Misc fixes - unused parameters, deprecated copy, sign/unsigned comparison (#223)

* CMake if clause

* Address unused parameters

* Transform: Add copy constructor

* Timings: Explicit cast

* BVHModel: Address comparison between signed and unsigned

* Add operator= to Plane and Halfspace

CMakeLists.txt

@@ -83,11 +83,11 @@ IF(WIN32)
 ELSE(WIN32)
   ADD_PROJECT_DEPENDENCY(Boost REQUIRED chrono serialization)
 ENDIF(WIN32)
-if (BUILD_PYTHON_INTERFACE)
+if(BUILD_PYTHON_INTERFACE)
   FINDPYTHON()
   search_for_boost_python(REQUIRED)
   find_package(Boost REQUIRED COMPONENTS system)
-endif ()
+endif(BUILD_PYTHON_INTERFACE)
 
 # Optional dependencies
 ADD_PROJECT_DEPENDENCY(octomap PKG_CONFIG_REQUIRES "octomap >= 1.6")

include/hpp/fcl/internal/traversal_node_bvh_shape.h

@@ -453,7 +453,7 @@ public:
   }
 
   /// @brief BV culling test in one BVTT node
-  FCL_REAL BVDistanceLowerBound(int b1, int b2) const
+  FCL_REAL BVDistanceLowerBound(int /*b1*/, int b2) const
   {
     return model1_bv.distance(model2->getBV(b2).bv);
   }
@@ -708,7 +708,7 @@ public:
   }
 
   /// @brief Distance testing between leaves (one shape and one triangle)
-  void leafComputeDistance(int b1, int b2) const
+  void leafComputeDistance(int /*b1*/, int b2) const
   {
     if(this->enable_statistics) this->num_leaf_tests++;
     
@@ -769,7 +769,7 @@ public:
   {
   }
 
-  FCL_REAL BVDistanceLowerBound(int b1, int b2) const
+  FCL_REAL BVDistanceLowerBound(int /*b1*/, int b2) const
   {
     if(this->enable_statistics) this->num_bv_tests++;
     return distance(this->tf2.getRotation(), this->tf2.getTranslation(), this->model1_bv, this->model2->getBV(b2).bv);
@@ -801,7 +801,7 @@ public:
   {
   }
 
-  FCL_REAL BVDistanceLowerBound(int b1, int b2) const
+  FCL_REAL BVDistanceLowerBound(int /*b1*/, int b2) const
   {
     if(this->enable_statistics) this->num_bv_tests++;
     return distance(this->tf2.getRotation(), this->tf2.getTranslation(), this->model1_bv, this->model2->getBV(b2).bv);
@@ -833,7 +833,7 @@ public:
   {    
   }
 
-  FCL_REAL BVDistanceLowerBound(int b1, int b2) const
+  FCL_REAL BVDistanceLowerBound(int /*b1*/, int b2) const
   {
     if(this->enable_statistics) this->num_bv_tests++;
     return distance(this->tf2.getRotation(), this->tf2.getTranslation(), this->model1_bv, this->model2->getBV(b2).bv);

include/hpp/fcl/math/transform.h

@@ -101,6 +101,11 @@ public:
                                  T(T_)
   {}
 
+  /// @brief Construct transform from other transform
+  Transform3f(const Transform3f& tf) : R(tf.R),
+                                       T(tf.T)
+  {}
+
   /// @brief operator = 
   Transform3f& operator = (const Transform3f& tf)
   {

include/hpp/fcl/shape/geometric_shapes.h

@@ -475,7 +475,15 @@ public:
   , d(other.d)
   {
   }
-  
+
+  /// @brief operator = 
+  Halfspace& operator = (const Halfspace& other)
+  {
+    n = other.n;
+    d = other.d;
+    return *this;
+  }
+
   /// @brief Clone *this into a new Halfspace
   virtual Halfspace* clone() const { return new Halfspace(*this); };
 
@@ -536,7 +544,15 @@ public:
   , d(other.d)
   {
   }
-  
+
+  /// @brief operator = 
+  Plane& operator = (const Plane& other)
+  {
+    n = other.n;
+    d = other.d;
+    return *this;
+  }
+
   /// @brief Clone *this into a new Plane
   virtual Plane* clone() const { return new Plane(*this); };
 

include/hpp/fcl/timings.h

@@ -49,12 +49,11 @@ namespace hpp { namespace fcl {
     {
       if(m_is_stopped)
         return m_times;
-      
-      
+
       CPUTimes current(m_times);
 #ifdef HPP_FCL_WITH_CXX11_SUPPORT
       std::chrono::time_point<std::chrono::steady_clock> current_clock = std::chrono::steady_clock::now();
-      current.user += std::chrono::duration_cast<std::chrono::nanoseconds>(current_clock - m_start).count()*1e-3;
+      current.user += static_cast<double>(std::chrono::duration_cast<std::chrono::nanoseconds>(current_clock - m_start).count())*1e-3;
 #endif
       return current;
     }
@@ -80,7 +79,7 @@ namespace hpp { namespace fcl {
       
 #ifdef HPP_FCL_WITH_CXX11_SUPPORT
       m_end = std::chrono::steady_clock::now();
-      m_times.user += std::chrono::duration_cast<std::chrono::nanoseconds>(m_end - m_start).count()*1e-3;
+      m_times.user += static_cast<double>(std::chrono::duration_cast<std::chrono::nanoseconds>(m_end - m_start).count())*1e-3;
 #endif
       
     }

src/BVH/BVH_model.cpp

@@ -107,17 +107,17 @@ bool BVHModelBase::operator==(const BVHModelBase & other) const
   
   if(!result) return false;
   
-  for(size_t k = 0; k < num_tris; ++k)
+  for(size_t k = 0; k < static_cast<size_t>(num_tris); ++k)
     if(tri_indices[k] != other.tri_indices[k])
       return false;
   
-  for(size_t k = 0; k < num_vertices; ++k)
+  for(size_t k = 0; k < static_cast<size_t>(num_vertices); ++k)
     if(vertices[k] != other.vertices[k])
       return false;
   
   if(prev_vertices != NULL && other.prev_vertices != NULL)
   {
-    for(size_t k = 0; k < num_vertices; ++k)
+    for(size_t k = 0; k < static_cast<size_t>(num_vertices); ++k)
     {
       if(prev_vertices[k] != other.prev_vertices[k])
         return false;