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environment_preload: fix windows compiler warnings #2246

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merged 2 commits into from
Nov 16, 2023
Merged

environment_preload: fix windows compiler warnings #2246

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ad123ab
Fix spelling in documentation
scpeters Nov 14, 2023
1b7fdf0
environment_preload: fix type cast warnings
scpeters Nov 14, 2023
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11 changes: 8 additions & 3 deletions src/systems/environment_preload/EnvironmentPreload.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -71,7 +71,7 @@ class gz::sim::systems::EnvironmentPreloadPrivate
public: bool visualize{false};

/// \brief Sample resolutions
public: math::Vector3d samples;
public: math::Vector3<unsigned int> samples;

/// \brief Is the file loaded
public: bool fileLoaded{false};
Expand Down Expand Up @@ -106,8 +106,13 @@ class gz::sim::systems::EnvironmentPreloadPrivate
// Only visualize if a file exists
return;
}
auto converted = msgs::Convert(_resChanged);
if (this->samples == converted)
math::Vector3<unsigned int> converted{
static_cast<unsigned int>(ceil(_resChanged.x())),
static_cast<unsigned int>(ceil(_resChanged.y())),
static_cast<unsigned int>(ceil(_resChanged.z()))};
if (this->samples.X() == converted.X() &&
this->samples.Y() == converted.Y() &&
this->samples.Z() == converted.Z())
{
// If the sample has not changed return.
// This is because resampling is expensive.
Expand Down
10 changes: 5 additions & 5 deletions src/systems/environment_preload/VisualizationTool.cc
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Expand Up @@ -61,7 +61,7 @@ void EnvironmentVisualizationTool::Step(
const UpdateInfo &_info,
const EntityComponentManager &_ecm,
const std::shared_ptr<components::EnvironmentalData> &_data,
double _xSamples, double _ySamples, double _zSamples)
unsigned int _xSamples, unsigned int _ySamples, unsigned int _zSamples)
{
if (this->finishedTime)
{
Expand Down Expand Up @@ -114,7 +114,7 @@ void EnvironmentVisualizationTool::Step(
/////////////////////////////////////////////////
void EnvironmentVisualizationTool::Visualize(
const std::shared_ptr<components::EnvironmentalData> &_data,
double _xSamples, double _ySamples, double _zSamples)
unsigned int _xSamples, unsigned int _ySamples, unsigned int _zSamples)
{
for (auto key : _data->frame.Keys())
{
Expand All @@ -126,13 +126,13 @@ void EnvironmentVisualizationTool::Visualize(
auto dy = step.Y() / _ySamples;
auto dz = step.Z() / _zSamples;
std::size_t idx = 0;
for (std::size_t x_steps = 0; x_steps < ceil(_xSamples); x_steps++)
for (std::size_t x_steps = 0; x_steps < _xSamples; x_steps++)
{
auto x = lower_bound.X() + x_steps * dx;
for (std::size_t y_steps = 0; y_steps < ceil(_ySamples); y_steps++)
for (std::size_t y_steps = 0; y_steps < _ySamples; y_steps++)
{
auto y = lower_bound.Y() + y_steps * dy;
for (std::size_t z_steps = 0; z_steps < ceil(_zSamples); z_steps++)
for (std::size_t z_steps = 0; z_steps < _zSamples; z_steps++)
{
auto z = lower_bound.Z() + z_steps * dz;
auto res = frame.LookUp(session, math::Vector3d(x, y, z));
Expand Down
12 changes: 6 additions & 6 deletions src/systems/environment_preload/VisualizationTool.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -69,7 +69,7 @@ class EnvironmentVisualizationTool

/// \brief Create publisher structures whenever a new environment is made
/// available.
/// \param[in] _data Data to be visuallized
/// \param[in] _data Data to be visualized
/// \param[in] _info simulation info for current time step
private: void CreatePointCloudTopics(
const std::shared_ptr<components::EnvironmentalData> &_data,
Expand All @@ -81,32 +81,32 @@ class EnvironmentVisualizationTool
/// \brief Step the visualizations
/// \param[in] _info The simulation info including timestep
/// \param[in] _ecm The Entity-Component-Manager
/// \param[in] _data The data to be visuallized
/// \param[in] _data The data to be visualized
/// \param[in] _xSample Samples along x
/// \param[in] _ySample Samples along y
/// \param[in] _zSample Samples along z
public: void Step(
const UpdateInfo &_info,
const EntityComponentManager &_ecm,
const std::shared_ptr<components::EnvironmentalData> &_data,
double _xSamples, double _ySamples, double _zSamples);
unsigned int _xSamples, unsigned int _ySamples, unsigned int _zSamples);

/// \brief Publishes a sample of the data
/// \param[in] _data The data to be visuallized
/// \param[in] _data The data to be visualized
/// \param[in] _xSample Samples along x
/// \param[in] _ySample Samples along y
/// \param[in] _zSample Samples along z
private: void Visualize(
const std::shared_ptr<components::EnvironmentalData> &_data,
double _xSamples, double _ySamples, double _zSamples);
unsigned int _xSamples, unsigned int _ySamples, unsigned int _zSamples);

/// \brief Get the point cloud data.
private: void Publish();

/// \brief Resize the point cloud structure (used to reallocate
/// memory when resolution changes)
/// \param[in] _ecm The Entity-Component-Manager
/// \param[in] _data The data to be visuallized
/// \param[in] _data The data to be visualized
/// \param[in] _xSample Samples along x
/// \param[in] _ySample Samples along y
/// \param[in] _zSample Samples along z
Expand Down
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