Fix unused-parameter

MatthijsBurgh · MatthijsBurgh · commit 3c85f218d53c · 2022-09-30T22:24:55.000+02:00
diff --git a/orocos_kdl/src/chainfdsolver_recursive_newton_euler.cpp b/orocos_kdl/src/chainfdsolver_recursive_newton_euler.cpp
@@ -92,7 +92,7 @@ namespace KDL{
         return (error = E_NOERROR);
     }
 
-    void ChainFdSolver_RNE::RK4Integrator(unsigned int& nj, const double& t, double& dt, KDL::JntArray& q, KDL::JntArray& q_dot,
+    void ChainFdSolver_RNE::RK4Integrator(unsigned int& nj, const double& /*t*/, double& dt, KDL::JntArray& q, KDL::JntArray& q_dot,
                                           KDL::JntArray& torques, KDL::Wrenches& f_ext, KDL::ChainFdSolver_RNE& fdsolver,
                                           KDL::JntArray& q_dotdot, KDL::JntArray& dq, KDL::JntArray& dq_dot,
                                           KDL::JntArray& q_temp, KDL::JntArray& q_dot_temp)
diff --git a/orocos_kdl/src/chainhdsolver_vereshchagin.cpp b/orocos_kdl/src/chainhdsolver_vereshchagin.cpp
@@ -74,7 +74,7 @@ int ChainHdSolver_Vereshchagin::CartToJnt(const JntArray &q, const JntArray &q_d
     return (error = E_NOERROR);
 }
 
-void ChainHdSolver_Vereshchagin::initial_upwards_sweep(const JntArray &q, const JntArray &qdot, const JntArray &qdotdot, const Wrenches& f_ext)
+void ChainHdSolver_Vereshchagin::initial_upwards_sweep(const JntArray &q, const JntArray &qdot, const JntArray &/*qdotdot*/, const Wrenches& f_ext)
 {
     //if (q.rows() != nj || qdot.rows() != nj || qdotdot.rows() != nj || f_ext.size() != ns)
     //        return -1;
diff --git a/orocos_kdl/src/jntarray.cpp b/orocos_kdl/src/jntarray.cpp
@@ -55,15 +55,13 @@ namespace KDL
         data.conservativeResizeLike(Eigen::VectorXd::Zero(newSize));
     }
 
-    double JntArray::operator()(unsigned int i,unsigned int j)const
+    double JntArray::operator()(unsigned int i,unsigned int /*j*/)const
     {
-        assert(j==0);
         return data(i);
     }
 
-    double& JntArray::operator()(unsigned int i,unsigned int j)
+    double& JntArray::operator()(unsigned int i,unsigned int /*j*/)
     {
-        assert(j==0);
         return data(i);
     }
 
diff --git a/orocos_kdl/src/kinfam_io.cpp b/orocos_kdl/src/kinfam_io.cpp
@@ -29,7 +29,7 @@ std::ostream& operator <<(std::ostream& os, const Joint& joint) {
               <<", axis: "<<joint.JointAxis() << ", origin"<<joint.JointOrigin()<<"]";
 }
 
-std::istream& operator >>(std::istream& is, Joint& joint) {
+std::istream& operator >>(std::istream& is, Joint& /*joint*/) {
 	return is;
 }
 
@@ -38,7 +38,7 @@ std::ostream& operator <<(std::ostream& os, const Segment& segment) {
 	return os;
 }
 
-std::istream& operator >>(std::istream& is, Segment& segment) {
+std::istream& operator >>(std::istream& is, Segment& /*segment*/) {
 	return is;
 }
 
@@ -50,7 +50,7 @@ std::ostream& operator <<(std::ostream& os, const Chain& chain) {
 	return os;
 }
 
-std::istream& operator >>(std::istream& is, Chain& chain) {
+std::istream& operator >>(std::istream& is, Chain& /*chain*/) {
 	return is;
 }
 
@@ -68,7 +68,7 @@ std::ostream& operator <<(std::ostream& os, SegmentMap::const_iterator root) {
 	return os << "\n";
 }
 
-std::istream& operator >>(std::istream& is, Tree& tree) {
+std::istream& operator >>(std::istream& is, Tree& /*tree*/) {
 	return is;
 }
 
@@ -80,7 +80,7 @@ std::ostream& operator <<(std::ostream& os, const JntArray& array) {
 	return os;
 }
 
-std::istream& operator >>(std::istream& is, JntArray& array) {
+std::istream& operator >>(std::istream& is, JntArray& /*array*/) {
 	return is;
 }
 
@@ -95,7 +95,7 @@ std::ostream& operator <<(std::ostream& os, const Jacobian& jac) {
 	return os;
 }
 
-std::istream& operator >>(std::istream& is, Jacobian& jac) {
+std::istream& operator >>(std::istream& is, Jacobian& /*jac*/) {
 	return is;
 }
 std::ostream& operator <<(std::ostream& os, const JntSpaceInertiaMatrix& jntspaceinertiamatrix) {
@@ -109,7 +109,7 @@ std::ostream& operator <<(std::ostream& os, const JntSpaceInertiaMatrix& jntspac
 	return os;
 }
 
-std::istream& operator >>(std::istream& is, JntSpaceInertiaMatrix& jntspaceinertiamatrix) {
+std::istream& operator >>(std::istream& is, JntSpaceInertiaMatrix& /*jntspaceinertiamatrix*/) {
 	return is;
 }
 
diff --git a/orocos_kdl/src/path_composite.cpp b/orocos_kdl/src/path_composite.cpp
@@ -85,7 +85,7 @@ void Path_Composite::Add(Path* geom, bool aggregate ) {
 	gv.insert( gv.end(),std::make_pair(geom,aggregate) );
 }
 
-double Path_Composite::LengthToS(double length) {
+double Path_Composite::LengthToS(double /*length*/) {
 	throw Error_MotionPlanning_Not_Applicable();
 	return 0;
 }
diff --git a/orocos_kdl/src/path_cyclic_closed.cpp b/orocos_kdl/src/path_cyclic_closed.cpp
@@ -48,7 +48,7 @@ namespace KDL {
 Path_Cyclic_Closed::Path_Cyclic_Closed(Path* _geom,int _times, bool _aggregate):
 times(_times),geom(_geom), aggregate(_aggregate) {}
 
-double Path_Cyclic_Closed::LengthToS(double length) {
+double Path_Cyclic_Closed::LengthToS(double /*length*/) {
 	throw Error_MotionPlanning_Not_Applicable();
 	return 0;
 }
diff --git a/orocos_kdl/src/path_point.cpp b/orocos_kdl/src/path_point.cpp
@@ -55,15 +55,15 @@ double Path_Point::LengthToS(double length) {
 double Path_Point::PathLength(){
 	return 0;
 }
-Frame Path_Point::Pos(double s) const  {
+Frame Path_Point::Pos(double /*s*/) const  {
 	return F_base_start;
 }
 
-Twist Path_Point::Vel(double s,double sd) const  {
+Twist Path_Point::Vel(double /*s*/,double /*sd*/) const  {
 	return Twist::Zero();
 }
 
-Twist Path_Point::Acc(double s,double sd,double sdd) const  {
+Twist Path_Point::Acc(double /*s*/,double /*sd*/,double /*sdd*/) const  {
 	return Twist::Zero();
 }
 
diff --git a/orocos_kdl/src/rigidbodyinertia.cpp b/orocos_kdl/src/rigidbodyinertia.cpp
@@ -27,7 +27,7 @@ namespace KDL{
     
     const static bool mhi=true;
 
-    RigidBodyInertia::RigidBodyInertia(double m_,const Vector& h_,const RotationalInertia& I_,bool mhi):
+    RigidBodyInertia::RigidBodyInertia(double m_,const Vector& h_,const RotationalInertia& I_,bool /*mhi*/):
         m(m_),h(h_),I(I_)
     {
     }
diff --git a/orocos_kdl/src/rotational_interpolation_sa.cpp b/orocos_kdl/src/rotational_interpolation_sa.cpp
@@ -60,11 +60,11 @@ Rotation RotationalInterpolation_SingleAxis::Pos(double theta) const {
 	return R_base_start* Rotation::Rot2(rot_start_end,theta);
 }
 
-Vector RotationalInterpolation_SingleAxis::Vel(double theta,double thetad) const {
+Vector RotationalInterpolation_SingleAxis::Vel(double /*theta*/,double thetad) const {
 	return R_base_start * ( rot_start_end*thetad );
 }
 
-Vector RotationalInterpolation_SingleAxis::Acc(double theta,double thetad,double thetadd) const {
+Vector RotationalInterpolation_SingleAxis::Acc(double /*theta*/,double /*thetad*/,double thetadd) const {
 	return R_base_start * ( rot_start_end* thetadd);
 }
 
@@ -85,4 +85,3 @@ RotationalInterpolation* RotationalInterpolation_SingleAxis::Clone() const {
 }
 
 }
-
diff --git a/orocos_kdl/src/trajectory_stationary.hpp b/orocos_kdl/src/trajectory_stationary.hpp
@@ -35,13 +35,13 @@ namespace KDL {
 		virtual double Duration() const {
 			return duration;
 		}
-		virtual Frame Pos(double time) const {
+        virtual Frame Pos(double /*time*/) const {
 			return pos;
 		}
-		virtual Twist Vel(double time) const {
+        virtual Twist Vel(double /*time*/) const {
 			return Twist::Zero();
 		}
-		virtual Twist Acc(double time) const {
+        virtual Twist Acc(double /*time*/) const {
 			return Twist::Zero();
 		}
 		virtual void Write(std::ostream& os) const;
diff --git a/orocos_kdl/src/utilities/error.h b/orocos_kdl/src/utilities/error.h
@@ -70,7 +70,7 @@ class Error_IO : public Error {
 	std::string msg;
 	int typenr;
 public:
-	Error_IO(const std::string& _msg="Unspecified I/O Error",int typenr=0):msg(_msg) {}
+    Error_IO(const std::string& _msg="Unspecified I/O Error",int /*typenr*/=0):msg(_msg) {}
     virtual const char* Description() const {return msg.c_str();}
     virtual int GetType() const {return typenr;}
 };
diff --git a/orocos_kdl/src/velocityprofile_dirac.cpp b/orocos_kdl/src/velocityprofile_dirac.cpp
@@ -75,7 +75,7 @@ namespace KDL {
         return 0;
     }
 
-    double VelocityProfile_Dirac::Acc(double time) const {
+    double VelocityProfile_Dirac::Acc(double /*time*/) const {
         throw Error_MotionPlanning_Incompatible();
         return 0;
     }
diff --git a/orocos_kdl/src/velocityprofile_rect.cpp b/orocos_kdl/src/velocityprofile_rect.cpp
@@ -118,7 +118,7 @@ double VelocityProfile_Rectangular::Vel(double time) const {
     }
 }
 
-double VelocityProfile_Rectangular::Acc(double time) const {
+double VelocityProfile_Rectangular::Acc(double /*time*/) const {
 	throw Error_MotionPlanning_Incompatible();
 	return 0;
 }
diff --git a/orocos_kdl/src/velocityprofile_spline.cpp b/orocos_kdl/src/velocityprofile_spline.cpp
@@ -48,7 +48,7 @@ VelocityProfile_Spline::~VelocityProfile_Spline()
 	return;
 }
 
-void VelocityProfile_Spline::SetProfile(double pos1, double pos2)
+void VelocityProfile_Spline::SetProfile(double /*pos1*/, double /*pos2*/)
 {
   return;
 }
diff --git a/orocos_kdl/src/velocityprofile_trap.cpp b/orocos_kdl/src/velocityprofile_trap.cpp
@@ -190,9 +190,4 @@ void VelocityProfile_Trap::Write(std::ostream& os) const {
 	os << "TRAPEZOIDAL[" << maxvel << "," << maxacc <<"]";
 }
 
-
-
-
-
 }
-

Original file line number	Diff line number	Diff line change
`@@ -92,7 +92,7 @@ namespace KDL{`
`92`	`92`	`return (error = E_NOERROR);`
`93`	`93`	`}`
`94`	`94`
`95`		`- void ChainFdSolver_RNE::RK4Integrator(unsigned int& nj, const double& t, double& dt, KDL::JntArray& q, KDL::JntArray& q_dot,`
	`95`	`+ void ChainFdSolver_RNE::RK4Integrator(unsigned int& nj, const double& /t/, double& dt, KDL::JntArray& q, KDL::JntArray& q_dot,`
`96`	`96`	`KDL::JntArray& torques, KDL::Wrenches& f_ext, KDL::ChainFdSolver_RNE& fdsolver,`
`97`	`97`	`KDL::JntArray& q_dotdot, KDL::JntArray& dq, KDL::JntArray& dq_dot,`
`98`	`98`	`KDL::JntArray& q_temp, KDL::JntArray& q_dot_temp)`
Original file line number	Diff line number	Diff line change
`@@ -74,7 +74,7 @@ int ChainHdSolver_Vereshchagin::CartToJnt(const JntArray &q, const JntArray &q_d`
`74`	`74`	`return (error = E_NOERROR);`
`75`	`75`	`}`
`76`	`76`
`77`		`-void ChainHdSolver_Vereshchagin::initial_upwards_sweep(const JntArray &q, const JntArray &qdot, const JntArray &qdotdot, const Wrenches& f_ext)`
	`77`	`+void ChainHdSolver_Vereshchagin::initial_upwards_sweep(const JntArray &q, const JntArray &qdot, const JntArray &/qdotdot/, const Wrenches& f_ext)`
`78`	`78`	`{`
`79`	`79`	`//if (q.rows() != nj \|\| qdot.rows() != nj \|\| qdotdot.rows() != nj \|\| f_ext.size() != ns)`
`80`	`80`	`// return -1;`
Original file line number	Diff line number	Diff line change
`@@ -55,15 +55,13 @@ namespace KDL`
`55`	`55`	`data.conservativeResizeLike(Eigen::VectorXd::Zero(newSize));`
`56`	`56`	`}`
`57`	`57`
`58`		`- double JntArray::operator()(unsigned int i,unsigned int j)const`
	`58`	`+ double JntArray::operator()(unsigned int i,unsigned int /j/)const`
`59`	`59`	`{`
`60`		`- assert(j==0);`
`61`	`60`	`return data(i);`
`62`	`61`	`}`
`63`	`62`
`64`		`- double& JntArray::operator()(unsigned int i,unsigned int j)`
	`63`	`+ double& JntArray::operator()(unsigned int i,unsigned int /j/)`
`65`	`64`	`{`
`66`		`- assert(j==0);`
`67`	`65`	`return data(i);`
`68`	`66`	`}`
`69`	`67`
Original file line number	Diff line number	Diff line change
`@@ -29,7 +29,7 @@ std::ostream& operator <<(std::ostream& os, const Joint& joint) {`
`29`	`29`	`<<", axis: "<<joint.JointAxis() << ", origin"<<joint.JointOrigin()<<"]";`
`30`	`30`	`}`
`31`	`31`
`32`		`-std::istream& operator >>(std::istream& is, Joint& joint) {`
	`32`	`+std::istream& operator >>(std::istream& is, Joint& /joint/) {`
`33`	`33`	`return is;`
`34`	`34`	`}`
`35`	`35`
`@@ -38,7 +38,7 @@ std::ostream& operator <<(std::ostream& os, const Segment& segment) {`
`38`	`38`	`return os;`
`39`	`39`	`}`
`40`	`40`
`41`		`-std::istream& operator >>(std::istream& is, Segment& segment) {`
	`41`	`+std::istream& operator >>(std::istream& is, Segment& /segment/) {`
`42`	`42`	`return is;`
`43`	`43`	`}`
`44`	`44`
`@@ -50,7 +50,7 @@ std::ostream& operator <<(std::ostream& os, const Chain& chain) {`
`50`	`50`	`return os;`
`51`	`51`	`}`
`52`	`52`
`53`		`-std::istream& operator >>(std::istream& is, Chain& chain) {`
	`53`	`+std::istream& operator >>(std::istream& is, Chain& /chain/) {`
`54`	`54`	`return is;`
`55`	`55`	`}`
`56`	`56`
`@@ -68,7 +68,7 @@ std::ostream& operator <<(std::ostream& os, SegmentMap::const_iterator root) {`
`68`	`68`	`return os << "\n";`
`69`	`69`	`}`
`70`	`70`
`71`		`-std::istream& operator >>(std::istream& is, Tree& tree) {`
	`71`	`+std::istream& operator >>(std::istream& is, Tree& /tree/) {`
`72`	`72`	`return is;`
`73`	`73`	`}`
`74`	`74`
`@@ -80,7 +80,7 @@ std::ostream& operator <<(std::ostream& os, const JntArray& array) {`
`80`	`80`	`return os;`
`81`	`81`	`}`
`82`	`82`
`83`		`-std::istream& operator >>(std::istream& is, JntArray& array) {`
	`83`	`+std::istream& operator >>(std::istream& is, JntArray& /array/) {`
`84`	`84`	`return is;`
`85`	`85`	`}`
`86`	`86`
`@@ -95,7 +95,7 @@ std::ostream& operator <<(std::ostream& os, const Jacobian& jac) {`
`95`	`95`	`return os;`
`96`	`96`	`}`
`97`	`97`
`98`		`-std::istream& operator >>(std::istream& is, Jacobian& jac) {`
	`98`	`+std::istream& operator >>(std::istream& is, Jacobian& /jac/) {`
`99`	`99`	`return is;`
`100`	`100`	`}`
`101`	`101`	`std::ostream& operator <<(std::ostream& os, const JntSpaceInertiaMatrix& jntspaceinertiamatrix) {`
`@@ -109,7 +109,7 @@ std::ostream& operator <<(std::ostream& os, const JntSpaceInertiaMatrix& jntspac`
`109`	`109`	`return os;`
`110`	`110`	`}`
`111`	`111`
`112`		`-std::istream& operator >>(std::istream& is, JntSpaceInertiaMatrix& jntspaceinertiamatrix) {`
	`112`	`+std::istream& operator >>(std::istream& is, JntSpaceInertiaMatrix& /jntspaceinertiamatrix/) {`
`113`	`113`	`return is;`
`114`	`114`	`}`
`115`	`115`
Original file line number	Diff line number	Diff line change
`@@ -85,7 +85,7 @@ void Path_Composite::Add(Path* geom, bool aggregate ) {`
`85`	`85`	`gv.insert( gv.end(),std::make_pair(geom,aggregate) );`
`86`	`86`	`}`
`87`	`87`
`88`		`-double Path_Composite::LengthToS(double length) {`
	`88`	`+double Path_Composite::LengthToS(double /length/) {`
`89`	`89`	`throw Error_MotionPlanning_Not_Applicable();`
`90`	`90`	`return 0;`
`91`	`91`	`}`
Original file line number	Diff line number	Diff line change
`@@ -48,7 +48,7 @@ namespace KDL {`
`48`	`48`	`Path_Cyclic_Closed::Path_Cyclic_Closed(Path* _geom,int _times, bool _aggregate):`
`49`	`49`	`times(_times),geom(_geom), aggregate(_aggregate) {}`
`50`	`50`
`51`		`-double Path_Cyclic_Closed::LengthToS(double length) {`
	`51`	`+double Path_Cyclic_Closed::LengthToS(double /length/) {`
`52`	`52`	`throw Error_MotionPlanning_Not_Applicable();`
`53`	`53`	`return 0;`
`54`	`54`	`}`
Original file line number	Diff line number	Diff line change
`@@ -55,15 +55,15 @@ double Path_Point::LengthToS(double length) {`
`55`	`55`	`double Path_Point::PathLength(){`
`56`	`56`	`return 0;`
`57`	`57`	`}`
`58`		`-Frame Path_Point::Pos(double s) const {`
	`58`	`+Frame Path_Point::Pos(double /s/) const {`
`59`	`59`	`return F_base_start;`
`60`	`60`	`}`
`61`	`61`
`62`		`-Twist Path_Point::Vel(double s,double sd) const {`
	`62`	`+Twist Path_Point::Vel(double /s/,double /sd/) const {`
`63`	`63`	`return Twist::Zero();`
`64`	`64`	`}`
`65`	`65`
`66`		`-Twist Path_Point::Acc(double s,double sd,double sdd) const {`
	`66`	`+Twist Path_Point::Acc(double /s/,double /sd/,double /sdd/) const {`
`67`	`67`	`return Twist::Zero();`
`68`	`68`	`}`
`69`	`69`
Original file line number	Diff line number	Diff line change
`@@ -27,7 +27,7 @@ namespace KDL{`
`27`	`27`
`28`	`28`	`const static bool mhi=true;`
`29`	`29`
`30`		`- RigidBodyInertia::RigidBodyInertia(double m_,const Vector& h_,const RotationalInertia& I_,bool mhi):`
	`30`	`+ RigidBodyInertia::RigidBodyInertia(double m_,const Vector& h_,const RotationalInertia& I_,bool /mhi/):`
`31`	`31`	`m(m_),h(h_),I(I_)`
`32`	`32`	`{`
`33`	`33`	`}`
Original file line number	Diff line number	Diff line change
`@@ -60,11 +60,11 @@ Rotation RotationalInterpolation_SingleAxis::Pos(double theta) const {`
`60`	`60`	`return R_base_start* Rotation::Rot2(rot_start_end,theta);`
`61`	`61`	`}`
`62`	`62`
`63`		`-Vector RotationalInterpolation_SingleAxis::Vel(double theta,double thetad) const {`
	`63`	`+Vector RotationalInterpolation_SingleAxis::Vel(double /theta/,double thetad) const {`
`64`	`64`	`return R_base_start * ( rot_start_end*thetad );`
`65`	`65`	`}`
`66`	`66`
`67`		`-Vector RotationalInterpolation_SingleAxis::Acc(double theta,double thetad,double thetadd) const {`
	`67`	`+Vector RotationalInterpolation_SingleAxis::Acc(double /theta/,double /thetad/,double thetadd) const {`
`68`	`68`	`return R_base_start * ( rot_start_end* thetadd);`
`69`	`69`	`}`
`70`	`70`
`@@ -85,4 +85,3 @@ RotationalInterpolation* RotationalInterpolation_SingleAxis::Clone() const {`
`85`	`85`	`}`
`86`	`86`
`87`	`87`	`}`
`88`		`-`
Original file line number	Diff line number	Diff line change
`@@ -35,13 +35,13 @@ namespace KDL {`
`35`	`35`	`virtual double Duration() const {`
`36`	`36`	`return duration;`
`37`	`37`	`}`
`38`		`- virtual Frame Pos(double time) const {`
	`38`	`+ virtual Frame Pos(double /time/) const {`
`39`	`39`	`return pos;`
`40`	`40`	`}`
`41`		`- virtual Twist Vel(double time) const {`
	`41`	`+ virtual Twist Vel(double /time/) const {`
`42`	`42`	`return Twist::Zero();`
`43`	`43`	`}`
`44`		`- virtual Twist Acc(double time) const {`
	`44`	`+ virtual Twist Acc(double /time/) const {`
`45`	`45`	`return Twist::Zero();`
`46`	`46`	`}`
`47`	`47`	`virtual void Write(std::ostream& os) const;`