[ROS 2][grid_map_core] Code enhancements from master 6ddff74

grid_map_core/include/grid_map_core/GridMapMath.hpp

@@ -19,6 +19,11 @@
 namespace grid_map
 {
 
+union Color{
+  uint64_t intColor;
+  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.
@@ -311,27 +316,6 @@ 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/src/CubicInterpolation.cpp

@@ -20,7 +20,7 @@ unsigned int bindIndexToRange(int idReq, unsigned int nElem)
   if (idReq < 0) {
     return 0;
   }
-  if ((unsigned)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/GridMapMath.cpp

@@ -607,23 +607,6 @@ Index getIndexFromLinearIndex(
       1), static_cast<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 uint64_t & colorValue, Eigen::Vector3i & colorVector)
 {
   colorVector(0) = (colorValue >> 16) & 0x0000ff;
@@ -657,9 +640,9 @@ bool colorVectorToValue(const Eigen::Vector3i & colorVector, uint64_t & colorVal
 
 void colorVectorToValue(const Eigen::Vector3i & colorVector, float & colorValue)
 {
-  uint64_t color = (colorVector(0) << 16) + (colorVector(1) << 8) + colorVector(2);
-  float * temp = reinterpret_cast<float *>(&color);
-  colorValue = *temp;
+  Color colors;
+  colors.intColor = (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

@@ -223,11 +223,10 @@ 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(needs_assignment): Add more triangulation methods.
   // https://en.wikipedia.org/wiki/Polygon_triangulation
-  (void)(method);  // method parameter unused, should be removed once used.
   std::vector<Polygon> polygons;
   if (vertices_.size() < 3) {
     return polygons;

grid_map_core/src/iterators/PolygonIterator.cpp

@@ -84,10 +84,9 @@ bool PolygonIterator::isInside() const
 }
 
 void PolygonIterator::findSubmapParameters(
-  const grid_map::Polygon & polygon, Index & startIndex,
+  const grid_map::Polygon & /*polygon*/, Index & startIndex,
   Size & bufferSize) const
 {
-  (void)(polygon);  // polygon parameter unused, should be removed when used.
   Position topLeft = polygon_.getVertices()[0];
   Position bottomRight = topLeft;
   for (const auto & vertex : polygon_.getVertices()) {

grid_map_core/src/iterators/SpiralIterator.cpp

@@ -53,9 +53,8 @@ SpiralIterator & SpiralIterator::operator=(const SpiralIterator & other)
   return *this;
 }
 
-bool SpiralIterator::operator!=(const SpiralIterator & other) const
+bool SpiralIterator::operator!=(const SpiralIterator & /*other*/) const
 {
-  (void)(other);  // other parameter unused, should be removed when used.
   return (pointsRing_.back() != pointsRing_.back()).any();
 }
 
@@ -119,7 +118,7 @@ void SpiralIterator::generateRing()
       point.x() += normal.x();
       point.y() += normal.y();
     }
-  } while ((unsigned)point.x() != distance_ || point.y() != 0);
+  } while (static_cast<unsigned int>(point.x()) != distance_ || point.y() != 0);
 }
 
 double SpiralIterator::getCurrentRadius() const