[Cleaning] removed all warnings

include/spline/bernstein.h

@@ -25,9 +25,8 @@ namespace spline
 ///
 inline unsigned int fact(const unsigned int n)
 {
-    assert(n>=0);
-    int res = 1;
-    for (int i=2 ; i <= n ; ++i)
+    unsigned int res = 1;
+    for (unsigned int i=2 ; i <= n ; ++i)
        res *= i;
     return res;
 }

include/spline/bezier_curve.h

@@ -51,7 +51,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
     , mult_T_(1.)
 	, size_(std::distance(PointsBegin, PointsEnd))
     , degree_(size_-1)
-    , bernstein_(spline::makeBernstein<num_t>(degree_))
+    , bernstein_(spline::makeBernstein<num_t>((unsigned int)degree_))
     {
         assert(bernstein_.size() == size_);
 		In it(PointsBegin);
@@ -70,7 +70,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
     , mult_T_(1.)
     , size_(std::distance(PointsBegin, PointsEnd))
     , degree_(size_-1)
-    , bernstein_(spline::makeBernstein<num_t>(degree_))
+    , bernstein_(spline::makeBernstein<num_t>((unsigned int)degree_))
     {
         assert(bernstein_.size() == size_);
         In it(PointsBegin);
@@ -91,7 +91,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
     , mult_T_(mult_T)
     , size_(std::distance(PointsBegin, PointsEnd))
     , degree_(size_-1)
-    , bernstein_(spline::makeBernstein<num_t>(degree_))
+    , bernstein_(spline::makeBernstein<num_t>((unsigned int)degree_))
     {
         assert(bernstein_.size() == size_);
         In it(PointsBegin);
@@ -113,7 +113,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
     , mult_T_(1.)
     , size_(std::distance(PointsBegin, PointsEnd)+4)
     , degree_(size_-1)
-    , bernstein_(spline::makeBernstein<num_t>(degree_))
+    , bernstein_(spline::makeBernstein<num_t>((unsigned int)degree_))
     {
         if(Safe && (size_<1 || T_ <= 0.))
             throw std::out_of_range("can't create bezier min bound is higher than max bound");
@@ -180,7 +180,7 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
         if(order == 0) return *this;
         t_point_t derived_wp;
         for(typename t_point_t::const_iterator pit =  pts_.begin(); pit != pts_.end()-1; ++pit)
-            derived_wp.push_back(degree_ * (*(pit+1) - (*pit)));
+            derived_wp.push_back((num_t)degree_ * (*(pit+1) - (*pit)));
         if(derived_wp.empty())
             derived_wp.push_back(point_t::Zero());
         bezier_curve_t deriv(derived_wp.begin(), derived_wp.end(),T_, mult_T_ * (1./T_) );
@@ -247,10 +247,10 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
         bc = 1;
         tn = 1;
         point_t tmp =(*pts_it)*u; ++pts_it;
-        for(int i=1; i<degree_; i++, ++pts_it)
+        for(unsigned int i=1; i<degree_; i++, ++pts_it)
         {
             tn = tn*t;
-            bc = bc*(degree_-i+1)/i;
+            bc = bc*((num_t)(degree_-i+1))/i;
             tmp = (tmp + tn*bc*(*pts_it))*u;
         }
         return (tmp + tn*t*(*pts_it));
@@ -265,10 +265,10 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
         t_point_t res;
         point_t P0, P1, P2, P_n_2, P_n_1, PN;
         P0 = *PointsBegin; PN = *(PointsEnd-1);
-        P1    = P0+ constraints.init_vel / degree_;
-        P_n_1 = PN -constraints.end_vel  / degree_;
-        P2    = constraints.init_acc / (degree_ * (degree_-1)) + 2* P1    - P0;
-        P_n_2 = constraints.end_acc  / (degree_ * (degree_-1)) + 2* P_n_1 - PN;
+        P1    = P0+ constraints.init_vel / (num_t)degree_;
+        P_n_1 = PN -constraints.end_vel  / (num_t)degree_;
+        P2    = constraints.init_acc / (num_t)(degree_ * (degree_-1)) + 2* P1    - P0;
+        P_n_2 = constraints.end_acc  / (num_t)(degree_ * (degree_-1)) + 2* P_n_1 - PN;
 
         res.push_back(P0);
         res.push_back(P1);

include/spline/bezier_polynom_conversion.h

@@ -47,7 +47,7 @@ Polynom from_bezier(const Bezier& curve)
     for(std::size_t i = 1; i<= curve.degree_; ++i)
     {
         current = current.compute_derivate(1);
-        fact *= i;
+        fact *= (num_t)i;
         coefficients.push_back(current(0.)/fact);
     }
     return Polynom(coefficients,curve.min(),curve.max());

include/spline/curve_abc.h

@@ -34,7 +34,7 @@ struct  curve_abc : std::unary_function<Time, Point>
     curve_abc(){}
 
 	///\brief Destructor
-    ~curve_abc(){}
+    virtual ~curve_abc(){}
 /* Constructors - destructors */
 
 /*Operations*/

include/spline/exact_cubic.h

@@ -71,7 +71,7 @@ struct exact_cubic : public curve_abc<Time, Numeric, Dim, Safe, Point>
         : curve_abc_t(), subSplines_(other.subSplines_) {}
 
 	///\brief Destructor
-    ~exact_cubic(){}
+    virtual ~exact_cubic(){}
 
     private:
     template<typename In>
@@ -162,12 +162,12 @@ struct exact_cubic : public curve_abc<Time, Numeric, Dim, Safe, Point>
     {
         if(Safe && (t < subSplines_.front().min() || t > subSplines_.back().max())){throw std::out_of_range("TODO");}
         for(cit_spline_t it = subSplines_.begin(); it != subSplines_.end(); ++ it)
-		{
-            if(t >= (it->min()) && t <= (it->max()))
-            {
+        {
+            if( (t >= (it->min()) && t <= (it->max())) || it+1 == subSplines_.end())
                 return it->operator()(t);
-			}
         }
+        // this should not happen
+        throw std::runtime_error("Exact cubic evaluation failed; t is outside bounds");
     }
 
     ///  \brief Evaluation of the derivative spline at time t.
@@ -179,11 +179,11 @@ struct exact_cubic : public curve_abc<Time, Numeric, Dim, Safe, Point>
         if(Safe && (t < subSplines_.front().min() || t > subSplines_.back().max())){throw std::out_of_range("TODO");}
         for(cit_spline_t it = subSplines_.begin(); it != subSplines_.end(); ++ it)
         {
-            if(t >= (it->min()) && t <= (it->max()))
-            {
+            if( (t >= (it->min()) && t <= (it->max())) || it+1 == subSplines_.end())
                 return it->derivate(t, order);
-            }
         }
+        // this should not happen
+        throw std::runtime_error("Exact cubic evaluation failed; t is outside bounds");
     }
 	/*Operations*/
 

include/spline/helpers/effector_spline.h

@@ -68,7 +68,7 @@ spline_t make_end_spline(const Point& normal, const Point& from, const Numeric o
     return spline_t(points.begin(), points.end(), init_time, init_time+time_offset);
 }
 
-spline_constraints_t compute_required_offset_velocity_acceleration(const spline_t& end_spline, const Time time_offset)
+spline_constraints_t compute_required_offset_velocity_acceleration(const spline_t& end_spline, const Time /*time_offset*/)
 {
     //computing end velocity: along landing normal and respecting time
     spline_constraints_t constraints;

include/spline/helpers/effector_spline_rotation.h

@@ -61,6 +61,7 @@ class rotation_spline: public curve_abc_quat_t
         quat_to_ = from.quat_to_;
         min_ =from.min_; max_ = from.max_;
         time_reparam_ = spline_deriv_constraint_one_dim(from.time_reparam_);
+        return *this;
     }
     /* Copy Constructors / operator=*/
 

include/spline/polynom.h

@@ -52,7 +52,7 @@ struct polynom : public curve_abc<Time, Numeric, Dim, Safe, Point>
     ///\param max: UPPER bound on interval definition of the spline
     polynom(const coeff_t& coefficients, const time_t min, const time_t max)
         : curve_abc_t(),
-          coefficients_(coefficients), t_min_(min), t_max_(max), dim_(Dim), order_(coefficients_.cols()-1)
+          coefficients_(coefficients), dim_(Dim), order_(coefficients_.cols()-1), t_min_(min), t_max_(max)
     {
         safe_check();
     }
@@ -66,7 +66,7 @@ struct polynom : public curve_abc<Time, Numeric, Dim, Safe, Point>
     polynom(const T_Point& coefficients, const time_t min, const time_t max)
         : curve_abc_t(),
           coefficients_(init_coeffs(coefficients.begin(), coefficients.end())),
-          t_min_(min), t_max_(max), dim_(Dim), order_(coefficients_.cols()-1)
+          dim_(Dim), order_(coefficients_.cols()-1), t_min_(min), t_max_(max)
     {
         safe_check();
     }
@@ -79,8 +79,8 @@ struct polynom : public curve_abc<Time, Numeric, Dim, Safe, Point>
     ///\param max: UPPER bound on interval definition of the spline
     template<typename In>
     polynom(In zeroOrderCoefficient, In out, const time_t min, const time_t max)
-        :coefficients_(init_coeffs(zeroOrderCoefficient, out)), dim_(Dim), order_(coefficients_.cols()-1),
-          t_min_(min), t_max_(max)
+        :coefficients_(init_coeffs(zeroOrderCoefficient, out)),
+          dim_(Dim), order_(coefficients_.cols()-1), t_min_(min), t_max_(max)
     {
         safe_check();
     }
@@ -93,8 +93,8 @@ struct polynom : public curve_abc<Time, Numeric, Dim, Safe, Point>
 
 
     polynom(const polynom& other)
-        : coefficients_(other.coefficients_), dim_(other.dim_), order_(other.order_),
-          t_min_(other.t_min_), t_max_(other.t_max_){}
+        : coefficients_(other.coefficients_),
+          dim_(other.dim_), order_(other.order_), t_min_(other.t_min_), t_max_(other.t_max_){}
 
 
     //polynom& operator=(const polynom& other);
@@ -106,7 +106,7 @@ struct polynom : public curve_abc<Time, Numeric, Dim, Safe, Point>
         {
             if(t_min_ > t_max_)
                 std::out_of_range("TODO");
-            if(coefficients_.size() != order_+1)
+            if(coefficients_.size() != int(order_+1))
                 std::runtime_error("Spline order and coefficients do not match");
         }
     }
@@ -138,7 +138,7 @@ struct polynom : public curve_abc<Time, Numeric, Dim, Safe, Point>
         if((t < t_min_ || t > t_max_) && Safe){ throw std::out_of_range("TODO");}
         time_t const dt (t-t_min_);
         point_t h = coefficients_.col(order_);
-        for(int i=order_-1; i>=0; i--)
+        for(int i=(int)(order_-1); i>=0; i--)
             h = dt*h + coefficients_.col(i);
         return h;
     }
@@ -154,7 +154,7 @@ struct polynom : public curve_abc<Time, Numeric, Dim, Safe, Point>
         time_t const dt (t-t_min_);
         time_t cdt(1);
         point_t currentPoint_ = point_t::Zero();
-        for(int i = order; i < order_+1; ++i, cdt*=dt)
+        for(int i = (int)(order); i < (int)(order_+1); ++i, cdt*=dt)
             currentPoint_ += cdt *coefficients_.col(i) * fact(i, order);
         return currentPoint_;
     }
@@ -162,9 +162,9 @@ struct polynom : public curve_abc<Time, Numeric, Dim, Safe, Point>
     private:
     num_t fact(const std::size_t n, const std::size_t order) const
     {
-        std::size_t res(1);
+        num_t res(1);
         for(std::size_t i = 0; i < order; ++i)
-            res *= n-i;
+            res *= (num_t)(n-i);
         return res;
     }
 

include/spline/spline_deriv_constraint.h

@@ -67,7 +67,7 @@ struct spline_deriv_constraint : public exact_cubic<Time, Numeric, Dim, Safe, Po
         : exact_cubic_t(computeWayPoints<In>(wayPointsBegin, wayPointsEnd, constraints)) {}
 
 	///\brief Destructor
-    ~spline_deriv_constraint(){}
+    virtual ~spline_deriv_constraint(){}
 
     ///\brief Copy Constructor
     spline_deriv_constraint(const spline_deriv_constraint& other)

src/tests/spline_test/Main.cpp

@@ -36,7 +36,7 @@ bool QuasiEqual(const double a, const double b, const float margin)
 {
 	if ((a <= 0 && b <= 0) || (a >= 0 && b>= 0))
 	{
-		return (abs(a-b)) <= margin;
+        return (abs(a-b)) <= margin;
 	}
 	else
 	{
@@ -229,7 +229,7 @@ void BezierCurveTest(bool& error)
 }
 
 #include <ctime>
-void BezierCurveTestCompareHornerAndBernstein(bool& error)
+void BezierCurveTestCompareHornerAndBernstein(bool& /*error*/)
 {
     using namespace std;
     std::vector<double> values;
@@ -518,7 +518,7 @@ void ExactCubicOneDimTest(bool& error)
 	ComparePoints(one, res1, errmsg, error);
 }
 
-void CheckWayPointConstraint(const std::string& errmsg, const double step, const spline::T_Waypoint& wayPoints, const exact_cubic_t* curve, bool& error )
+void CheckWayPointConstraint(const std::string& errmsg, const double step, const spline::T_Waypoint& /*wayPoints*/, const exact_cubic_t* curve, bool& error )
 {
     point_t res1;
     for(double i = 0; i <= 1; i = i + step)