Fix warnings

include/jrl/walkgen/pinocchiorobot.hh

@@ -42,6 +42,14 @@ struct PinocchioRobotFoot_t {
   double soleHeight; // x axis
   Eigen::Vector3d anklePosition;
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  inline PinocchioRobotFoot_t():
+      associatedAnkle(0),
+      soleDepth(0.0),
+      soleWidth(0.0),
+      soleHeight(0.0),
+      anklePosition(0.0,0.0,0.0) {}
+      
 };
 typedef PinocchioRobotFoot_t PRFoot;
 

src/Clock.cpp

@@ -46,7 +46,7 @@ Clock::Clock() {
 
   struct timeval startingtime;
   gettimeofday(&startingtime, 0);
-  m_StartingTime = startingtime.tv_sec + 0.000001 * startingtime.tv_usec;
+  m_StartingTime = (double)startingtime.tv_sec + 0.000001 * (double)startingtime.tv_usec;
 }
 
 Clock::~Clock() {}
@@ -58,22 +58,23 @@ void Clock::Reset() {
 
   struct timeval startingtime;
   gettimeofday(&startingtime, 0);
-  m_StartingTime = startingtime.tv_sec + 0.000001 * startingtime.tv_usec;
+  m_StartingTime = (double)startingtime.tv_sec + 0.000001 * (double)startingtime.tv_usec;
 }
 
 void Clock::StartTiming() { gettimeofday(&m_BeginTimeStamp, 0); }
 
 void Clock::StopTiming() {
   gettimeofday(&m_EndTimeStamp, 0);
-  double ltime = m_EndTimeStamp.tv_sec - m_BeginTimeStamp.tv_sec +
-                 0.000001 * (m_EndTimeStamp.tv_usec - m_BeginTimeStamp.tv_usec);
+  double ltime = (double)m_EndTimeStamp.tv_sec - (double)m_BeginTimeStamp.tv_sec +
+                 0.000001 * (double)(m_EndTimeStamp.tv_usec - m_BeginTimeStamp.tv_usec);
 
   m_MaximumTime = m_MaximumTime < ltime ? ltime : m_MaximumTime;
   m_TotalTime += ltime;
 
   m_DataBuffer[(m_NbOfIterations * 2) % 3000000] =
-      m_BeginTimeStamp.tv_sec + 0.000001 * m_BeginTimeStamp.tv_usec -
-      m_StartingTime;
+                                  (double)m_BeginTimeStamp.tv_sec +
+                                  0.000001 * (double)m_BeginTimeStamp.tv_usec -
+                                  m_StartingTime;
   m_DataBuffer[(m_NbOfIterations * 2 + 1) % 3000000] = ltime;
 }
 

src/Mathematics/PLDPSolver.cpp

@@ -339,16 +339,17 @@ int PLDPSolver::BackwardSubstitution() {
   // LL^t v2 = v1 <-> L y = v1 with L^t v2 = y
   // y solved with first phase.
   // So now we are looking for v2.
-  unsigned int SizeOfL = m_ActivatedConstraints.size();
+  auto SizeOfL = m_ActivatedConstraints.size();
   if (SizeOfL == 0)
     return 0;
 
   ODEBUG("BackwardSubstitution " << m_ItNb);
-  for (int i = SizeOfL - 1; i >= 0; i--) {
+  
+  for(auto i = SizeOfL - 1;; i--) {
     double tmp = 0.0;
     m_v2[i] = m_y[i];
-    for (int k = i + 1; k < (int)SizeOfL; k++) {
-      if (k == (int)SizeOfL - 1)
+    for (auto k = i + 1; k < SizeOfL; k++) {
+      if (k == SizeOfL - 1)
         tmp = m_v2[i];
 
       m_v2[i] -= m_L[k * m_NbMaxOfConstraints + i] * m_v2[k];
@@ -359,6 +360,7 @@ int PLDPSolver::BackwardSubstitution() {
     ODEBUG("BS: m_L[i*m_NbMaxOfConstraints+i]:"
            << m_L[i * m_NbMaxOfConstraints + i] << " " << m_y[i]);
     ODEBUG("m_v2[" << i << " ] = " << m_v2[i] << " " << tmp);
+    if (i==0) break;
   }
   return 0;
 }
@@ -789,7 +791,7 @@ int PLDPSolver::SolveProblem(
       struct timeval current;
       gettimeofday(&current, 0);
       double r = (double)(current.tv_sec - begin.tv_sec) +
-                 0.000001 * (current.tv_usec - begin.tv_usec);
+                 0.000001 * (double)(current.tv_usec - begin.tv_usec);
       if (r > m_AmountOfLimitedComputationTime) {
         ContinueAlgo = false;
       }

src/Mathematics/qld.cpp

@@ -394,18 +394,14 @@ doublereal *eps1;
   /* System generated locals */
   integer c_dim1, c_offset, a_dim1, a_offset, i__1;
 
-  /* Builtin functions */
-  /*    integer s_wsfe(), do_fio(), e_wsfe(); */
-
   /* Local variables */
   static doublereal diag;
   /* extern int ql0002_(); */
   static integer nact, info;
   static doublereal zero;
-  static integer i, j, idiag, maxit;
+  static integer i, j, maxit;
   static doublereal qpeps;
   static integer in, mn, lw;
-  static doublereal ten;
   static logical lql;
   static integer inw1, inw2;
 
@@ -450,7 +446,6 @@ doublereal *eps1;
     lql = TRUE_;
   }
   zero = 0.;
-  ten = 10.;
   maxit = (*m + *n) * 40;
   qpeps = cmache_1.eps;
   inw1 = 1;
@@ -496,18 +491,6 @@ L20:
   if (info == 2) {
     goto L90;
   }
-  idiag = 0;
-  if (diag > zero && diag < 1e3) {
-    idiag = (integer)diag;
-  }
-  /*
-    if (*iprint > 0 && idiag > 0) {
-    io___16.ciunit = *iout;
-    s_wsfe(&io___16);
-    do_fio(&c__1, (char *)&idiag, (ftnlen)sizeof(integer));
-    e_wsfe();
-    }
-  */
   if (info < 0) {
     goto L70;
   }
@@ -658,14 +641,14 @@ integer *lw;
   static doublereal ga, gb;
   static integer ia, id;
   static doublereal fdiffa;
-  static integer ii, il, kk, jl, ip, ir, nm, is, iu, iw, ju, ix, iz, nu, iy;
+  static integer ii, il, kk, jl, ir, nm, is, iu, iw, ju, ix, iz, nu, iy;
 
   static doublereal parinc, parnew;
   static integer ira, irb, iwa;
   static doublereal one;
   static integer iwd, iza;
   static doublereal res;
-  static integer ipp, iwr, iws;
+  static integer iwr, iws;
   static doublereal sum;
   static integer iww, iwx, iwy;
   static doublereal two;
@@ -1082,8 +1065,6 @@ L250:
 
 L280:
   ir = iwr;
-  ip = iww + 1;
-  ipp = iww + *n;
   il = iws + 1;
   iu = iws + *nact;
   i__2 = iu;
@@ -1829,8 +1810,6 @@ L770:
   /*     CALCULATE THE NEXT CONSTRAINT TO DROP. */
 
 L775:
-  ip = iww + 1;
-  ipp = iww + *nact;
   kdrop = 0;
   if (*nact == 0) {
     goto L791;

src/MotionGeneration/GenerateMotionFromKineoWorks.cpp

@@ -290,7 +290,7 @@ void GenerateMotionFromKineoWorks::ComputeUpperBodyPosition(
   //! For each way-point of the path
   for (unsigned int IdWayPoint = 1; IdWayPoint < m_Path.size(); IdWayPoint++) {
     int CountTarget = -1;
-    double lX = 0.0, lY = 0.0, lZ = 0.0, dist = 1000000.0;
+    double lX = 0.0, lY=0.0, lZ=0.0, dist = 1000000.0;
 
     //! The references are specific to the current hybrid model.
     lX = m_Path[IdWayPoint].Joints[6];
@@ -300,12 +300,10 @@ void GenerateMotionFromKineoWorks::ComputeUpperBodyPosition(
     //! Find the closest (X,Y,Z) position in the remaining
     // part of the CoM buffer.
     for (unsigned int i = count; i < m_COMBuffer.size(); i++) {
-      double ldist = (lX - m_COMBuffer[i].x[0]) * (lX - m_COMBuffer[i].x[0])
-          /*+
-            (lY - m_COMBuffer[i].y[0])*(lY-m_COMBuffer[i].y[0]) +
-            (lZ - m_COMBuffer[i].z[0])*(lZ-m_COMBuffer[i].z[0]) */
-          ;
-
+      double ldist = (lX - m_COMBuffer[i].x[0]) * (lX - m_COMBuffer[i].x[0]) +
+                     (lY - m_COMBuffer[i].y[0])*(lY-m_COMBuffer[i].y[0]) +
+                     (lZ - m_COMBuffer[i].z[0])*(lZ-m_COMBuffer[i].z[0]);
+      
       if (ldist < dist) {
         dist = ldist;
         CountTarget = i;

src/MotionGeneration/StepOverPlanner.cpp

@@ -362,7 +362,8 @@ void StepOverPlanner::DoubleSupportFeasibility() {
   Eigen::Vector3d ToTheHip;
   Eigen::Matrix<double, 6, 1> LeftLegAngles;
   Eigen::Matrix<double, 6, 1> RightLegAngles;
-
+  LeftLegAngles.Zero();
+  RightLegAngles.Zero();
   Eigen::Vector3d AnkleBeforeObst;
   Eigen::Vector3d AnkleAfterObst;
   Eigen::Vector3d TempCOMState;
@@ -778,8 +779,8 @@ void StepOverPlanner::PolyPlannerFirstStep(
   double StepLenght;
   double Omega1, Omega2, OmegaImpact;
   double xOffset;
-  double Point1X, Point1Y = 0.0, Point1Z;
-  double Point2X, Point2Y = 0.0, Point2Z;
+  double Point1X, Point1Z;
+  double Point2X, Point2Z;
   double Point3Z;
 
   StepTime = aStepOverFootBuffer[m_StartDoubleSupp].time -
@@ -801,12 +802,10 @@ void StepOverPlanner::PolyPlannerFirstStep(
 
   Point1X = StepLenght - m_heelToAnkle - m_ObstacleParameters.d - xOffset -
             m_tipToAnkle * cos(Omega1 * M_PI / 180.0);
-  Point1Y = 0.00;
   Point1Z = m_ObstacleParameters.h - m_tipToAnkle * sin(Omega1 * M_PI / 180.0);
 
   Point2X = StepLenght - m_heelToAnkle + xOffset +
             m_heelToAnkle * cos(Omega2 * M_PI / 180.0);
-  Point2Y = 0.00;
   Point2Z = m_ObstacleParameters.h - m_tipToAnkle * sin(Omega2 * M_PI / 180.0);
 
   Point3Z = Point1Z + 0.04;
@@ -842,12 +841,11 @@ void StepOverPlanner::PolyPlannerFirstStep(
   ZfootSpeedBound(0) = 0.0;
   ZfootSpeedBound(1) = 0.0;
 
-  int NumberIntermediate = 0, NumberIntermediate2 = 0, Counter = 0,
+  int NumberIntermediate = 0, Counter = 0,
       CounterTemp = 0;
   double IntermediateTimeStep;
 
   NumberIntermediate = 10;
-  NumberIntermediate2 = 20;
 
   ZfootPos.resize(2 + 3 * NumberIntermediate);
   TimeIntervalsZ.resize(2 + 3 * NumberIntermediate);
@@ -1101,8 +1099,8 @@ void StepOverPlanner::PolyPlannerSecondStep(
   double StepLenght;
   double Omega1, Omega2, OmegaImpact;
   double xOffset;
-  double Point1X, Point1Y, Point1Z;
-  double Point2X, Point2Y, Point2Z;
+  double Point1X, Point1Z;
+  double Point2X, Point2Z;
   double Point3Z;
 
   StepTime = aStepOverFootBuffer[m_EndStepOver].time -
@@ -1118,12 +1116,10 @@ void StepOverPlanner::PolyPlannerSecondStep(
 
   Point1X = m_StepOverStepLenght - m_heelToAnkle - m_ObstacleParameters.d -
             xOffset - m_tipToAnkle * cos(Omega1 * M_PI / 180.0);
-  Point1Y = 0.0;
   Point1Z = m_ObstacleParameters.h + m_tipToAnkle * sin(Omega1 * M_PI / 180.0);
 
   Point2X = m_StepOverStepLenght - m_heelToAnkle + xOffset +
             m_heelToAnkle * cos(Omega2 * M_PI / 180.0);
-  Point2Y = 0.0;
   Point2Z = Point1Z;
   // m_ObstacleParameters.h+0.04;//-m_tipToAnkle*sin(Omega2*M_PI/180.0);
 
@@ -1687,8 +1683,6 @@ void StepOverPlanner::CreateBufferFirstPreview(
 
 void StepOverPlanner::m_SetObstacleParameters(istringstream &strm) {
 
-  bool ReadObstacleParameters = false;
-
   ODEBUG("I am reading the obstacle parameters"
          << " ");
 
@@ -1738,7 +1732,6 @@ void StepOverPlanner::m_SetObstacleParameters(istringstream &strm) {
     if (!strm.eof()) {
       bool lObstacleDetected;
       strm >> lObstacleDetected;
-      ReadObstacleParameters = true;
       break;
     } else {
       cout << "Not enough inputs for completion of "

src/MotionGeneration/UpperBodyMotion.cpp

@@ -93,10 +93,8 @@ void UpperBodyMotion::ReadDataFile(string aFileName,
 
   std::ifstream aif;
 
-  unsigned int NumberRows, NumberColumns;
-
-  NumberRows = UpperBodyAngles.rows();
-  NumberColumns = UpperBodyAngles.cols();
+  auto NumberRows = UpperBodyAngles.rows();
+  auto NumberColumns = UpperBodyAngles.cols();
 
   double r;
 
@@ -116,9 +114,8 @@ void UpperBodyMotion::ReadDataFile(string aFileName,
 void UpperBodyMotion::WriteDataFile(string aFileName,
                                     Eigen::MatrixXd &UpperBodyAngles) {
   ofstream aof;
-  unsigned int NumberRows, NumberColumns;
-  NumberRows = UpperBodyAngles.rows();
-  NumberColumns = UpperBodyAngles.cols();
+  auto NumberRows = UpperBodyAngles.rows();
+  auto NumberColumns = UpperBodyAngles.cols();
 
   aof.open(aFileName.c_str(), ofstream::out);
   if (aof.is_open()) {

src/PreviewControl/ZMPPreviewControlWithMultiBodyZMP.cpp

@@ -277,7 +277,6 @@ COMState ZMPPreviewControlWithMultiBodyZMP::GetLastCOMFromFirstStage() {
 
 int ZMPPreviewControlWithMultiBodyZMP::SecondStageOfControl(
     COMState &finalCOMState) {
-  double Deltazmpx2, Deltazmpy2;
   // Inverse Kinematics variables.
 
   COMState aCOMState = m_FIFOCOMStates[0];
@@ -286,7 +285,8 @@ int ZMPPreviewControlWithMultiBodyZMP::SecondStageOfControl(
   LeftFootPosition = m_FIFOLeftFootPosition[0];
   RightFootPosition = m_FIFORightFootPosition[0];
 
-#if 0
+  double Deltazmpx2, Deltazmpy2;
+    
   // Preview control on delta ZMP.
   if ((m_StageStrategy == ZMPCOM_TRAJECTORY_SECOND_STAGE_ONLY) ||
       (m_StageStrategy == ZMPCOM_TRAJECTORY_FULL)) {
@@ -309,7 +309,6 @@ int ZMPPreviewControlWithMultiBodyZMP::SecondStageOfControl(
       aCOMState.y[i] += m_Deltay(i, 0);
     }
   }
-#endif
 
   ODEBUG2("Delta :" << m_Deltax(0, 0) << " " << m_Deltay(0, 0) << " "
                     << aCOMState.x[0] << " " << aCOMState.y[0]);
@@ -452,7 +451,7 @@ int ZMPPreviewControlWithMultiBodyZMP::Setup(
 }
 
 int ZMPPreviewControlWithMultiBodyZMP::SetupFirstPhase(
-    deque<ZMPPosition> &ZMPRefPositions, deque<COMState> &COMStates,
+    deque<ZMPPosition> &ZMPRefPositions, deque<COMState> &,
     deque<FootAbsolutePosition> &LeftFootPositions,
     deque<FootAbsolutePosition> &RightFootPositions) {
   ODEBUG6("Beginning of Setup 0 ", "DebugData.txt");

src/SimplePluginManager.cpp

@@ -114,7 +114,7 @@ bool SimplePluginManager::CallMethod(string &MethodName, istringstream &istrm) {
   stringbuf *pbuf;
   pbuf = istrm.rdbuf();
 
-  int size = pbuf->in_avail();
+  auto size = pbuf->in_avail();
   char aBuffer[65636];
   assert(size < 65635);
 

src/ZMPRefTrajectoryGeneration/ZMPConstrainedQPFastFormulation.cpp

@@ -1237,7 +1237,7 @@ int ZMPConstrainedQPFastFormulation::BuildZMPTrajectoryFromFootTrajectory(
 
     // Compute CPU consumption time.
     gettimeofday(&end, 0);
-    CurrentCPUTime = end.tv_sec - start.tv_sec +
+    CurrentCPUTime = (double)(end.tv_sec - start.tv_sec) +
                      0.000001 * (double)(end.tv_usec - start.tv_usec);
     TotalAmountOfCPUTime += CurrentCPUTime;
     ODEBUG("Current Time : "

src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp

@@ -198,7 +198,6 @@ void GeneratorVelRef::initialize_matrices() {
   initialize_matrices(IneqCoM);
 
   IntermedQPMat::state_variant_t &State = IntermedData_->State();
-  bool Preserve = true;
   State.VcshiftX.resize(N_);
   State.VcshiftX.setZero();
   State.VcshiftY.resize(N_);

src/privatepgtypes.cpp

@@ -221,7 +221,7 @@ void linear_inequality_t::clear() {
   Dc_vec.setZero();
 }
 
-void linear_inequality_t::resize(int NbRows, int NbCols, bool Preserve) {
+void linear_inequality_t::resize(int NbRows, int NbCols, bool ) {
 
   D.X_mat.resize(NbRows, NbCols);
   D.Y_mat.resize(NbRows, NbCols);

tests/DumpReferencesObjects.cpp

@@ -396,7 +396,7 @@ void DumpReferencesObjects::fillInTestsFormat2(
   prepareFile(aof, prefix, anOneStep);
   Eigen::VectorXd &aTauVec = anOneStep.m_DebugPR->currentTau();
   vec_db.resize(aTauVec.size());
-  if (m_prevTorquesF2.size() != aTauVec.size())
+  if (m_prevTorquesF2.size() != (std::vector<double>::size_type)aTauVec.size())
     m_prevTorquesF2.resize(aTauVec.size());
 
   for (Eigen::VectorXd::Index i = 0; i < aTauVec.size(); i++)

tests/TestKajita2003.cpp

@@ -145,25 +145,6 @@ protected:
       aPGI.ParseCmd(strm2);
     }
 
-    // {
-    //   istringstream strm2(":stepseq 0.0 -0.09 0.0 0.0 \
-    //                  0.15 0.18 0.0 0.0 \
-    //                  0.15 -0.18 0.0 0.0 \
-    //                  0.15 0.18 0.0 0.0 \
-    //                  0.15 -0.18 0.0 0.0 \
-    //                  0.15 0.18 0.0 0.0 \
-    //                  0.15 -0.18 0.0 0.0 \
-    //                  0.15 0.18 0.0 0.0 \
-    //                  0.15 -0.18 0.0 0.0 \
-    //                  0.15 0.18 0.0 0.0 \
-    //                  0.15 -0.18 0.0 0.0 \
-    //                  0.15 0.18 0.0 0.0 \
-    //                  0.15 -0.18 0.0 0.0 \
-    //                  0.15 0.18 0.0 0.0 \
-    //                  0.15 -0.18 0.0 0.0 \
-    //                  0.0 0.18 0.0 0.0");
-    //   aPGI.ParseCmd(strm2);
-    // }
     {
       istringstream strm2(":singlesupporttime 0.9");
       aPGI.ParseCmd(strm2);