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Merged
aaronchongth merged 2 commits into from
Apr 8, 2026
Merged

Resolve warnings #135

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b81f8f4
resolve warnings
aaronchongth Apr 7, 2026
e29d4c9
resolve UB
aaronchongth Apr 7, 2026
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6 changes: 2 additions & 4 deletions rmf_task/src/rmf_task/internal_task_planning.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -186,20 +186,18 @@ struct Node
{
unassigned_tasks.erase(task_id);

bool popped_invariant = false;
InvariantSet::iterator erase_it;
InvariantSet::iterator erase_it = unassigned_invariants.end();
for (auto it = unassigned_invariants.begin();
it != unassigned_invariants.end(); ++it)
{
if (it->task_id == task_id)
{
popped_invariant = true;
erase_it = it;
break;
}
}
assert(erase_it != unassigned_invariants.end());
unassigned_invariants.erase(erase_it);
assert(popped_invariant);
}
};

Expand Down
3 changes: 1 addition & 2 deletions rmf_task/test/unit/agv/test_TaskPlanner.cpp
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Expand Up @@ -72,7 +72,7 @@ inline void CHECK_TIMES(const TaskPlanner::Assignments& assignments,
//==============================================================================
inline bool check_implicit_charging_task_start(
const TaskPlanner::Assignments& assignments,
const double initial_soc)
const double /*initial_soc*/)
{
bool implicit_charging_task_added = false;
for (const auto& agent : assignments)
Expand All @@ -82,7 +82,6 @@ inline bool check_implicit_charging_task_start(
continue;
}

const auto& s = agent[0].finish_state();
auto is_charge_request =
std::dynamic_pointer_cast<
const rmf_task::requests::ChargeBattery::Description>(
Expand Down
4 changes: 2 additions & 2 deletions rmf_task_sequence/src/rmf_task_sequence/Task.cpp
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Expand Up @@ -1035,7 +1035,7 @@ void Task::Active::_begin_next_stage(std::optional<nlohmann::json> restore)
tag,
*_active_stage->description,
std::move(restore),
[me = weak_from_this()](Phase::ConstSnapshotPtr snapshot)
[me = weak_from_this()](Phase::ConstSnapshotPtr /*snapshot*/)
{
if (const auto self = me.lock())
{
Expand Down Expand Up @@ -1209,7 +1209,7 @@ auto Task::make_activator(
return Active::make(
phase_activator,
clock,
std::move(get_state),
get_state,
parameters,
booking,
description,
Expand Down
2 changes: 1 addition & 1 deletion rmf_task_sequence/src/rmf_task_sequence/events/PerformAction.cpp
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Expand Up @@ -80,7 +80,7 @@ std::optional<rmf_task::Estimate> PerformAction::Model::estimate_finish(
rmf_task::State initial_state,
rmf_traffic::Time earliest_arrival_time,
const Constraints& constraints,
const TravelEstimator& travel_estimator) const
const TravelEstimator& /*travel_estimator*/) const
{
initial_state.time(initial_state.time().value() + _invariant_duration);
if (_invariant_finish_state.waypoint().has_value())
Expand Down
4 changes: 3 additions & 1 deletion rmf_task_sequence/test/unit/utils.hpp
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Expand Up @@ -68,7 +68,7 @@ std::shared_ptr<rmf_task::Constraints> make_test_constraints(

//==============================================================================
std::shared_ptr<rmf_task::Parameters> make_test_parameters(
bool drain_battery = true)
bool /*drain_battery*/ = true)
{
using BatterySystem = rmf_battery::agv::BatterySystem;
using MechanicalSystem = rmf_battery::agv::MechanicalSystem;
Expand Down Expand Up @@ -206,6 +206,7 @@ void CHECK_STATE(

//==============================================================================
// TODO(YV): Also check for invariant_finish_state
[[maybe_unused]]
void CHECK_MODEL(
const rmf_task_sequence::Activity::Model& model,
const rmf_task::State& initial_state,
Expand All @@ -227,6 +228,7 @@ void CHECK_MODEL(
}

//==============================================================================
[[maybe_unused]]
std::optional<rmf_traffic::Duration> estimate_travel_duration(
const std::shared_ptr<const rmf_traffic::agv::Planner>& planner,
const rmf_task::State& initial_state,
Expand Down
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