diff --git a/core/include/moveit/task_constructor/cost_terms.h b/core/include/moveit/task_constructor/cost_terms.h index e9d8d502..6e3e8de5 100644 --- a/core/include/moveit/task_constructor/cost_terms.h +++ b/core/include/moveit/task_constructor/cost_terms.h @@ -118,7 +118,7 @@ class PathLength : public TrajectoryCostTerm public: PathLength() = default; PathLength(std::vector j) : joints{ std::move(j) } {}; - double operator()(const SubTrajectory&, std::string&) const override; + double operator()(const SubTrajectory& s, std::string& comment) const override; std::vector joints; }; diff --git a/core/test/test_serial.cpp b/core/test/test_serial.cpp index a3dd4863..424292c1 100644 --- a/core/test/test_serial.cpp +++ b/core/test/test_serial.cpp @@ -30,9 +30,9 @@ struct PredefinedCosts : CostTerm return cost_; } - double operator()(const SubTrajectory& s, std::string& comment) const override { return cost(); } - double operator()(const SolutionSequence& s, std::string& comment) const override { return cost(); } - double operator()(const WrappedSolution& s, std::string& comment) const override { return cost(); } + double operator()(const SubTrajectory& /*s*/, std::string& /*comment*/) const override { return cost(); } + double operator()(const SolutionSequence& /*s*/, std::string& /*comment*/) const override { return cost(); } + double operator()(const WrappedSolution& /*s*/, std::string& /*comment*/) const override { return cost(); } }; /** Generator creating solutions with given costs */ @@ -197,9 +197,9 @@ TEST_F(Pruning, PropagatorFailure) { add(task, new ForwardMockup({ INF })); EXPECT_FALSE(task.plan()); - ASSERT_EQ(task.solutions().size(), 0); + ASSERT_EQ(task.solutions().size(), 0u); // ForwardMockup fails, so the backward stage should never compute - EXPECT_EQ(back->calls_, 0); + EXPECT_EQ(back->calls_, 0u); } TEST_F(Pruning, PruningMultiForward) { @@ -215,7 +215,7 @@ TEST_F(Pruning, PruningMultiForward) { // the second (infeasible) solution in the last stage must not disable // the earlier partial solution just because they share stage solutions - ASSERT_EQ(task.solutions().size(), 1); + ASSERT_EQ(task.solutions().size(), 1u); EXPECT_EQ((*task.solutions().begin())->cost(), 0u); } @@ -273,7 +273,7 @@ TEST_F(Pruning, PropagateIntoContainer) { // the failure in the backward stage (outside the container) // should prune the expected computation of con inside the container - EXPECT_EQ(con->calls_, 0); + EXPECT_EQ(con->calls_, 0u); } TEST_F(Pruning, PropagateFromContainerPull) { @@ -288,7 +288,7 @@ TEST_F(Pruning, PropagateFromContainerPull) { EXPECT_FALSE(task.plan()); // the failure inside the container should prune computing of back - EXPECT_EQ(back->calls_, 0); + EXPECT_EQ(back->calls_, 0u); } TEST_F(Pruning, PropagateFromContainerPush) { @@ -302,7 +302,7 @@ TEST_F(Pruning, PropagateFromContainerPush) { EXPECT_FALSE(task.plan()); // the failure inside container should prune computing of con - EXPECT_EQ(con->calls_, 0); + EXPECT_EQ(con->calls_, 0u); } TEST_F(Pruning, PropagateFromParallelContainerMultiplePaths) { @@ -318,5 +318,5 @@ TEST_F(Pruning, PropagateFromParallelContainerMultiplePaths) { EXPECT_TRUE(task.plan()); // the failure in one branch of Alternatives must not prune computing back - EXPECT_EQ(back->calls_, 1); + EXPECT_EQ(back->calls_, 1u); }