fixed warnings

ctu-mrs · Jan 25, 2024 · 9f89a4e · 9f89a4e
1 parent a491499
commit 9f89a4e
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Showing 11 changed files with 46 additions and 45 deletions.
diff --git a/include/mrs_uav_state_estimators/estimators/correction.h b/include/mrs_uav_state_estimators/estimators/correction.h
@@ -146,8 +146,8 @@ class Correction {
   std::optional<measurement_t>                             getCorrectionFromVector(const geometry_msgs::Vector3StampedConstPtr msg);
   void                                                     callbackVector(const geometry_msgs::Vector3Stamped::ConstPtr msg);
 
-  mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_orientation_; // for obtaining heading rate
-  std::string orientation_topic_;
+  mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_orientation_;  // for obtaining heading rate
+  std::string                                                 orientation_topic_;
 
   mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped> sh_quat_;
   measurement_t                                               prev_hdg_measurement_;
@@ -342,7 +342,7 @@ Correction<n_measurements>::Correction(ros::NodeHandle& nh, const std::string& e
   if (est_type_ == EstimatorType_t::HEADING && state_id_ == StateId_t::VELOCITY) {
     ph->param_loader->loadParam("message/orientation_topic", orientation_topic_);
     orientation_topic_ = "/" + ch_->uav_name + "/" + orientation_topic_;
-    sh_orientation_ = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, orientation_topic_);
+    sh_orientation_    = mrs_lib::SubscribeHandler<geometry_msgs::QuaternionStamped>(shopts, orientation_topic_);
   }
 
 
@@ -1259,22 +1259,23 @@ std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_m
 
       switch (state_id_) {
 
-          case StateId_t::VELOCITY: {
-            try {
-              if (!sh_orientation_.hasMsg()) {
-              ROS_INFO_THROTTLE(1.0, "[%s]: %s orientation on topic: %s", getPrintName().c_str(), Support::waiting_for_string.c_str(), orientation_topic_.c_str());
-                return {};
-              }
-              measurement_t measurement;
-              measurement(0) = mrs_lib::AttitudeConverter(sh_orientation_.getMsg()->quaternion).getHeadingRate(msg->vector);
-              return measurement;
-            }
-            catch (...) {
-              ROS_ERROR_THROTTLE(1.0, "[%s]: Exception caught during getting heading rate (getCorrectionFromVector())", getPrintName().c_str());
+        case StateId_t::VELOCITY: {
+          try {
+            if (!sh_orientation_.hasMsg()) {
+              ROS_INFO_THROTTLE(1.0, "[%s]: %s orientation on topic: %s", getPrintName().c_str(), Support::waiting_for_string.c_str(),
+                                orientation_topic_.c_str());
               return {};
             }
-            break;
+            measurement_t measurement;
+            measurement(0) = mrs_lib::AttitudeConverter(sh_orientation_.getMsg()->quaternion).getHeadingRate(msg->vector);
+            return measurement;
+          }
+          catch (...) {
+            ROS_ERROR_THROTTLE(1.0, "[%s]: Exception caught during getting heading rate (getCorrectionFromVector())", getPrintName().c_str());
+            return {};
           }
+          break;
+        }
 
         default: {
           ROS_ERROR_THROTTLE(1.0, "[%s]: unhandled case in getCorrectionFromVector() switch", getPrintName().c_str());
@@ -1292,8 +1293,8 @@ std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_m
 
 /*//{ getCorrectionFromQuat() */
 template <int n_measurements>
-std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromQuat(
-    const geometry_msgs::QuaternionStampedConstPtr msg) {
+std::optional<typename Correction<n_measurements>::measurement_t> Correction<n_measurements>::getCorrectionFromQuat([
+    [maybe_unused]] const geometry_msgs::QuaternionStampedConstPtr msg) {
 
   switch (est_type_) {
 

diff --git a/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h b/include/mrs_uav_state_estimators/processors/proc_excessive_tilt.h
@@ -75,7 +75,7 @@ ProcExcessiveTilt<n_measurements>::ProcExcessiveTilt(ros::NodeHandle& nh, const
 
 /*//{ process() */
 template <int n_measurements>
-std::tuple<bool, bool> ProcExcessiveTilt<n_measurements>::process(measurement_t& measurement) {
+std::tuple<bool, bool> ProcExcessiveTilt<n_measurements>::process([[maybe_unused]] measurement_t& measurement) {
 
   if (!Processor<n_measurements>::enabled_) {
     return {true, true};

diff --git a/include/mrs_uav_state_estimators/processors/processor.h b/include/mrs_uav_state_estimators/processors/processor.h
@@ -24,7 +24,7 @@ class Processor {
   virtual void                   reset()                             = 0;
 
 protected:
-  Processor(ros::NodeHandle& nh, const std::string& correction_name, const std::string& name, const std::shared_ptr<CommonHandlers_t>& ch,
+  Processor([[maybe_unused]] ros::NodeHandle& nh, const std::string& correction_name, const std::string& name, const std::shared_ptr<CommonHandlers_t>& ch,
             const std::shared_ptr<PrivateHandlers_t>& ph)
       : correction_name_(correction_name), name_(name), ch_(ch), ph_(ph) {
   }  // protected constructor to prevent instantiation

diff --git a/src/estimators/agl/garmin_agl.cpp b/src/estimators/agl/garmin_agl.cpp
@@ -143,7 +143,7 @@ bool GarminAgl::reset(void) {
 /*//}*/
 
 /* timerUpdate() //{*/
-void GarminAgl::timerUpdate(const ros::TimerEvent &event) {
+void GarminAgl::timerUpdate([[maybe_unused]] const ros::TimerEvent &event) {
 
   if (!isInitialized()) {
     return;
@@ -173,7 +173,7 @@ void GarminAgl::timerUpdate(const ros::TimerEvent &event) {
 /*//}*/
 
 /*//{ timerCheckHealth() */
-void GarminAgl::timerCheckHealth(const ros::TimerEvent &event) {
+void GarminAgl::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
 
   if (!isInitialized()) {
     return;

diff --git a/src/estimators/altitude/alt_generic.cpp b/src/estimators/altitude/alt_generic.cpp
@@ -391,7 +391,7 @@ void AltGeneric::timerUpdate(const ros::TimerEvent &event) {
 /*//}*/
 
 /*//{ timerCheckHealth() */
-void AltGeneric::timerCheckHealth(const ros::TimerEvent &event) {
+void AltGeneric::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
 
   if (!isInitialized()) {
     return;
@@ -576,7 +576,7 @@ bool AltGeneric::isConverged() {
 
 /*//{ getState() */
 double AltGeneric::getState(const int &state_id_in, const int &axis_in) const {
-  return getState(stateIdToIndex(state_id_in, 0));
+  return getState(stateIdToIndex(state_id_in, axis_in));
 }
 
 double AltGeneric::getState(const int &state_idx_in) const {
@@ -586,7 +586,7 @@ double AltGeneric::getState(const int &state_idx_in) const {
 
 /*//{ setState() */
 void AltGeneric::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
-  setState(state_in, stateIdToIndex(state_id_in, 0));
+  setState(state_in, stateIdToIndex(state_id_in, axis_in));
 }
 
 void AltGeneric::setState(const double &state_in, const int &state_idx_in) {
@@ -608,7 +608,7 @@ void AltGeneric::setStates(const states_t &states_in) {
 
 /*//{ getCovariance() */
 double AltGeneric::getCovariance(const int &state_id_in, const int &axis_in) const {
-  return getCovariance(stateIdToIndex(state_id_in, 0));
+  return getCovariance(stateIdToIndex(state_id_in, axis_in));
 }
 
 double AltGeneric::getCovariance(const int &state_idx_in) const {
@@ -634,7 +634,7 @@ double AltGeneric::getInnovation(const int &state_idx) const {
 }
 
 double AltGeneric::getInnovation(const int &state_id_in, const int &axis_in) const {
-  return getInnovation(stateIdToIndex(0, 0));
+  return getInnovation(stateIdToIndex(state_id_in, axis_in));
 }
 /*//}*/
 

diff --git a/src/estimators/heading/hdg_generic.cpp b/src/estimators/heading/hdg_generic.cpp
@@ -363,7 +363,7 @@ void HdgGeneric::timerUpdate(const ros::TimerEvent &event) {
 /*//}*/
 
 /*//{ timerCheckHealth() */
-void HdgGeneric::timerCheckHealth(const ros::TimerEvent &event) {
+void HdgGeneric::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
 
   if (!isInitialized()) {
     return;
@@ -561,7 +561,7 @@ void HdgGeneric::setStates(const states_t &states_in) {
 
 /*//{ getCovariance() */
 double HdgGeneric::getCovariance(const int &state_id_in, const int &axis_in) const {
-  return getCovariance(stateIdToIndex(state_id_in, 0));
+  return getCovariance(stateIdToIndex(state_id_in, axis_in));
 }
 
 double HdgGeneric::getCovariance(const int &state_idx_in) const {
@@ -587,7 +587,7 @@ double HdgGeneric::getInnovation(const int &state_idx) const {
 }
 
 double HdgGeneric::getInnovation(const int &state_id_in, const int &axis_in) const {
-  return getInnovation(stateIdToIndex(0, 0));
+  return getInnovation(stateIdToIndex(state_id_in, axis_in));
 }
 /*//}*/
 

diff --git a/src/estimators/heading/hdg_passthrough.cpp b/src/estimators/heading/hdg_passthrough.cpp
@@ -167,7 +167,7 @@ void HdgPassthrough::callbackAngularVelocity(const geometry_msgs::Vector3Stamped
 /*//}*/
 
 /* timerUpdate() //{*/
-void HdgPassthrough::timerUpdate(const ros::TimerEvent &event) {
+void HdgPassthrough::timerUpdate([[maybe_unused]] const ros::TimerEvent &event) {
 
 
   if (!isInitialized()) {
@@ -180,7 +180,7 @@ void HdgPassthrough::timerUpdate(const ros::TimerEvent &event) {
 /*//}*/
 
 /*//{ timerCheckHealth() */
-void HdgPassthrough::timerCheckHealth(const ros::TimerEvent &event) {
+void HdgPassthrough::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
 
   if (!isInitialized()) {
     return;
@@ -214,7 +214,7 @@ void HdgPassthrough::timerCheckHealth(const ros::TimerEvent &event) {
 
 /*//{ getState() */
 double HdgPassthrough::getState(const int &state_id_in, const int &axis_in) const {
-  return getState(stateIdToIndex(state_id_in, 0));
+  return getState(stateIdToIndex(state_id_in, axis_in));
 }
 
 double HdgPassthrough::getState(const int &state_idx_in) const {
@@ -224,7 +224,7 @@ double HdgPassthrough::getState(const int &state_idx_in) const {
 
 /*//{ setState() */
 void HdgPassthrough::setState(const double &state_in, const int &state_id_in, const int &axis_in) {
-  setState(state_in, stateIdToIndex(state_id_in, 0));
+  setState(state_in, stateIdToIndex(state_id_in, axis_in));
 }
 
 void HdgPassthrough::setState(const double &state_in, const int &state_idx_in) {
@@ -252,7 +252,7 @@ void HdgPassthrough::setStates(const states_t &states_in) {
 
 /*//{ getCovariance() */
 double HdgPassthrough::getCovariance(const int &state_id_in, const int &axis_in) const {
-  return getCovariance(stateIdToIndex(state_id_in, 0));
+  return getCovariance(stateIdToIndex(state_id_in, axis_in));
 }
 
 double HdgPassthrough::getCovariance(const int &state_idx_in) const {
@@ -278,7 +278,7 @@ double HdgPassthrough::getInnovation(const int &state_idx) const {
 }
 
 double HdgPassthrough::getInnovation(const int &state_id_in, const int &axis_in) const {
-  return getInnovation(stateIdToIndex(state_id_in, 0));
+  return getInnovation(stateIdToIndex(state_id_in, axis_in));
 }
 /*//}*/
 

diff --git a/src/estimators/lateral/lat_generic.cpp b/src/estimators/lateral/lat_generic.cpp
@@ -412,7 +412,7 @@ void LatGeneric::timerUpdate(const ros::TimerEvent &event) {
 /*//}*/
 
 /*//{ timerCheckHealth() */
-void LatGeneric::timerCheckHealth(const ros::TimerEvent &event) {
+void LatGeneric::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
 
   if (!isInitialized()) {
     return;

diff --git a/src/estimators/state/dummy.cpp b/src/estimators/state/dummy.cpp
@@ -130,7 +130,7 @@ bool Dummy::reset(void) {
 /*//}*/
 
 /* timerUpdate() //{*/
-void Dummy::timerUpdate(const ros::TimerEvent &event) {
+void Dummy::timerUpdate([[maybe_unused]] const ros::TimerEvent &event) {
 
 
   if (!isInitialized()) {
@@ -175,7 +175,7 @@ void Dummy::timerUpdate(const ros::TimerEvent &event) {
 /*//}*/
 
 /*//{ timerCheckHealth() */
-void Dummy::timerCheckHealth(const ros::TimerEvent &event) {
+void Dummy::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
 
   if (!isInitialized()) {
     return;
@@ -206,7 +206,7 @@ bool Dummy::isConverged() {
 /*//}*/
 
 /*//{ setUavState() */
-bool Dummy::setUavState(const mrs_msgs::UavState &uav_state) {
+bool Dummy::setUavState([[maybe_unused]] const mrs_msgs::UavState &uav_state) {
 
   if (!isInState(STOPPED_STATE)) {
     ROS_WARN("[%s]: Estimator state can be set only in the STOPPED state", getPrintName().c_str());

diff --git a/src/estimators/state/ground_truth.cpp b/src/estimators/state/ground_truth.cpp
@@ -236,7 +236,7 @@ bool GroundTruth::isConverged() {
 /*//}*/
 
 /*//{ setUavState() */
-bool GroundTruth::setUavState(const mrs_msgs::UavState &uav_state) {
+bool GroundTruth::setUavState([[maybe_unused]] const mrs_msgs::UavState &uav_state) {
 
   if (!isInState(STOPPED_STATE)) {
     ROS_WARN("[%s]: Estimator state can be set only in the STOPPED state", getPrintName().c_str());

diff --git a/src/estimators/state/state_generic.cpp b/src/estimators/state/state_generic.cpp
@@ -205,7 +205,7 @@ bool StateGeneric::reset(void) {
 /*//}*/
 
 /* timerUpdate() //{*/
-void StateGeneric::timerUpdate(const ros::TimerEvent &event) {
+void StateGeneric::timerUpdate([[maybe_unused]] const ros::TimerEvent &event) {
 
 
   if (!isInitialized()) {
@@ -288,7 +288,7 @@ void StateGeneric::timerUpdate(const ros::TimerEvent &event) {
 /*//}*/
 
 /*//{ timerCheckHealth() */
-void StateGeneric::timerCheckHealth(const ros::TimerEvent &event) {
+void StateGeneric::timerCheckHealth([[maybe_unused]] const ros::TimerEvent &event) {
 
   if (!isInitialized()) {
     return;
@@ -362,7 +362,7 @@ void StateGeneric::timerCheckHealth(const ros::TimerEvent &event) {
 /*//}*/
 
 /* timerPubAttitude() //{*/
-void StateGeneric::timerPubAttitude(const ros::TimerEvent &event) {
+void StateGeneric::timerPubAttitude([[maybe_unused]] const ros::TimerEvent &event) {
 
   if (!isInitialized()) {
     return;
@@ -533,7 +533,7 @@ std::optional<double> StateGeneric::getHeading() const {
 /*//}*/
 
 /*//{ setUavState() */
-bool StateGeneric::setUavState(const mrs_msgs::UavState &uav_state) {
+bool StateGeneric::setUavState([[maybe_unused]] const mrs_msgs::UavState &uav_state) {
 
   if (!isInState(STOPPED_STATE)) {
     ROS_WARN("[%s]: Estimator state can be set only in the STOPPED state", getPrintName().c_str());