From 0fa3a7528d7862d4bbd8bdfaf53035f9e61bd98f Mon Sep 17 00:00:00 2001
From: Manfred Kroehnert <Manfred.Kroehnert@kit.edu>
Date: Tue, 25 Feb 2014 14:58:58 +0100
Subject: [PATCH] remove compiler warnings
---
.../RobotAPI/GraspingWithTorques/GraspingWithTorques.cpp | 8 ++------
source/RobotAPI/OpenHand/OpenHand.cpp | 2 +-
source/RobotAPI/motioncontrol/MotionControl.cpp | 2 +-
source/RobotAPI/motioncontrol/ZeroForceControl.cpp | 2 +-
source/RobotAPI/units/TCPControlUnit.cpp | 2 --
5 files changed, 5 insertions(+), 11 deletions(-)
diff --git a/source/RobotAPI/GraspingWithTorques/GraspingWithTorques.cpp b/source/RobotAPI/GraspingWithTorques/GraspingWithTorques.cpp
index 9d5477b55..c10bcd492 100644
--- a/source/RobotAPI/GraspingWithTorques/GraspingWithTorques.cpp
+++ b/source/RobotAPI/GraspingWithTorques/GraspingWithTorques.cpp
@@ -131,7 +131,7 @@ namespace armarx
SingleTypeVariantList dataFields(VariantType::DatafieldRef);
- for (int i=0; i<nodeSet->getSize(); i++)
+ for (size_t i=0; i<nodeSet->getSize(); i++)
{
jointNames.addVariant(nodeSet->getNode(i)->getName()); //nodes = joints
dataFields.addVariant(context->getDatafieldRef(tempChannelRef, nodeSet->getNode(i)->getName()));
@@ -369,7 +369,7 @@ namespace armarx
//set joint velocities manually to zero (DEBUG)
//---------
- RobotStatechartContext* rsContext = getContext<RobotStatechartContext>();
+ //RobotStatechartContext* rsContext = getContext<RobotStatechartContext>();
SingleTypeVariantListPtr jointNames = getInput<SingleTypeVariantList>("jointNames");
//SingleTypeVariantListPtr jointTorquesGraspList = getInput<SingleTypeVariantList>("jointTorquesGrasp");
NameValueMap jointNamesAndValues;
@@ -381,11 +381,7 @@ namespace armarx
//rsContext->kinematicUnitPrx->setJointTorques(jointNamesAndValues);
-
//rsContext->kinematicUnitPrx->setJointVelocities(jointNamesAndValues); //Auskommentiert nach letztem Test MP 2014-02-20
-
-
-
}
}
diff --git a/source/RobotAPI/OpenHand/OpenHand.cpp b/source/RobotAPI/OpenHand/OpenHand.cpp
index e756c1b24..a78a7cb41 100644
--- a/source/RobotAPI/OpenHand/OpenHand.cpp
+++ b/source/RobotAPI/OpenHand/OpenHand.cpp
@@ -88,7 +88,7 @@ namespace armarx
SingleTypeVariantList dataFields(VariantType::DatafieldRef);
- for (int i=0; i<nodeSet->getSize(); i++)
+ for (size_t i=0; i<nodeSet->getSize(); i++)
{
jointNames.addVariant(nodeSet->getNode(i)->getName()); //nodes = joints
dataFields.addVariant(context->getDatafieldRef(tempChannelRef, nodeSet->getNode(i)->getName()));
diff --git a/source/RobotAPI/motioncontrol/MotionControl.cpp b/source/RobotAPI/motioncontrol/MotionControl.cpp
index b99a21ea9..644d0dcc4 100644
--- a/source/RobotAPI/motioncontrol/MotionControl.cpp
+++ b/source/RobotAPI/motioncontrol/MotionControl.cpp
@@ -483,7 +483,7 @@ void CalculateJointAngleConfiguration::defineParameters()
void CalculateJointAngleConfiguration::run()
{
- RobotStatechartContext* context = getContext<RobotStatechartContext>();
+ //RobotStatechartContext* context = getContext<RobotStatechartContext>();
//VirtualRobot::RobotPtr robot(new RemoteRobot(context->robotStateComponent->getRobotSnapshot("CalculateTCPPoseTime")));
// TODO: with the following line, the IK doesn't find a solution, so this terrible hack must be used. Fix it!!!
diff --git a/source/RobotAPI/motioncontrol/ZeroForceControl.cpp b/source/RobotAPI/motioncontrol/ZeroForceControl.cpp
index 16f32e51b..f300daa87 100644
--- a/source/RobotAPI/motioncontrol/ZeroForceControl.cpp
+++ b/source/RobotAPI/motioncontrol/ZeroForceControl.cpp
@@ -125,7 +125,7 @@ namespace armarx {
ARMARX_CHECK_EXPRESSION(vel->frame == curAcc->frame);
ARMARX_CHECK_EXPRESSION(vel->frame == curForce->frame);
float forceThreshold = 2.0f;
- float maxSensitivity = 2.0f;
+ //float maxSensitivity = 2.0f;
Eigen::Vector3f newVel(3);
Eigen::Vector3f newAcc(3);
diff --git a/source/RobotAPI/units/TCPControlUnit.cpp b/source/RobotAPI/units/TCPControlUnit.cpp
index 2b8cfb88f..9af0f7958 100644
--- a/source/RobotAPI/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/units/TCPControlUnit.cpp
@@ -631,14 +631,12 @@ namespace armarx
while (step<maxNStep);
float bestJVError = std::numeric_limits<float>::max();
- int bestIndex = -1;
for(unsigned int i=0; i < jointDeltaIterations.size(); i++)
{
if(jointDeltaIterations.at(i).first < bestJVError)
{
bestJVError = jointDeltaIterations.at(i).first;
dThetaSum = jointDeltaIterations.at(i).second;
- bestIndex = i;
}
}
// ARMARX_INFO << "best try: " << bestIndex << " with error: " << bestJVError;
--
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