fix(control performance analysis): suppress warnings (autowarefoundat…

…ion#293) * fix: delete unused variable Signed-off-by: h-ohta <hiroki.ota@tier4.jp> * feat: add Werror Signed-off-by: h-ohta <hiroki.ota@tier4.jp> * fix: fix clang-diagnostic-unused-private-field Signed-off-by: h-ohta <hiroki.ota@tier4.jp>
badai-nguyen · Feb 2, 2022 · a77f528 · a77f528
1 parent 7c4f24f
commit a77f528
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Showing 3 changed files with 1 addition and 9 deletions.
diff --git a/control/control_performance_analysis/CMakeLists.txt b/control/control_performance_analysis/CMakeLists.txt
@@ -8,7 +8,7 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
 endif()
 
 find_package(ament_cmake_auto REQUIRED)

diff --git a/...mance_analysis/include/control_performance_analysis/control_performance_analysis_node.hpp b/...mance_analysis/include/control_performance_analysis/control_performance_analysis_node.hpp
@@ -88,7 +88,6 @@ class ControlPerformanceAnalysisNode : public rclcpp::Node
 
   // Parameters
   Param param_{};  // wheelbase, control period and feedback coefficients.
-  TargetPerformanceMsgVars target_error_vars_{};
 
   // Subscriber Parameters
   Trajectory::ConstSharedPtr current_trajectory_ptr_;  // ConstPtr to local traj.

diff --git a/control/control_performance_analysis/src/control_performance_analysis_core.cpp b/control/control_performance_analysis/src/control_performance_analysis_core.cpp
@@ -162,8 +162,6 @@ bool ControlPerformanceAnalysisCore::isDataReady() const
 
 std::pair<bool, TargetPerformanceMsgVars> ControlPerformanceAnalysisCore::getPerformanceVars()
 {
-  constexpr double EPS = std::numeric_limits<double>::epsilon();
-
   // Check if data is ready.
   if (!isDataReady() || !idx_prev_wp_) {
     return std::make_pair(false, TargetPerformanceMsgVars{});
@@ -225,9 +223,6 @@ std::pair<bool, TargetPerformanceMsgVars> ControlPerformanceAnalysisCore::getPer
   target_vars.error_energy = error_vec.dot(error_vec);
   target_vars.value_approximation = error_vec.transpose() * lyap_P_ * error_vec;  // x'Px
 
-  double prev_value_approximation = prev_target_vars_->value_approximation;
-  double && value_decay = target_vars.value_approximation - prev_value_approximation;
-
   target_vars.curvature_estimate = curvature_est;
   target_vars.curvature_estimate_pp = curvature_est_pp;
 
@@ -401,8 +396,6 @@ double ControlPerformanceAnalysisCore::estimateCurvature()
     front_axleWP_pose_prev.position.x - front_axleWP_pose.position.x,
     front_axleWP_pose_prev.position.y - front_axleWP_pose.position.y);
 
-  auto distance_to_traj0 = idx_prev_waypoint * ds_arc_length;
-
   // Define waypoints 10 meters behind the rear axle if exist.
   // If not exist, we will take the first point of the
   // curvature triangle as the start point of the trajectory.