Merge pull request #47 from ros-controls/w-unused-parameter

Address -Wunused-parameter warnings

Author: Adolfo Rodriguez Tsouroukdissian

include/control_toolbox/pid.h

@@ -182,7 +182,7 @@ class Pid
    * \param i_max The max integral windup.
    * \param i_min The min integral windup.
    */
-  void initPid(double p, double i, double d, double i_max, double i_min, const ros::NodeHandle &node);
+  void initPid(double p, double i, double d, double i_max, double i_min, const ros::NodeHandle& /*node*/);
 
   /*!
    * \brief Initialize PID with the parameters in a namespace
@@ -263,7 +263,7 @@ class Pid
   /**
    * \brief Update the PID parameters from dynamics reconfigure
    */
-  void dynamicReconfigCallback(control_toolbox::ParametersConfig &config, uint32_t level);
+  void dynamicReconfigCallback(control_toolbox::ParametersConfig &config, uint32_t /*level*/);
 
   /*!
    * \brief Set the PID error and compute the PID command with nonuniform time

src/limited_proxy.cpp

@@ -122,7 +122,7 @@ static void calcDynamics2ndorder(double &a, double &dadp, double &dadv,
 // occur in a first order system.
 
 static void calcDynamics1storder(double &a, double &dadv,
-				 double v, double lam, double acon)
+				 double v, double lam, double /*acon*/)
 {
   a    = - lam*v;
   dadv = - lam;
@@ -166,8 +166,8 @@ double LimitedProxy::update(double pos_des, double vel_des, double acc_des,
   double Ficl = abs(Ficl_);		// Integral force clamp
   double Flim = abs(effort_limit_);	// Limit on output force
   double vlim = abs(vel_limit_);	// Limit on velocity
-  double pmax = pos_upper_limit_;	// Upper position bound
-  double pmin = pos_lower_limit_;	// Lower position bound
+  //double pmax = pos_upper_limit_;	// Upper position bound. NOTE: Unused
+  //double pmin = pos_lower_limit_;	// Lower position bound. NOTE: Unused
   double lam  = abs(lambda_proxy_);	// Bandwidth of proxy reconvergence
   double acon = abs(acc_converge_);	// Acceleration of proxy reconvergence
 
@@ -191,7 +191,7 @@ double LimitedProxy::update(double pos_des, double vel_des, double acc_des,
   double last_pos_pxy = last_proxy_pos_;
   double last_vel_pxy = last_proxy_vel_;
   double last_acc_pxy = last_proxy_acc_;
-  double last_vel_err = last_vel_error_;
+  //double last_vel_err = last_vel_error_;. NOTE: Unused
   double last_pos_err = last_pos_error_;
   double last_int_err = last_int_error_;
 

src/pid.cpp

@@ -68,7 +68,7 @@ Pid::~Pid()
 }
 
 void Pid::initPid(double p, double i, double d, double i_max, double i_min,
-  const ros::NodeHandle &node)
+  const ros::NodeHandle& /*node*/)
 {
   initPid(p, i, d, i_max, i_min);
 
@@ -256,7 +256,7 @@ void Pid::updateDynamicReconfig(control_toolbox::ParametersConfig config)
   param_reconfig_mutex_.unlock();
 }
 
-void Pid::dynamicReconfigCallback(control_toolbox::ParametersConfig &config, uint32_t level)
+void Pid::dynamicReconfigCallback(control_toolbox::ParametersConfig &config, uint32_t /*level*/)
 {
   ROS_DEBUG_STREAM_NAMED("pid","Dynamics reconfigure callback recieved.");
 

test/pid_tests.cpp

@@ -37,7 +37,6 @@ TEST(ParameterTest, integrationWindupTest)
   Pid pid(0.0, 2.0, 0.0, 1.0, -1.0);
 
   double cmd = 0.0;
-  double pe,ie,de;
 
   cmd = pid.computeCommand(-1.0, ros::Duration(1.0));
   EXPECT_EQ(-1.0, cmd);