diff --git a/include/hpp/fcl/BV/OBB.h b/include/hpp/fcl/BV/OBB.h
index 1dcd716065498d3933cd088c874ebc4a11cfd347..e720480525930e5675d8f9ab9f8a618ae25851f4 100644
--- a/include/hpp/fcl/BV/OBB.h
+++ b/include/hpp/fcl/BV/OBB.h
@@ -71,7 +71,7 @@ public:
/// @brief Check collision between two OBB and return the overlap part. For OBB, the overlap_part return value is NOT used as the overlap part of two obbs usually is not an obb.
- bool overlap(const OBB& other, OBB& overlap_part) const
+ bool overlap(const OBB& other, OBB& /*overlap_part*/) const
{
return overlap(other);
}
diff --git a/include/hpp/fcl/BV/OBBRSS.h b/include/hpp/fcl/BV/OBBRSS.h
index 5b3b9532dce74a9b26a2de130ee589162ad8a2ea..376413fea410333803d551e89fe5a6fc1b92a7f6 100644
--- a/include/hpp/fcl/BV/OBBRSS.h
+++ b/include/hpp/fcl/BV/OBBRSS.h
@@ -72,7 +72,7 @@ public:
}
/// @brief Check collision between two OBBRSS and return the overlap part.
- bool overlap(const OBBRSS& other, OBBRSS& overlap_part) const
+ bool overlap(const OBBRSS& other, OBBRSS& /*overlap_part*/) const
{
return overlap(other);
}
diff --git a/include/hpp/fcl/BV/RSS.h b/include/hpp/fcl/BV/RSS.h
index 4e42bab3c72de5986caecdef79699b11b8142189..7dc79c3c0fc0e0cf0e2f5bbe6bba55e678a8d6ad 100644
--- a/include/hpp/fcl/BV/RSS.h
+++ b/include/hpp/fcl/BV/RSS.h
@@ -67,7 +67,7 @@ public:
bool overlap(const RSS& other) const;
/// Not implemented
- bool overlap(const RSS& other, FCL_REAL& sqrDistLowerBound) const
+ bool overlap(const RSS& /*other*/, FCL_REAL& /*sqrDistLowerBound*/) const
{
throw std::runtime_error ("Not implemented.");
return false;
@@ -75,7 +75,7 @@ public:
/// @brief Check collision between two RSS and return the overlap part.
/// For RSS, we return nothing, as the overlap part of two RSSs usually is not a RSS.
- bool overlap(const RSS& other, RSS& overlap_part) const
+ bool overlap(const RSS& other, RSS& /*overlap_part*/) const
{
return overlap(other);
}
diff --git a/include/hpp/fcl/BV/kIOS.h b/include/hpp/fcl/BV/kIOS.h
index 8df8b9f1685ee1d96a4073714511bb9b921075d7..5bda122cab7f5ecbe82652f60d105dc2729a822d 100644
--- a/include/hpp/fcl/BV/kIOS.h
+++ b/include/hpp/fcl/BV/kIOS.h
@@ -69,7 +69,7 @@ class kIOS
}
else /** spheres partially overlapping or disjoint */
{
- float dist = std::sqrt(dist2);
+ float dist = (float)std::sqrt(dist2);
kIOS_Sphere s;
s.r = dist + s0.r + s1.r;
if(dist > 0)
@@ -99,7 +99,7 @@ public:
/// @brief Check collision between two kIOS and return the overlap part.
/// For kIOS, we return nothing, as the overlappart of two kIOS usually is not an kIOS
/// @todo Not efficient. It first checks the sphere collisions and then use OBB for further culling.
- bool overlap(const kIOS& other, kIOS& overlap_part) const
+ bool overlap(const kIOS& other, kIOS& /*overlap_part*/) const
{
return overlap(other);
}
diff --git a/include/hpp/fcl/BVH/BVH_internal.h b/include/hpp/fcl/BVH/BVH_internal.h
index b7fd4147b9e37686e806393fc292d4f147369644..3bed65800cb415eed4d3d9389a45405ca5dd2596 100644
--- a/include/hpp/fcl/BVH/BVH_internal.h
+++ b/include/hpp/fcl/BVH/BVH_internal.h
@@ -54,7 +54,7 @@ enum BVHBuildState
BVH_BUILD_STATE_PROCESSED, /// after tree has been build, ready for cd use
BVH_BUILD_STATE_UPDATE_BEGUN, /// after beginUpdateModel(), state for updating geometry primitives
BVH_BUILD_STATE_UPDATED, /// after tree has been build for updated geometry, ready for ccd use
- BVH_BUILD_STATE_REPLACE_BEGUN, /// after beginReplaceModel(), state for replacing geometry primitives
+ BVH_BUILD_STATE_REPLACE_BEGUN /// after beginReplaceModel(), state for replacing geometry primitives
};
/// @brief Error code for BVH
diff --git a/include/hpp/fcl/broadphase/broadphase.h b/include/hpp/fcl/broadphase/broadphase.h
index 04311be5d15f86fe380fdb29e8ccc7890812265b..de22336e20077fa056f5f29fbaf159602b7a3213 100644
--- a/include/hpp/fcl/broadphase/broadphase.h
+++ b/include/hpp/fcl/broadphase/broadphase.h
@@ -85,13 +85,13 @@ public:
virtual void update() = 0;
/// @brief update the manager by explicitly given the object updated
- virtual void update(CollisionObject* updated_obj)
+ virtual void update(CollisionObject* /*updated_obj*/)
{
update();
}
/// @brief update the manager by explicitly given the set of objects update
- virtual void update(const std::vector<CollisionObject*>& updated_objs)
+ virtual void update(const std::vector<CollisionObject*>& /*updated_objs*/)
{
update();
}
@@ -184,13 +184,13 @@ public:
virtual void update() = 0;
/// @brief update the manager by explicitly given the object updated
- virtual void update(ContinuousCollisionObject* updated_obj)
+ virtual void update(ContinuousCollisionObject* /*updated_obj*/)
{
update();
}
/// @brief update the manager by explicitly given the set of objects update
- virtual void update(const std::vector<ContinuousCollisionObject*>& updated_objs)
+ virtual void update(const std::vector<ContinuousCollisionObject*>& /*updated_objs*/)
{
update();
}
diff --git a/include/hpp/fcl/ccd/motion.h b/include/hpp/fcl/ccd/motion.h
index c54d3398fdc8b7153661caa2d97720166f5f4124..7f2af4718d7bb8145a58f1d24dd52c3363a5594a 100644
--- a/include/hpp/fcl/ccd/motion.h
+++ b/include/hpp/fcl/ccd/motion.h
@@ -88,7 +88,7 @@ public:
tf_ = tf;
}
- void getTaylorModel(TMatrix3& tm, TVector3& tv) const
+ void getTaylorModel(TMatrix3& /*tm*/, TVector3& /*tv*/) const
{
}
@@ -113,14 +113,14 @@ public:
const Vec3f& Rd0, const Vec3f& Rd1, const Vec3f& Rd2, const Vec3f& Rd3);
// @brief Construct motion from initial and goal transform
- SplineMotion(const Matrix3f& R1, const Vec3f& T1,
- const Matrix3f& R2, const Vec3f& T2) : MotionBase()
+ SplineMotion(const Matrix3f& /*R1*/, const Vec3f& /*T1*/,
+ const Matrix3f& /*R2*/, const Vec3f& /*T2*/) : MotionBase()
{
// TODO
}
- SplineMotion(const Transform3f& tf1,
- const Transform3f& tf2) : MotionBase()
+ SplineMotion(const Transform3f& /*tf1*/,
+ const Transform3f& /*tf2*/) : MotionBase()
{
// TODO
}
diff --git a/include/hpp/fcl/ccd/motion_base.h b/include/hpp/fcl/ccd/motion_base.h
index 500888e6af1eb422f6e9d05dc551e89b62fc64a7..8f2656e77f70e3aafc5f70daa8b5806f3776f9be 100644
--- a/include/hpp/fcl/ccd/motion_base.h
+++ b/include/hpp/fcl/ccd/motion_base.h
@@ -72,11 +72,11 @@ class TBVMotionBoundVisitor : public BVMotionBoundVisitor
public:
TBVMotionBoundVisitor(const BV& bv_, const Vec3f& n_) : bv(bv_), n(n_) {}
- virtual FCL_REAL visit(const MotionBase& motion) const { return 0; }
- virtual FCL_REAL visit(const SplineMotion& motion) const { return 0; }
- virtual FCL_REAL visit(const ScrewMotion& motion) const { return 0; }
- virtual FCL_REAL visit(const InterpMotion& motion) const { return 0; }
- virtual FCL_REAL visit(const TranslationMotion& motion) const { return 0; }
+ virtual FCL_REAL visit(const MotionBase& /*motion*/) const { return 0; }
+ virtual FCL_REAL visit(const SplineMotion& /*motion*/) const { return 0; }
+ virtual FCL_REAL visit(const ScrewMotion& /*motion*/) const { return 0; }
+ virtual FCL_REAL visit(const InterpMotion& /*motion*/) const { return 0; }
+ virtual FCL_REAL visit(const TranslationMotion& /*motion*/) const { return 0; }
protected:
BV bv;
@@ -102,7 +102,7 @@ public:
TriangleMotionBoundVisitor(const Vec3f& a_, const Vec3f& b_, const Vec3f& c_, const Vec3f& n_) :
a(a_), b(b_), c(c_), n(n_) {}
- virtual FCL_REAL visit(const MotionBase& motion) const { return 0; }
+ virtual FCL_REAL visit(const MotionBase& /*motion*/) const { return 0; }
virtual FCL_REAL visit(const SplineMotion& motion) const;
virtual FCL_REAL visit(const ScrewMotion& motion) const;
virtual FCL_REAL visit(const InterpMotion& motion) const;
diff --git a/include/hpp/fcl/narrowphase/narrowphase.h b/include/hpp/fcl/narrowphase/narrowphase.h
index 0db42cdf967319f37a5be93f7a2d3dc0dcce02b7..eb308a1ce9f81d77d4f36d99ec2cc2f6f110ce85 100644
--- a/include/hpp/fcl/narrowphase/narrowphase.h
+++ b/include/hpp/fcl/narrowphase/narrowphase.h
@@ -209,12 +209,12 @@ struct GJKSolver_libccd
}
- void enableCachedGuess(bool if_enable) const
+ void enableCachedGuess(bool /*if_enable*/) const
{
// TODO: need change libccd to exploit spatial coherence
}
- void setCachedGuess(const Vec3f& guess) const
+ void setCachedGuess(const Vec3f& /*guess*/) const
{
// TODO: need change libccd to exploit spatial coherence
}
diff --git a/include/hpp/fcl/shape/geometric_shapes.h b/include/hpp/fcl/shape/geometric_shapes.h
index 7d9322a0d5f7dc20b8362eb17270ba24886bdf42..6c8717ad522ca2edd5c6b93e10694205ca1cdf00 100644
--- a/include/hpp/fcl/shape/geometric_shapes.h
+++ b/include/hpp/fcl/shape/geometric_shapes.h
@@ -271,7 +271,7 @@ public:
FCL_REAL* plane_dis_,
int num_planes_,
Vec3f* points_,
- int num_points_,
+ int /*num_points_*/,
int* polygons_) : ShapeBase()
{
plane_normals = plane_normals_;
diff --git a/include/hpp/fcl/traversal/traversal_node_base.h b/include/hpp/fcl/traversal/traversal_node_base.h
index 2208b0ab7fc077df553e12b9e4e3a12420864105..edaf35e340b4253fd3017c0ae6a94a009b963f97 100644
--- a/include/hpp/fcl/traversal/traversal_node_base.h
+++ b/include/hpp/fcl/traversal/traversal_node_base.h
@@ -106,7 +106,7 @@ public:
virtual bool BVTesting(int b1, int b2, FCL_REAL& sqrDistLowerBound) const = 0;
/// @brief Leaf test between node b1 and b2, if they are both leafs
- virtual void leafTesting(int b1, int b2, FCL_REAL& sqrDistLowerBound) const
+ virtual void leafTesting(int /*b1*/, int /*b2*/, FCL_REAL& /*sqrDistLowerBound*/) const
{
throw std::runtime_error ("Not implemented");
}
diff --git a/include/hpp/fcl/traversal/traversal_node_bvh_shape.h b/include/hpp/fcl/traversal/traversal_node_bvh_shape.h
index fe61f5f84540aa2bfc339434a67031765a4c0da5..119a549b40b3f11d3d4b4042d8c978c5b02bb493 100644
--- a/include/hpp/fcl/traversal/traversal_node_bvh_shape.h
+++ b/include/hpp/fcl/traversal/traversal_node_bvh_shape.h
@@ -723,7 +723,7 @@ public:
}
/// @brief BV culling test in one BVTT node
- FCL_REAL BVTesting(int b1, int b2) const
+ FCL_REAL BVTesting(int b1, int /*b2*/) const
{
return model1->getBV(b1).bv.distance(model2_bv);
}
@@ -803,7 +803,7 @@ public:
}
/// @brief Distance testing between leaves (one triangle and one shape)
- void leafTesting(int b1, int b2) const
+ void leafTesting(int b1, int /*b2*/) const
{
if(this->enable_statistics) this->num_leaf_tests++;
@@ -987,7 +987,7 @@ public:
}
- FCL_REAL BVTesting(int b1, int b2) const
+ FCL_REAL BVTesting(int b1, int /*b2*/) const
{
if(this->enable_statistics) this->num_bv_tests++;
return distance(this->tf1.getRotation(), this->tf1.getTranslation(), this->model2_bv, this->model1->getBV(b1).bv);
diff --git a/src/BV/OBB.cpp b/src/BV/OBB.cpp
index 8fb9e8dedf1229844d485197ff1e12bddcf5b4db..c89883caca70f6dc92aa669a666ba820f479b95a 100644
--- a/src/BV/OBB.cpp
+++ b/src/BV/OBB.cpp
@@ -610,7 +610,7 @@ OBB OBB::operator + (const OBB& other) const
}
-FCL_REAL OBB::distance(const OBB& other, Vec3f* P, Vec3f* Q) const
+FCL_REAL OBB::distance(const OBB& /*other*/, Vec3f* /*P*/, Vec3f* /*Q*/) const
{
std::cerr << "OBB distance not implemented!" << std::endl;
return 0.0;
diff --git a/src/BV/kIOS.cpp b/src/BV/kIOS.cpp
index 111aecb40e8d4d82e546b69155e1ffbbe56e06fc..9a1ae33e743cbb443e9598f1d287c4a7446da2b1 100644
--- a/src/BV/kIOS.cpp
+++ b/src/BV/kIOS.cpp
@@ -63,7 +63,7 @@ bool kIOS::overlap(const kIOS& other) const
return true;
}
- bool kIOS::overlap(const kIOS& other, FCL_REAL& sqrDistLowerBound) const
+ bool kIOS::overlap(const kIOS& /*other*/, FCL_REAL& /*sqrDistLowerBound*/) const
{
throw std::runtime_error ("Not implemented yet.");
}
diff --git a/src/ccd/interpolation/interpolation_linear.cpp b/src/ccd/interpolation/interpolation_linear.cpp
index 3821531d2ed7388176db8e8606d61cf81294ff12..a9635dad0f15bcf00592cdac939981a6f0d18715 100644
--- a/src/ccd/interpolation/interpolation_linear.cpp
+++ b/src/ccd/interpolation/interpolation_linear.cpp
@@ -84,7 +84,7 @@ FCL_REAL InterpolationLinear::getMovementLengthBound(FCL_REAL time) const
return getValueUpperBound() - getValue(time);
}
-FCL_REAL InterpolationLinear::getVelocityBound(FCL_REAL time) const
+FCL_REAL InterpolationLinear::getVelocityBound(FCL_REAL /*time*/) const
{
return (value_1_ - value_0_);
}
diff --git a/src/collision.cpp b/src/collision.cpp
index d71c1231919afef403732b3f2046460d487a30a0..6934af5da62ec2839754b5d61f633bf997a5ca58 100644
--- a/src/collision.cpp
+++ b/src/collision.cpp
@@ -50,7 +50,7 @@ CollisionFunctionMatrix<GJKSolver>& getCollisionFunctionLookTable()
{
static CollisionFunctionMatrix<GJKSolver> table;
return table;
-};
+}
template<typename NarrowPhaseSolver>
std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
diff --git a/src/distance_func_matrix.cpp b/src/distance_func_matrix.cpp
index 84a182a1d549b511beeb51a1e88a02d452f1dd54..07d4feb10e39fc15ff6cde96815c6cc221baace7 100644
--- a/src/distance_func_matrix.cpp
+++ b/src/distance_func_matrix.cpp
@@ -280,7 +280,7 @@ FCL_REAL BVHDistance<OBBRSS>(const CollisionGeometry* o1, const Transform3f& tf1
template<typename T_BVH, typename NarrowPhaseSolver>
FCL_REAL BVHDistance(const CollisionGeometry* o1, const Transform3f& tf1, const CollisionGeometry* o2, const Transform3f& tf2,
- const NarrowPhaseSolver* nsolver,
+ const NarrowPhaseSolver* /*nsolver*/,
const DistanceRequest& request, DistanceResult& result)
{
return BVHDistance<T_BVH>(o1, tf1, o2, tf2, request, result);
diff --git a/src/narrowphase/narrowphase.cpp b/src/narrowphase/narrowphase.cpp
index c5c1c4b166af0d93f6669316d7c01cba7b4d23b2..9b4c28fce653c2154a0d821344922f7565f7163b 100644
--- a/src/narrowphase/narrowphase.cpp
+++ b/src/narrowphase/narrowphase.cpp
@@ -2416,7 +2416,7 @@ bool halfspacePlaneIntersect(const Halfspace& s1, const Transform3f& tf1,
bool planeIntersect(const Plane& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
- Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal)
+ Vec3f* /*contact_points*/, FCL_REAL* /*penetration_depth*/, Vec3f* /*normal*/)
{
Plane new_s1 = transform(s1, tf1);
Plane new_s2 = transform(s2, tf2);
@@ -2583,7 +2583,7 @@ bool GJKSolver_libccd::shapeIntersect<Halfspace, Cone>(const Halfspace& s1, cons
template<>
bool GJKSolver_libccd::shapeIntersect<Halfspace, Halfspace>(const Halfspace& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
- Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const
+ Vec3f* /*contact_points*/, FCL_REAL* /*penetration_depth*/, Vec3f* /*normal*/) const
{
Halfspace s;
Vec3f p, d;
@@ -2595,7 +2595,7 @@ bool GJKSolver_libccd::shapeIntersect<Halfspace, Halfspace>(const Halfspace& s1,
template<>
bool GJKSolver_libccd::shapeIntersect<Plane, Halfspace>(const Plane& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
- Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const
+ Vec3f* /*contact_points*/, FCL_REAL* /*penetration_depth*/, Vec3f* /*normal*/) const
{
Plane pl;
Vec3f p, d;
@@ -2607,7 +2607,7 @@ bool GJKSolver_libccd::shapeIntersect<Plane, Halfspace>(const Plane& s1, const T
template<>
bool GJKSolver_libccd::shapeIntersect<Halfspace, Plane>(const Halfspace& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
- Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const
+ Vec3f* /*contact_points*/, FCL_REAL* /*penetration_depth*/, Vec3f* /*normal*/) const
{
Plane pl;
Vec3f p, d;
@@ -2792,9 +2792,9 @@ bool GJKSolver_libccd::shapeDistance<Sphere, Sphere>(const Sphere& s1, const Tra
}
template<>
-bool GJKSolver_libccd::shapeDistance<Capsule, Capsule>(const Capsule& s1, const Transform3f& tf1,
- const Capsule& s2, const Transform3f& tf2,
- FCL_REAL* dist, Vec3f* p1, Vec3f* p2) const
+bool GJKSolver_libccd::shapeDistance<Capsule, Capsule>(const Capsule& /*s1*/, const Transform3f& /*tf1*/,
+ const Capsule& /*s2*/, const Transform3f& /*tf2*/,
+ FCL_REAL* /*dist*/, Vec3f* /*p1*/, Vec3f* /*p2*/) const
{
abort ();
}
@@ -2967,7 +2967,7 @@ bool GJKSolver_indep::shapeIntersect<Halfspace, Cone>(const Halfspace& s1, const
template<>
bool GJKSolver_indep::shapeIntersect<Halfspace, Halfspace>(const Halfspace& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
- Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const
+ Vec3f* /*contact_points*/, FCL_REAL* /*penetration_depth*/, Vec3f* /*normal*/) const
{
Halfspace s;
Vec3f p, d;
@@ -2979,7 +2979,7 @@ bool GJKSolver_indep::shapeIntersect<Halfspace, Halfspace>(const Halfspace& s1,
template<>
bool GJKSolver_indep::shapeIntersect<Plane, Halfspace>(const Plane& s1, const Transform3f& tf1,
const Halfspace& s2, const Transform3f& tf2,
- Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const
+ Vec3f* /*contact_points*/, FCL_REAL* /*penetration_depth*/, Vec3f* /*normal*/) const
{
Plane pl;
Vec3f p, d;
@@ -2991,7 +2991,7 @@ bool GJKSolver_indep::shapeIntersect<Plane, Halfspace>(const Plane& s1, const Tr
template<>
bool GJKSolver_indep::shapeIntersect<Halfspace, Plane>(const Halfspace& s1, const Transform3f& tf1,
const Plane& s2, const Transform3f& tf2,
- Vec3f* contact_points, FCL_REAL* penetration_depth, Vec3f* normal) const
+ Vec3f* /*contact_points*/, FCL_REAL* /*penetration_depth*/, Vec3f* /*normal*/) const
{
Plane pl;
Vec3f p, d;
@@ -3176,9 +3176,9 @@ bool GJKSolver_indep::shapeDistance<Sphere, Sphere>(const Sphere& s1, const Tran
}
template<>
-bool GJKSolver_indep::shapeDistance<Capsule, Capsule>(const Capsule& s1, const Transform3f& tf1,
- const Capsule& s2, const Transform3f& tf2,
- FCL_REAL* dist, Vec3f* p1, Vec3f* p2) const
+bool GJKSolver_indep::shapeDistance<Capsule, Capsule>(const Capsule& /*s1*/, const Transform3f& /*tf1*/,
+ const Capsule& /*s2*/, const Transform3f& /*tf2*/,
+ FCL_REAL* /*dist*/, Vec3f* /*p1*/, Vec3f* /*p2*/) const
{
abort ();
}