Fix unused variable warnings

source/RobotAPI/components/TopicTimingTest/TopicTimingClient.cpp

@@ -128,4 +128,5 @@ void armarx::TopicTimingClient::reportSmall(const topic_timing::SmallData& data,
 void armarx::TopicTimingClient::reportBig(const topic_timing::BigData& data, const Ice::Current&)
 {
     IceUtil::Time sentTime = IceUtil::Time::microSeconds(data.sentTimestamp);
+    (void) sentTime;
 }

source/RobotAPI/components/units/RobotUnit/BasicControllers.cpp

@@ -952,14 +952,21 @@ namespace armarx
         const double newAcceleration = (newState == State::Keep) ? currentAcc : (newState == State::DecAccDecJerk ? output.acceleration : currentAcc + deltaAcc);
         result.acceleration = newAcceleration;
         result.jerk = usedJerk;
+
         const double usedDeceleration = hardBrakingNeeded ?
                                         -std::abs(currentV * currentV / 2.f / math::MathUtils::LimitTo(positionError, 0.0001)) :
                                         newAcceleration;
+        (void) usedDeceleration;
+
         const bool decelerate =
             std::abs(currentV) > maxV || // we need to slow down (to stay in [-maxV,maxV]
             hardBrakingNeeded ||
             sign(posErrorIfBrakingNow) != signV;  // we are moving away from the target
+        (void) decelerate;
+
         const double deltaVel = ctrlutil::v(useddt, 0, newAcceleration, usedJerk);//signV * newAcceleration * useddt;
+        (void) deltaVel;
+
         double newTargetVelRampCtrl = ctrlutil::v(useddt, currentV, currentAcc, usedJerk);//boost::algorithm::clamp(currentV + deltaVel, -maxV, maxV);
         newTargetVelRampCtrl = std::clamp(newTargetVelRampCtrl, -maxV, maxV);
         bool usePID = std::abs(newTargetVelPController) < std::abs(newTargetVelRampCtrl); //||
@@ -1052,6 +1059,7 @@ namespace armarx
         const double posWhenBrakingWithCustomJerk = ctrlutil::s(tmp_t, currentPosition + brData.s1, brData.v1, tmp_acc, curVDir * tmp_jerk);
         //        const double brakingDistanceWithCustomJerk = ctrlutil::s(tmp_t, 0, currentV, tmp_acc, curVDir * tmp_jerk);
         const double posWhenBrakingWithFixedJerk = ctrlutil::s(brData.dt2, currentPosition + brData.s1, brData.v1, brData.a1, curVDir * jerk);
+        (void) calculatedJerk, (void) posWhenBrakingWithCustomJerk, (void) posWhenBrakingWithFixedJerk;
 
         ARMARX_INFO << VAROUT((int)state) << VAROUT(distance) << VAROUT(brakingDistance);//VAROUT(straightBrakingDistance) << VAROUT(brData.dt1) << VAROUT(brData.dt2) << VAROUT(brData.s_total) << VAROUT(calculatedJerk);
 
@@ -1100,12 +1108,15 @@ namespace armarx
             double accAfterBraking = ctrlutil::a(t_to_0, currentAcc, curVDir * newJerk);
             const double posWhenBrakingNow = ctrlutil::s(t_to_0, currentPosition, currentV, currentAcc, -curVDir * newJerk);
             const double simpleBrakingDistance = ctrlutil::s(t_to_0, 0, currentV, currentAcc, -curVDir * newJerk);
+            (void) tmpV, (void) vAfterBraking, (void) accAfterBraking, (void) posWhenBrakingNow, (void) simpleBrakingDistance;
             double acc_at_t = ctrlutil::a(t_to_0, std::abs(currentAcc), -newJerk);
 
             std::tie(t, a0, newJerk) = ctrlutil::calcAccAndJerk(targetPosition - currentPosition, currentV);
             double at = ctrlutil::a(t, a0, newJerk);
             double vt = ctrlutil::v(t, currentV, a0, newJerk);
             double st = ctrlutil::s(t, targetPosition - currentPosition, currentV, a0, newJerk);
+            (void) at, (void) vt, (void) st;
+
             if (this->state <= State::Keep)
             {
                 newState =  State::DecAccIncJerk;
@@ -1295,6 +1306,7 @@ namespace armarx
     VelocityControllerWithRampedAcceleration::Output VelocityControllerWithRampedAccelerationAndPositionBounds::run() const
     {
         const double useddt = std::min(std::abs(dt), std::abs(maxDt));
+        (void) useddt;
 
         //        if (currentPosition <= positionLimitLoHard || currentPosition >= positionLimitHiHard)
         //        {
@@ -1513,6 +1525,7 @@ namespace armarx
         double newAcc = currentAcc + jerk * dt;
         double newVelocity = ctrlutil::v(dt, currentV, currentAcc, jerk);
         double accAtEnd = ctrlutil::a(remainingTime, currentAcc, jerk); // assumes that fixed jerk would be used, which is not the case here
+        (void) accAtEnd;
 
         std::vector<State> states;
         std::vector<State> states2;