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Get rid of some warnings in Bezier3

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This commit is contained in:
Emma Broman
2020-05-01 14:46:04 +02:00
parent 96abb18ebe
commit b04528fa8a
1 changed files with 8 additions and 12 deletions
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20
modules/autonavigation/pathcurves.cpp
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@@ -166,13 +166,9 @@ Bezier3Curve::Bezier3Curve(const Waypoint& start, const Waypoint& end) {
// Interpolate a list of control points and knot times
glm::dvec3 Bezier3Curve::positionAt(double u) {
ghoul_assert(u >= 0 && u <= 1.0, "Interpolation variable out of range [0, 1]");
size_t nrPoints = _points.size();
size_t nrTimes = _parameterIntervals.size();
ghoul_assert(nrPoints > 4, "Minimum of four control points needed for interpolation!");
ghoul_assert((nrPoints - 1) % 3 == 0, "A vector containing 3n + 1 control points must be provided!");
ghoul_assert(_nrSegments == (nrTimes - 1), "Number of interval times must match number of intervals");
ghoul_assert(_points.size() > 4, "Minimum of four control points needed for interpolation!");
ghoul_assert((_points.size() - 1) % 3 == 0, "A vector containing 3n + 1 control points must be provided!");
ghoul_assert(_nrSegments == (_parameterIntervals.size() - 1), "Number of interval times must match number of intervals");
if (abs(u) < Epsilon)
return _points.front();
@@ -183,16 +179,16 @@ glm::dvec3 Bezier3Curve::positionAt(double u) {
// compute current segment, by first finding iterator to the first value that is larger than s
std::vector<double>::iterator segmentEndIt =
std::lower_bound(_parameterIntervals.begin(), _parameterIntervals.end(), u);
unsigned int segmentIdx = (segmentEndIt - 1) - _parameterIntervals.begin();
unsigned int segmentIdx = (unsigned int)((segmentEndIt - 1) - _parameterIntervals.begin());
double segmentStart = _parameterIntervals[segmentIdx];
double segmentDuration = (_parameterIntervals[segmentIdx + 1] - _parameterIntervals[segmentIdx]);
double sScaled = (u - segmentStart) / segmentDuration;
double segmentDuration = (_parameterIntervals[segmentIdx + 1] - segmentStart);
double uScaled = (u - segmentStart) / segmentDuration;
unsigned int idx = segmentIdx * 3;
// Interpolate using De Casteljau's algorithm
return interpolation::cubicBezier(sScaled, _points[idx], _points[idx + 1],
return interpolation::cubicBezier(uScaled, _points[idx], _points[idx + 1],
_points[idx + 2], _points[idx + 3]);
}
@@ -202,7 +198,7 @@ void Bezier3Curve::initParameterIntervals() {
double dt = 1.0 / _nrSegments;
newIntervals.push_back(0.0);
for (int i = 1; i < _nrSegments; i++) {
for (unsigned int i = 1; i < _nrSegments; i++) {
newIntervals.push_back(arcLength(dt * i) / _length);
}
newIntervals.push_back(1.0);