We had to introduce a number of hacks and workarounds to address limitations of third-party software. Eventually, we should get rid of such hacks.

Doxygen

(dox00) Doxygen complains about template parameters of classes 'humoto::pepper_ik::TaskBaseCoMTracking' and 'humoto::pepper_ik::TaskBaseOrientation'. Currently, parameters are altered using 'HUMOTO_DOXYGEN_PROCESSING' macro in order to avoid warnings.
(dox01) We use 'typedef' to define tasks ('humoto::TaskALU', 'humoto::TaskGIB0', ...), but doxygen does not treat typedefs as classes and does not generate corresponding pages. For this reason, we define fake classes when the source code is processed by doxygen.

NAOqi, Aldebaran's Cross Compilation Toolkit

(qi00) 'cross-config.cmake' file in the cross compilation toolkit overrides 'CMAKE_CXX_FLAGS', hence all flags must be passed using 'CMAKE_C_FLAGS'.
(qi01) NAOqi adds wrappers for standard cmake functions to search for dependencies. If these wrappers are not used, e.g., in the bridges, it is necessary to provide hints for cmake's 'find_package' manually. See 'BOOST_ROOT' and 'EIGEN3_INCLUDE_DIR' in CMakeLists.txt