin_phi = sin(phi);
         const double cos_phi = cos(phi);
 
-        r_roll = rmat(1, 0, 0,
-                      0, cos_phi, -sin_phi,
-                      0, sin_phi, cos_phi);
+        r_roll = {
+            1, 0, 0,
+            0, cos_phi, -sin_phi,
+            0, sin_phi, cos_phi
+        };
     }
 
     {
@@ -77,9 +83,11 @@ void OTR_COMPAT_EXPORT tait_bryan_to_matrices(const euler_t& input,
         const double sin_theta = sin(theta);
         const double cos_theta = cos(theta);
 
-        r_pitch = rmat(cos_theta, 0, -sin_theta,
-                       0, 1, 0,
-                       sin_theta, 0, cos_theta);
+        r_pitch = {
+            cos_theta, 0, -sin_theta,
+            0, 1, 0,
+            sin_theta, 0, cos_theta
+        };
     }
 
     {
@@ -87,9 +95,11 @@ void OTR_COMPAT_EXPORT tait_bryan_to_matrices(const euler_t& input,
         const double sin_psi = sin(psi);
         const double cos_psi = cos(psi);
 
-        r_yaw = rmat(cos_psi, -sin_psi, 0,
-                     sin_psi, cos_psi, 0,
-                     0, 0, 1);
+        r_yaw = {
+            cos_psi, -sin_psi, 0,
+            sin_psi, cos_psi, 0,
+            0, 0, 1
+        };
     }
 }
 
diff --git a/compat/simple-mat.hpp b/compat/simple-mat.hpp
index a909e40b..11bb191f 100644
--- a/compat/simple-mat.hpp
+++ b/compat/simple-mat.hpp
@@ -206,6 +206,11 @@ public:
     inline num operator()(unsigned j, unsigned i) const { return data[j][i]; }
     inline num& operator()(unsigned j, unsigned i) { return data[j][i]; }
 
+#ifdef __GNUG__
+#   pragma GCC diagnostic push
+#   pragma GCC diagnostic ignored "-Wmissing-braces"
+#endif
+
     template<typename... ts, int h__ = h_, int w__ = w_,
              typename = typename std::enable_if<is_arglist_correct<num, h__, w__, ts...>::value>::type>
     Mat(const ts... xs) : data{static_cast<num>(xs)...}
@@ -213,6 +218,10 @@ public:
         static_assert(h__ == h_ && w__ == w_, "");
     }
 
+#ifdef __GNUG__
+#   pragma GCC diagnostic pop
+#endif
+
     Mat()
     {
         for (int j = 0; j < h_; j++)
diff --git a/compat/time.hpp b/compat/time.hpp
index fbe7469a..b560da70 100644
--- a/compat/time.hpp
+++ b/compat/time.hpp
@@ -1,7 +1,6 @@
 #pragma once
 
 #include <chrono>
-#include <type_traits>
 
 namespace time_units {
 
diff --git a/compat/timer.cpp b/compat/timer.cpp
index 3ecdf528..ca22fa10 100644
--- a/compat/timer.cpp
+++ b/compat/timer.cpp
@@ -6,6 +6,9 @@
  * notice appear in all copies.
  */
 
+#include "ndebug-guard.hpp"
+#include <cassert>
+
 #include "timer.hpp"
 #include <cmath>
 
diff --git a/compat/timer.hpp b/compat/timer.hpp
index 58e1c7d6..6af7430d 100644
--- a/compat/timer.hpp
+++ b/compat/timer.hpp
@@ -18,7 +18,6 @@
 #endif
 
 #include <ctime>
-#include <tuple>
 
 #include "time.hpp"