Commit 57ce930f authored by stevet's avatar stevet

[Cleaning] removed all warnings

parent ca4c028b
......@@ -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;
}
......
......@@ -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);
......
......@@ -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());
......
......@@ -34,7 +34,7 @@ struct curve_abc : std::unary_function<Time, Point>
curve_abc(){}
///\brief Destructor
~curve_abc(){}
virtual ~curve_abc(){}
/* Constructors - destructors */
/*Operations*/
......
......@@ -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*/
......
......@@ -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;
......
......@@ -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=*/
......
......@@ -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;
}
......
......@@ -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)
......
......@@ -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)
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment