Revision: 6433
http://playerstage.svn.sourceforge.net/playerstage/?rev=6433&view=rev
Author: robotos
Date: 2008-05-12 09:51:48 -0700 (Mon, 12 May 2008)
Log Message:
-----------
Making gcc extra verbose helps finding unused variables
and some bugs!
Also relax the debugging level, gdb don't need so much
information and we save 25% of file sizes, my HD will be happy...
Modified Paths:
--------------
code/gazebo/trunk/server/GazeboMessage.cc
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/controllers/actarray/bandit/Bandit_Actarray.cc
code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.cc
code/gazebo/trunk/server/controllers/laser/sicklms200/SickLMS200_Laser.cc
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
code/gazebo/trunk/server/controllers/ptz/generic/Generic_PTZ.cc
code/gazebo/trunk/server/gui/Gui.cc
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/server/physics/TrimeshGeom.cc
code/gazebo/trunk/server/physics/UniversalJoint.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
code/gazebo/trunk/server/rendering/MovableText.cc
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
code/gazebo/trunk/server/rendering/OgreCreator.cc
code/gazebo/trunk/server/rendering/OgreDynamicRenderable.cc
code/gazebo/trunk/server/rendering/OgreSimpleShape.cc
code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
Modified: code/gazebo/trunk/server/GazeboMessage.cc
===================================================================
--- code/gazebo/trunk/server/GazeboMessage.cc 2008-05-12 06:24:20 UTC (rev
6432)
+++ code/gazebo/trunk/server/GazeboMessage.cc 2008-05-12 16:51:48 UTC (rev
6433)
@@ -62,7 +62,6 @@
void GazeboMessage::Load(XMLConfigNode *node)
{
- bool logData;
char logFilename[50];
if (!node)
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2008-05-12 06:24:20 UTC (rev
6432)
+++ code/gazebo/trunk/server/Simulator.cc 2008-05-12 16:51:48 UTC (rev
6433)
@@ -196,7 +196,7 @@
//Initialize the world
if (gazebo::World::Instance()->Init() != 0)
return -1;
-
+ return 0;
}
////////////////////////////////////////////////////////////////////////////////
Modified:
code/gazebo/trunk/server/controllers/actarray/bandit/Bandit_Actarray.cc
===================================================================
--- code/gazebo/trunk/server/controllers/actarray/bandit/Bandit_Actarray.cc
2008-05-12 06:24:20 UTC (rev 6432)
+++ code/gazebo/trunk/server/controllers/actarray/bandit/Bandit_Actarray.cc
2008-05-12 16:51:48 UTC (rev 6433)
@@ -98,14 +98,13 @@
{
HingeJoint *joint = NULL;
float angle;
- float hiStop, loStop;
this->myIface->Lock(1);
this->myIface->data->head.time = Simulator::Instance()->GetSimTime();
this->myIface->data->actuators_count = 16;
- for (int i=0; i<16; i++)
+ for (unsigned int i=0; i<16; i++)
{
double cmdAngle = this->myIface->data->cmd_pos[i];
joint = dynamic_cast<HingeJoint*>(this->joints[i]);
Modified: code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.cc
===================================================================
--- code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.cc
2008-05-12 06:24:20 UTC (rev 6432)
+++ code/gazebo/trunk/server/controllers/camera/generic/Generic_Camera.cc
2008-05-12 16:51:48 UTC (rev 6433)
@@ -95,7 +95,6 @@
CameraData *data = this->cameraIface->data;
const unsigned char *src;
unsigned char *dst;
- int i, j, k;
Pose3d cameraPose;
this->cameraIface->Lock(1);
@@ -129,6 +128,7 @@
memcpy(dst, src, data->image_size);
+ //unsigned int i, j, k;
// OGRE image data is A8 B8 G8 R8. Must convert to R8 G8 B8
/* for (i=0; i<data->height; i++)
for (j=0; j<data->width; j++)
Modified:
code/gazebo/trunk/server/controllers/laser/sicklms200/SickLMS200_Laser.cc
===================================================================
--- code/gazebo/trunk/server/controllers/laser/sicklms200/SickLMS200_Laser.cc
2008-05-12 06:24:20 UTC (rev 6432)
+++ code/gazebo/trunk/server/controllers/laser/sicklms200/SickLMS200_Laser.cc
2008-05-12 16:51:48 UTC (rev 6433)
@@ -196,10 +196,11 @@
double maxAngle = this->myParent->GetMaxAngle();
double minAngle = this->myParent->GetMinAngle();
- double maxRange = this->myParent->GetMaxRange();
+//TODO: implement max range and rangeCount
+// double maxRange = this->myParent->GetMaxRange();
double minRange = this->myParent->GetMinRange();
int rayCount = this->myParent->GetRayCount();
- int rangeCount = this->myParent->GetRangeCount();
+// int rangeCount = this->myParent->GetRangeCount();
if (this->fiducialIface->Lock(1))
{
Modified:
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
===================================================================
---
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
2008-05-12 06:24:20 UTC (rev 6432)
+++
code/gazebo/trunk/server/controllers/position2d/differential/Differential_Position2d.cc
2008-05-12 16:51:48 UTC (rev 6433)
@@ -133,8 +133,6 @@
// Update the controller
void Differential_Position2d::UpdateChild(UpdateParams ¶ms)
{
- bool opened = false;
-
// TODO: Step should be in a parameter of this function
double wd, ws;
double d1, d2;
Modified: code/gazebo/trunk/server/controllers/ptz/generic/Generic_PTZ.cc
===================================================================
--- code/gazebo/trunk/server/controllers/ptz/generic/Generic_PTZ.cc
2008-05-12 06:24:20 UTC (rev 6432)
+++ code/gazebo/trunk/server/controllers/ptz/generic/Generic_PTZ.cc
2008-05-12 16:51:48 UTC (rev 6433)
@@ -165,7 +165,6 @@
void Generic_PTZ::PutPTZData()
{
PTZData *data = this->ptzIface->data;
- int i, j, k;
this->ptzIface->Lock(1);
Modified: code/gazebo/trunk/server/gui/Gui.cc
===================================================================
--- code/gazebo/trunk/server/gui/Gui.cc 2008-05-12 06:24:20 UTC (rev 6432)
+++ code/gazebo/trunk/server/gui/Gui.cc 2008-05-12 16:51:48 UTC (rev 6433)
@@ -48,8 +48,9 @@
////////////////////////////////////////////////////////////////////////////////
/// Constructor
FLTKGui::FLTKGui (int x, int y, int width, int height, const std::string &t)
- : Fl_Window(x, y, width+200, height+60, t.c_str()), Gui(x,y,width,height,
t)
-{
+ : Gui(x,y,width,height, t),
+ Fl_Window(x, y, width+200, height+60, t.c_str())
+ {
this->windowId = -1;
this->visual = NULL;
this->display = NULL;
@@ -57,7 +58,7 @@
Fl::scheme("plastic");
// Create a main menu
- MainMenu *mainMenu = new MainMenu(0,0,w(),30,(char *)"MainMenu");
+ new MainMenu(0,0,w(),30,(char *)"MainMenu");
// Create the Rendering window
this->glWindow = new GLWindow(0, 30, w()-200, h()-60,"GL Window");
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2008-05-12 06:24:20 UTC (rev
6432)
+++ code/gazebo/trunk/server/physics/Body.cc 2008-05-12 16:51:48 UTC (rev
6433)
@@ -467,7 +467,6 @@
*/
void Body::UpdateCoM()
{
- int i;
const dMass *lmass;
Pose3d oldPose, newPose, pose;
std::vector< Geom* >::iterator giter;
Modified: code/gazebo/trunk/server/physics/TrimeshGeom.cc
===================================================================
--- code/gazebo/trunk/server/physics/TrimeshGeom.cc 2008-05-12 06:24:20 UTC
(rev 6432)
+++ code/gazebo/trunk/server/physics/TrimeshGeom.cc 2008-05-12 16:51:48 UTC
(rev 6433)
@@ -91,7 +91,7 @@
Ogre::SubMesh* subMesh;
Ogre::MeshPtr mesh;
- int i,j,k;
+ unsigned int i,j;
unsigned int numVertices = 0;
unsigned int numIndices = 0;
const Ogre::VertexElement* elem;
Modified: code/gazebo/trunk/server/physics/UniversalJoint.cc
===================================================================
--- code/gazebo/trunk/server/physics/UniversalJoint.cc 2008-05-12 06:24:20 UTC
(rev 6432)
+++ code/gazebo/trunk/server/physics/UniversalJoint.cc 2008-05-12 16:51:48 UTC
(rev 6433)
@@ -68,7 +68,7 @@
// Perform this three step ordering to ensure the parameters are set
// properly. This is taken from the ODE wiki.
this->SetParam(dParamHiStop2, hiStop2);
- this->SetParam(dParamLoStop2, loStop1);
+ this->SetParam(dParamLoStop2, loStop2);
this->SetParam(dParamHiStop2, hiStop2);
}
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2008-05-12 06:24:20 UTC
(rev 6432)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2008-05-12 16:51:48 UTC
(rev 6433)
@@ -257,8 +257,8 @@
else
geom2 = (Geom*) dGeomGetData(o2);
-
- if (numc = dCollide (o1,o2,64, contactGeoms, sizeof(contactGeoms[0])))
+ numc = dCollide(o1,o2,64, contactGeoms, sizeof(contactGeoms[0]));
+ if (numc == 0)
{
for (i=0; i<numc; i++)
{
Modified: code/gazebo/trunk/server/rendering/MovableText.cc
===================================================================
--- code/gazebo/trunk/server/rendering/MovableText.cc 2008-05-12 06:24:20 UTC
(rev 6432)
+++ code/gazebo/trunk/server/rendering/MovableText.cc 2008-05-12 16:51:48 UTC
(rev 6433)
@@ -22,14 +22,14 @@
MovableText::MovableText()
: camera(NULL),
renderWindow(NULL) ,
+ viewportAspectCoef (0.75),
font(NULL) ,
spaceWidth(0) ,
updateColors(true) ,
+ vertAlign(V_BELOW) ,
+ horizAlign(H_LEFT) ,
onTop(false) ,
- horizAlign(H_LEFT) ,
- vertAlign(V_BELOW) ,
- baseline(0.0) ,
- viewportAspectCoef (0.75)
+ baseline(0.0)
{
this->renderOp.vertexData = NULL;
}
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2008-05-12 06:24:20 UTC
(rev 6432)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2008-05-12 16:51:48 UTC
(rev 6433)
@@ -291,8 +291,9 @@
rnode->SetValue("ambient", this->backgroundColor);
//TODO: BSP (when bsp are definitely integrated)
-
- if (cnode=node->GetChild("fog"))
+ //
+ cnode = rnode->GetChild("fog");
+ if (cnode)
OgreCreator::SaveFog(cnode);
}
Modified: code/gazebo/trunk/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.cc 2008-05-12 06:24:20 UTC
(rev 6432)
+++ code/gazebo/trunk/server/rendering/OgreCreator.cc 2008-05-12 16:51:48 UTC
(rev 6433)
@@ -236,7 +236,7 @@
Ogre::ColourValue color=OgreAdaptor::Instance()->sceneMgr->getFogColour();
Ogre::Real start = OgreAdaptor::Instance()->sceneMgr->getFogStart();
Ogre::Real end = OgreAdaptor::Instance()->sceneMgr->getFogEnd();
- Ogre::Real density = OgreAdaptor::Instance()->sceneMgr->getFogDensity();
+ //Ogre::Real density = OgreAdaptor::Instance()->sceneMgr->getFogDensity();
std::string fogMode="";
switch (OgreAdaptor::Instance()->sceneMgr->getFogMode())
@@ -251,6 +251,9 @@
//case default:
fogMode="linear";
break;
+ case Ogre::FOG_NONE:
+ fogMode="none";
+ break;
}
node->SetValue("type", fogMode);
node->SetValue("color", &color);
Modified: code/gazebo/trunk/server/rendering/OgreDynamicRenderable.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreDynamicRenderable.cc 2008-05-12
06:24:20 UTC (rev 6432)
+++ code/gazebo/trunk/server/rendering/OgreDynamicRenderable.cc 2008-05-12
16:51:48 UTC (rev 6433)
@@ -76,26 +76,28 @@
// Get the render operation type
OgreDynamicRenderable::OperationType OgreDynamicRenderable::GetOperationType()
const
{
+ OperationType type = OT_POINT_LIST;
switch (this->mRenderOp.operationType)
{
case Ogre::RenderOperation::OT_POINT_LIST:
- return OT_POINT_LIST;
+ type = OT_POINT_LIST;
case Ogre::RenderOperation::OT_LINE_LIST:
- return OT_LINE_LIST;
+ type = OT_LINE_LIST;
case Ogre::RenderOperation::OT_LINE_STRIP:
- return OT_LINE_STRIP;
+ type = OT_LINE_STRIP;
case Ogre::RenderOperation::OT_TRIANGLE_LIST:
- return OT_TRIANGLE_LIST;
+ type = OT_TRIANGLE_LIST;
case Ogre::RenderOperation::OT_TRIANGLE_STRIP:
- return OT_TRIANGLE_STRIP;
+ type = OT_TRIANGLE_STRIP;
case Ogre::RenderOperation::OT_TRIANGLE_FAN:
- return OT_TRIANGLE_FAN;
+ type = OT_TRIANGLE_FAN;
}
+ return type;
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/rendering/OgreSimpleShape.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreSimpleShape.cc 2008-05-12
06:24:20 UTC (rev 6432)
+++ code/gazebo/trunk/server/rendering/OgreSimpleShape.cc 2008-05-12
16:51:48 UTC (rev 6433)
@@ -173,7 +173,6 @@
float *vertices;
unsigned short *indices;
Vector3 vert, norm;
- unsigned short verticeIndex = 0;
size_t currOffset = 0;
int i,j,k;
@@ -351,7 +350,7 @@
Vector3 vert, norm;
unsigned short verticeIndex = 0;
size_t currOffset = 0;
- int i,j;
+ unsigned int i,j;
int ring, seg;
float deltaSegAngle = (2.0 * M_PI / segments);
Modified: code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-05-12 06:24:20 UTC (rev 6432)
+++ code/gazebo/trunk/server/sensors/camera/StereoCameraSensor.cc
2008-05-12 16:51:48 UTC (rev 6433)
@@ -89,7 +89,6 @@
{
Ogre::Viewport *cviewport;
Ogre::MaterialPtr matPtr;
- Ogre::TextureUnitState *texUnit;
Ogre::HardwarePixelBufferSharedPtr mBuffer;
int i;
@@ -187,7 +186,6 @@
Ogre::Viewport *vp = NULL;
Ogre::SceneManager *sceneMgr = adapt->sceneMgr;
Ogre::Pass *pass;
- Ogre::Pass *prev_pass;
Ogre::SceneNode *gridNode = sceneMgr->getSceneNode("__OGRE_GRID_NODE__");
int i;
@@ -351,13 +349,13 @@
fprintf( fp, "P6\n# Gazebo\n%d %d\n255\n", this->imageWidth,
this->imageHeight);
- for (int i = 0; i<this->imageHeight; i++)
+ for (unsigned int i = 0; i<this->imageHeight; i++)
{
- for (int j =0; j<this->imageWidth; j++)
+ for (unsigned int j =0; j<this->imageWidth; j++)
{
float f = this->depthBuffer[0][i*this->imageWidth+j];
-
- unsigned char value = f * 255;
+
+ unsigned char value = static_cast<unsigned char>((double)f * 255);
fwrite( &value, 1, 1, fp );
fwrite( &value, 1, 1, fp );
fwrite( &value, 1, 1, fp );
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