diff --git a/include/spline/bernstein.h b/include/spline/bernstein.h
index c55afd306269ac0b64c70299c64be70deb3312bc..ac93c24855635a0e82716da78a66f548755358a6 100644
--- a/include/spline/bernstein.h
+++ b/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;
}
diff --git a/include/spline/bezier_curve.h b/include/spline/bezier_curve.h
index 03bbe721c7148cf1b79cff4ce525431f2854bf0c..dfdc94e058061eb6528d37b46f8a87382bfb3989 100644
--- a/include/spline/bezier_curve.h
+++ b/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);
diff --git a/include/spline/bezier_polynom_conversion.h b/include/spline/bezier_polynom_conversion.h
index 7227a91f149d9c4c21d929d38909dc22a1057671..2a4b5acc6991b98caac5ff5a2a8b317087408ac5 100644
--- a/include/spline/bezier_polynom_conversion.h
+++ b/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());
diff --git a/include/spline/curve_abc.h b/include/spline/curve_abc.h
index 803ab9b7f48f67446d1e904ff0b78c94765bb216..7a8dccaf183075de4cde6032f475a26bad64342e 100644
--- a/include/spline/curve_abc.h
+++ b/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*/
diff --git a/include/spline/exact_cubic.h b/include/spline/exact_cubic.h
index 354fd0bb48ffbf3da689596e453270efc4f74eae..550709c37371ac0b4ebb48eb39aa47ead8b8febe 100644
--- a/include/spline/exact_cubic.h
+++ b/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*/
diff --git a/include/spline/helpers/effector_spline.h b/include/spline/helpers/effector_spline.h
index 99284129799529a443c71f95929f5120b49b5b8b..11e7a2c9a3bf47fe08e1d9015808f2c74dc3e1df 100644
--- a/include/spline/helpers/effector_spline.h
+++ b/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;
diff --git a/include/spline/helpers/effector_spline_rotation.h b/include/spline/helpers/effector_spline_rotation.h
index e9f7992639bdecbddcf4f74f478ae9c19163223f..efc007ec8eca01b63f2d02fa16cdbaa747cfd04e 100644
--- a/include/spline/helpers/effector_spline_rotation.h
+++ b/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=*/
diff --git a/include/spline/polynom.h b/include/spline/polynom.h
index 59ca0db3e09a79914289de7c7b6395c199dfe46f..32c8aad06b92769015b660ed1e85402423561d1e 100644
--- a/include/spline/polynom.h
+++ b/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;
}
diff --git a/include/spline/spline_deriv_constraint.h b/include/spline/spline_deriv_constraint.h
index 304cca63b4b9fc7526a0e30954ceba15e28c0eb8..398b6973df439c672c611be3f014e424684f2812 100644
--- a/include/spline/spline_deriv_constraint.h
+++ b/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)
diff --git a/src/tests/spline_test/Main.cpp b/src/tests/spline_test/Main.cpp
index c77ebd319b9107428fd919f330482e64f80ca4e2..ddb35e1049a0409c26b9edef61aa46adcb8b2c8f 100644
--- a/src/tests/spline_test/Main.cpp
+++ b/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)