Merge branch 'fix/grid_map_core_remove_compiler_warnings' into 'master'

[grid_map_core] Remove compiler warnings

GitOrigin-RevId: 593af35e98d1d24b28f8aaedbc18d96e99f861cf

grid_map_core/include/grid_map_core/GridMapMath.hpp

@@ -17,6 +17,12 @@
 
 namespace grid_map {
 
+union Color
+{
+    unsigned long longColor;
+    float floatColor;
+};
+
 /*!
  * Gets the position of a cell specified by its index in the map frame.
  * @param[out] position the position of the center of the cell in the map frame.
@@ -289,25 +295,6 @@ size_t getLinearIndexFromIndex(const Index& index, const Size& bufferSize, const
  */
 Index getIndexFromLinearIndex(const size_t linearIndex, const Size& bufferSize, const bool rowMajor = false);
 
-/*!
- * Generates a list of indices for a region in the map.
- * @param regionIndex the region top-left index.
- * @param regionSize the region size.
- * @param indices the list of indices of the region.
- */
-void getIndicesForRegion(const Index& regionIndex, const Size& regionSize,
-                         std::vector<Index> indices);
-
-/*!
- * Generates a list of indices for multiple regions in the map.
- * This method makes sure every index is only once contained in the list.
- * @param regionIndeces the regions' top-left index.
- * @param regionSizes the regions' sizes.
- * @param indices the list of indices of the regions.
- */
-void getIndicesForRegions(const std::vector<Index>& regionIndeces, const Size& regionSizes,
-                          std::vector<Index> indices);
-
 /*!
  * Transforms an int color value (concatenated RGB values) to an int color vector (RGB from 0-255).
  * @param [in] colorValue the concatenated RGB color value.

grid_map_core/include/grid_map_core/iterators/GridMapIterator.hpp

@@ -34,6 +34,12 @@ class GridMapIterator
    */
   GridMapIterator(const GridMapIterator* other);
 
+  /*!
+   * Copy constructor.
+   * @param other the object to copy.
+   */
+  GridMapIterator(const GridMapIterator &other) = default;
+
   /*!
    * Assignment operator.
    * @param iterator the iterator to copy data from.

grid_map_core/src/CubicInterpolation.cpp

@@ -18,7 +18,7 @@ unsigned int bindIndexToRange(int idReq, unsigned int nElem)
   if (idReq < 0) {
     return 0;
   }
-  if (idReq >= nElem) {
+  if (static_cast<unsigned int>(idReq) >= nElem) {
     return static_cast<unsigned int>(nElem - 1);
   }
   return static_cast<unsigned int>(idReq);

grid_map_core/src/GridMap.cpp

@@ -177,6 +177,7 @@ float GridMap::atPosition(const std::string& layer, const Position& position, In
         interpolationMethod = InterpolationMethods::INTER_LINEAR;
         skipNextSwitchCase = true;
       }
+      [[fallthrough]];
     }
     case InterpolationMethods::INTER_CUBIC: {
       if (!skipNextSwitchCase) {
@@ -187,13 +188,16 @@ float GridMap::atPosition(const std::string& layer, const Position& position, In
           interpolationMethod = InterpolationMethods::INTER_LINEAR;
         }
       }
+      [[fallthrough]];
     }
     case InterpolationMethods::INTER_LINEAR: {
       float value;
       if (atPositionLinearInterpolated(layer, position, value))
         return value;
-      else
+      else {
         interpolationMethod = InterpolationMethods::INTER_NEAREST;
+      }
+      [[fallthrough]];
     }
     case InterpolationMethods::INTER_NEAREST: {
       Index index;
@@ -289,7 +293,7 @@ GridMap GridMap::getSubmap(const Position& position, const Length& length, bool&
   return getSubmap(position, length, index, isSuccess);
 }
 
-GridMap GridMap::getSubmap(const Position& position, const Length& length, Index& indexInSubmap, bool& isSuccess) const {
+GridMap GridMap::getSubmap(const Position& position, const Length& length, Index& /*indexInSubmap*/, bool& isSuccess) const {
   // Submap the generate.
   GridMap submap(layers_);
   submap.setBasicLayers(basicLayers_);
@@ -696,7 +700,7 @@ void GridMap::convertToDefaultStartIndex() {
 }
 
 Position GridMap::getClosestPositionInMap(const Position& position) const {
-  if (getSize().x() < 1u || getSize().y() < 1u) {
+  if (getSize().x() < 1 || getSize().y() < 1) {
     return position_;
   }
 

grid_map_core/src/GridMapMath.cpp

@@ -517,21 +517,6 @@ Index getIndexFromLinearIndex(const size_t linearIndex, const Size& bufferSize,
   return Index((int)linearIndex / bufferSize(1), (int)linearIndex % bufferSize(1));
 }
 
-void getIndicesForRegion(const Index& regionIndex, const Size& regionSize,
-                         std::vector<Index> indices)
-{
-//  for (int i = line.index_; col < line.endIndex(); col++) {
-//    for (int i = 0; i < getSize()(0); i++) {
-//
-//    }
-//  }
-}
-
-void getIndicesForRegions(const std::vector<Index>& regionIndeces, const Size& regionSizes,
-                          std::vector<Index> indices)
-{
-}
-
 bool colorValueToVector(const unsigned long& colorValue, Eigen::Vector3i& colorVector)
 {
   colorVector(0) = (colorValue >> 16) & 0x0000ff;
@@ -564,9 +549,9 @@ bool colorVectorToValue(const Eigen::Vector3i& colorVector, unsigned long& color
 
 void colorVectorToValue(const Eigen::Vector3i& colorVector, float& colorValue)
 {
-  unsigned long color = (colorVector(0) << 16) + (colorVector(1) << 8) + colorVector(2);
-  // cppcheck-suppress invalidPointerCast
-  colorValue = *reinterpret_cast<float*>(&color);
+  Color colors;
+  colors.longColor = (colorVector(0) << 16) + (colorVector(1) << 8) + colorVector(2);
+  colorValue = colors.floatColor;
 }
 
 void colorVectorToValue(const Eigen::Vector3f& colorVector, float& colorValue)

grid_map_core/src/Polygon.cpp

@@ -32,7 +32,7 @@ Polygon::~Polygon() {}
 bool Polygon::isInside(const Position& point) const
 {
   int cross = 0;
-  for (int i = 0, j = vertices_.size() - 1; i < vertices_.size(); j = i++) {
+  for (size_t i = 0, j = vertices_.size() - 1; i < vertices_.size(); j = i++) {
     if ( ((vertices_[i].y() > point.y()) != (vertices_[j].y() > point.y()))
            && (point.x() < (vertices_[j].x() - vertices_[i].x()) * (point.y() - vertices_[i].y()) /
             (vertices_[j].y() - vertices_[i].y()) + vertices_[i].x()) )
@@ -102,7 +102,7 @@ double Polygon::getArea() const
 {
   double area = 0.0;
   int j = vertices_.size() - 1;
-  for (int i = 0; i < vertices_.size(); i++) {
+  for (size_t i = 0; i < vertices_.size(); i++) {
     area += (vertices_.at(j).x() + vertices_.at(i).x())
         * (vertices_.at(j).y() - vertices_.at(i).y());
     j = i;
@@ -116,7 +116,7 @@ Position Polygon::getCentroid() const
   std::vector<Position> vertices = getVertices();
   vertices.push_back(vertices.at(0));
   double area = 0.0;
-  for (int i = 0; i < vertices.size() - 1; i++) {
+  for (size_t i = 0; i < vertices.size() - 1; i++) {
     const double a = vertices[i].x() * vertices[i+1].y() - vertices[i+1].x() * vertices[i].y();
     area += a;
     centroid.x() += a * (vertices[i].x() + vertices[i+1].x());
@@ -220,7 +220,7 @@ bool Polygon::offsetInward(const double margin)
   return true;
 }
 
-std::vector<Polygon> Polygon::triangulate(const TriangulationMethods& method) const
+std::vector<Polygon> Polygon::triangulate(const TriangulationMethods& /*method*/) const
 {
   // TODO Add more triangulation methods.
   // https://en.wikipedia.org/wiki/Polygon_triangulation
@@ -311,7 +311,7 @@ Polygon Polygon::monotoneChainConvexHullOfPoints(const std::vector<Position>& po
 
   int k = 0;
   // Build lower hull
-  for (int i = 0; i < sortedPoints.size(); ++i) {
+  for (size_t i = 0; i < sortedPoints.size(); ++i) {
     while (k >= 2 && vectorsMakeClockwiseTurn(pointsConvexHull.at(k - 2), pointsConvexHull.at(k - 1), sortedPoints.at(i))) {
       k--;
     }

grid_map_core/src/iterators/PolygonIterator.cpp

@@ -74,7 +74,7 @@ bool PolygonIterator::isInside() const
   return polygon_.isInside(position);
 }
 
-void PolygonIterator::findSubmapParameters(const grid_map::Polygon& polygon, Index& startIndex, Size& bufferSize) const
+void PolygonIterator::findSubmapParameters(const grid_map::Polygon& /*polygon*/, Index& startIndex, Size& bufferSize) const
 {
   Position topLeft = polygon_.getVertices()[0];
   Position bottomRight = topLeft;

grid_map_core/src/iterators/SpiralIterator.cpp

@@ -51,7 +51,7 @@ SpiralIterator& SpiralIterator::operator =(const SpiralIterator& other)
   return *this;
 }
 
-bool SpiralIterator::operator !=(const SpiralIterator& other) const
+bool SpiralIterator::operator !=(const SpiralIterator& /*other*/) const
 {
   return (pointsRing_.back() != pointsRing_.back()).any();
 }
@@ -101,16 +101,16 @@ void SpiralIterator::generateRing()
     normal.x() = -signum(point.y());
     normal.y() = signum(point.x());
     if (normal.x() != 0
-        && (int) Vector(point.x() + normal.x(), point.y()).norm() == distance_)
+        && static_cast<unsigned int>(Vector(point.x() + normal.x(), point.y()).norm()) == distance_)
       point.x() += normal.x();
     else if (normal.y() != 0
-        && (int) Vector(point.x(), point.y() + normal.y()).norm() == distance_)
+        && static_cast<unsigned int>(Vector(point.x(), point.y() + normal.y()).norm()) == distance_)
       point.y() += normal.y();
     else {
       point.x() += normal.x();
       point.y() += normal.y();
     }
-  } while (point.x() != distance_ || point.y() != 0);
+  } while (static_cast<unsigned int>(point.x()) != distance_ || point.y() != 0);
 }
 
 double SpiralIterator::getCurrentRadius() const