Lots of compiler warnings, some of them potentially critical

[meyerj]

When compiling with more strict compiler warning settings:

[ 80%] Building CXX object CMakeFiles/srl_dstar_lite.dir/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp.o                                                                                                            
In file included from srl_dstar_lite/src/dstar.cpp:20:                                                                                                                                           
In file included from srl_dstar_lite/include/srl_dstar_lite/dstar.h:27:                                                                                                                          
In file included from /usr/bin/../lib/gcc/x86_64-linux-gnu/5.4.0/../../../../include/c++/5.4.0/ext/hash_map:60:                                                                                                                        
/usr/bin/../lib/gcc/x86_64-linux-gnu/5.4.0/../../../../include/c++/5.4.0/backward/backward_warning.h:32:2: error: This file includes at least one deprecated or antiquated header which   may be removed without further notice at a future date. Please use a   non-deprecated interface with equivalent functionality instead. For a   listing of replacement headers and interfaces, consult the file   backward_warning.h. To disable this warning use -Wno-deprecated. [-Werror,-W#warnings]
#warning \                                                                                                                                                                                                                             
 ^                                                                                                                                                                                                                                     
In file included from srl_dstar_lite/src/dstar.cpp:20:                                                                                                                                           
srl_dstar_lite/include/srl_dstar_lite/dstar.h:83:16: warning: implicit conversion changes signedness: 'int' to 'size_t' (aka 'unsigned long') [-Wsign-conversion]                                
    return s.x + 34245*s.y;                                                                                                                                                                                                            
    ~~~~~~ ~~~~^~~~~~~~~~~                                                                                                                                                                                                             
srl_dstar_lite/src/dstar.cpp:183:1: error: control reaches end of non-void function [-Werror,-Wreturn-type]                                                                                      
}                                                                                                                                                                                                                                      
^                                                                                                                                                                                                                                      
srl_dstar_lite/src/dstar.cpp:190:10: error: unused variable 'temp' [-Werror,-Wunused-variable]                                                                                                   
  double temp;                                                                                                                                                                                                                         
         ^                                                                                                                                                                                                                             
srl_dstar_lite/src/dstar.cpp:218:30: error: '&&' within '||' [-Werror,-Wlogical-op-parentheses]                                                                                                  
  while ((!openList.empty()) &&                                                                                                                                                                                                        
         ~~~~~~~~~~~~~~~~~~~~^~                                                                                                                                                                                                        
srl_dstar_lite/src/dstar.cpp:218:30: note: place parentheses around the '&&' expression to silence this warning                                                                                  
  while ((!openList.empty()) &&                                                                                                                                                                                                        
                             ^                                                                                                                                                                                                         
srl_dstar_lite/src/dstar.cpp:723:28: warning: unused parameter 's' [-Wunused-parameter]                                                                                                          
void Dstar::drawCell(state s, float z) {}                                                                                                                                                                                              
                           ^                                                                                                                                                                                                           
srl_dstar_lite/src/dstar.cpp:723:37: warning: unused parameter 'z' [-Wunused-parameter]                                                                                                          
void Dstar::drawCell(state s, float z) {}                                                                                                                                                                                              
                                    ^                                                                                                                                                                                                  
3 warnings and 4 errors generated.                                                                                                                                                                                                     
distcc[6767] ERROR: compile srl_dstar_lite/src/dstar.cpp on localhost failed                                                                                                                     
CMakeFiles/srl_dstar_lite.dir/build.make:88: recipe for target 'CMakeFiles/srl_dstar_lite.dir/src/dstar.cpp.o' failed                                                                                                                  
make[2]: *** [CMakeFiles/srl_dstar_lite.dir/src/dstar.cpp.o] Error 1                                                                                                                                                                   
make[2]: *** Waiting for unfinished jobs....                                                                                                                                                                                           
distcc[6779] ERROR: compile /home/johannes/.ccache/tmp/pathSpline.stdout.im-laptop-007.6768.luQX5K.ii on localhost failed                                                                                                              
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:114:1149: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  do { do { if (__builtin_expect((!::ros::console::g_initialized),0)) { ::ros::console::initialize(); } } while(false); static ::ros::console::LogLocation __rosconsole_define_location__loc = {false, false, ::ros::console::levels::Count, 0}; if (__builtin_expect((!__rosconsole_define_location__loc.initialized_),0)) { initializeLogLocation(&__rosconsole_define_location__loc, "ros" "." "srl_dstar_lite", ::ros::console::levels::Debug); } if (__builtin_expect((__rosconsole_define_location__loc.level_ != ::ros::console::levels::Debug),0)) { setLogLocationLevel(&__rosconsole_define_location__loc, ::ros::console::levels::Debug); checkLogLocationEnabled(&__rosconsole_define_location__loc); } bool __rosconsole_define_location__enabled = __rosconsole_define_location__loc.logger_enabled_ && (true);; if (__builtin_expect((__rosconsole_define_location__enabled),0)) { ::ros::console::print(0, __rosconsole_define_location__loc.logger_, __rosconsole_define_location__loc.level_, "srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp", 114, __PRETTY_FUNCTION__, "(%f, %f, %f)", path_.at(i).x, path_.at(i).y, path_.at(i).theta); } } while(false);
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   ~~~~~    ^
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:114:1164: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  do { do { if (__builtin_expect((!::ros::console::g_initialized),0)) { ::ros::console::initialize(); } } while(false); static ::ros::console::LogLocation __rosconsole_define_location__loc = {false, false, ::ros::console::levels::Count, 0}; if (__builtin_expect((!__rosconsole_define_location__loc.initialized_),0)) { initializeLogLocation(&__rosconsole_define_location__loc, "ros" "." "srl_dstar_lite", ::ros::console::levels::Debug); } if (__builtin_expect((__rosconsole_define_location__loc.level_ != ::ros::console::levels::Debug),0)) { setLogLocationLevel(&__rosconsole_define_location__loc, ::ros::console::levels::Debug); checkLogLocationEnabled(&__rosconsole_define_location__loc); } bool __rosconsole_define_location__enabled = __rosconsole_define_location__loc.logger_enabled_ && (true);; if (__builtin_expect((__rosconsole_define_location__enabled),0)) { ::ros::console::print(0, __rosconsole_define_location__loc.logger_, __rosconsole_define_location__loc.level_, "srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp", 114, __PRETTY_FUNCTION__, "(%f, %f, %f)", path_.at(i).x, path_.at(i).y, path_.at(i).theta); } } while(false);
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  ~~~~~    ^
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:114:1179: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  do { do { if (__builtin_expect((!::ros::console::g_initialized),0)) { ::ros::console::initialize(); } } while(false); static ::ros::console::LogLocation __rosconsole_define_location__loc = {false, false, ::ros::console::levels::Count, 0}; if (__builtin_expect((!__rosconsole_define_location__loc.initialized_),0)) { initializeLogLocation(&__rosconsole_define_location__loc, "ros" "." "srl_dstar_lite", ::ros::console::levels::Debug); } if (__builtin_expect((__rosconsole_define_location__loc.level_ != ::ros::console::levels::Debug),0)) { setLogLocationLevel(&__rosconsole_define_location__loc, ::ros::console::levels::Debug); checkLogLocationEnabled(&__rosconsole_define_location__loc); } bool __rosconsole_define_location__enabled = __rosconsole_define_location__loc.logger_enabled_ && (true);; if (__builtin_expect((__rosconsole_define_location__enabled),0)) { ::ros::console::print(0, __rosconsole_define_location__loc.logger_, __rosconsole_define_location__loc.level_, "srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp", 114, __PRETTY_FUNCTION__, "(%f, %f, %f)", path_.at(i).x, path_.at(i).y, path_.at(i).theta); } } while(false);
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 ~~~~~    ^
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:109:10: error: implicit conversion loses integer precision: 'size_type' (aka 'unsigned long') to 'int' [-Werror,-Wshorten-64-to-32]
 int l = path_.size();                                                                                                                                                                                                                 
     ~   ^~~~~~~~~~~~                                                                                                                                                                                                                  
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:125:1150: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  do { do { if (__builtin_expect((!::ros::console::g_initialized),0)) { ::ros::console::initialize(); } } while(false); static ::ros::console::LogLocation __rosconsole_define_location__loc = {false, false, ::ros::console::levels::Count, 0}; if (__builtin_expect((!__rosconsole_define_location__loc.initialized_),0)) { initializeLogLocation(&__rosconsole_define_location__loc, "ros" "." "srl_dstar_lite", ::ros::console::levels::Debug); } if (__builtin_expect((__rosconsole_define_location__loc.level_ != ::ros::console::levels::Debug),0)) { setLogLocationLevel(&__rosconsole_define_location__loc, ::ros::console::levels::Debug); checkLogLocationEnabled(&__rosconsole_define_location__loc); } bool __rosconsole_define_location__enabled = __rosconsole_define_location__loc.logger_enabled_ && (true);; if (__builtin_expect((__rosconsole_define_location__enabled),0)) { ::ros::console::print(0, __rosconsole_define_location__loc.logger_, __rosconsole_define_location__loc.level_, "srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp", 125, __PRETTY_FUNCTION__, "(%f, %f, %f)", pathC_.at(i).x, pathC_.at(i).y, pathC_.at(i).theta); } } while(false);
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   ~~~~~~    ^
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:125:1166: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  do { do { if (__builtin_expect((!::ros::console::g_initialized),0)) { ::ros::console::initialize(); } } while(false); static ::ros::console::LogLocation __rosconsole_define_location__loc = {false, false, ::ros::console::levels::Count, 0}; if (__builtin_expect((!__rosconsole_define_location__loc.initialized_),0)) { initializeLogLocation(&__rosconsole_define_location__loc, "ros" "." "srl_dstar_lite", ::ros::console::levels::Debug); } if (__builtin_expect((__rosconsole_define_location__loc.level_ != ::ros::console::levels::Debug),0)) { setLogLocationLevel(&__rosconsole_define_location__loc, ::ros::console::levels::Debug); checkLogLocationEnabled(&__rosconsole_define_location__loc); } bool __rosconsole_define_location__enabled = __rosconsole_define_location__loc.logger_enabled_ && (true);; if (__builtin_expect((__rosconsole_define_location__enabled),0)) { ::ros::console::print(0, __rosconsole_define_location__loc.logger_, __rosconsole_define_location__loc.level_, "srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp", 125, __PRETTY_FUNCTION__, "(%f, %f, %f)", pathC_.at(i).x, pathC_.at(i).y, pathC_.at(i).theta); } } while(false);
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   ~~~~~~    ^
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:125:1182: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  do { do { if (__builtin_expect((!::ros::console::g_initialized),0)) { ::ros::console::initialize(); } } while(false); static ::ros::console::LogLocation __rosconsole_define_location__loc = {false, false, ::ros::console::levels::Count, 0}; if (__builtin_expect((!__rosconsole_define_location__loc.initialized_),0)) { initializeLogLocation(&__rosconsole_define_location__loc, "ros" "." "srl_dstar_lite", ::ros::console::levels::Debug); } if (__builtin_expect((__rosconsole_define_location__loc.level_ != ::ros::console::levels::Debug),0)) { setLogLocationLevel(&__rosconsole_define_location__loc, ::ros::console::levels::Debug); checkLogLocationEnabled(&__rosconsole_define_location__loc); } bool __rosconsole_define_location__enabled = __rosconsole_define_location__loc.logger_enabled_ && (true);; if (__builtin_expect((__rosconsole_define_location__enabled),0)) { ::ros::console::print(0, __rosconsole_define_location__loc.logger_, __rosconsole_define_location__loc.level_, "srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp", 125, __PRETTY_FUNCTION__, "(%f, %f, %f)", pathC_.at(i).x, pathC_.at(i).y, pathC_.at(i).theta); } } while(false);
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   ~~~~~~    ^
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:120:10: error: implicit conversion loses integer precision: 'size_type' (aka 'unsigned long') to 'int' [-Werror,-Wshorten-64-to-32]
 int l = pathC_.size();                                                                                                                                                                                                                
     ~   ^~~~~~~~~~~~~                                                                                                                                                                                                                 
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:136:1150: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  do { do { if (__builtin_expect((!::ros::console::g_initialized),0)) { ::ros::console::initialize(); } } while(false); static ::ros::console::LogLocation __rosconsole_define_location__loc = {false, false, ::ros::console::levels::Count, 0}; if (__builtin_expect((!__rosconsole_define_location__loc.initialized_),0)) { initializeLogLocation(&__rosconsole_define_location__loc, "ros" "." "srl_dstar_lite", ::ros::console::levels::Debug); } if (__builtin_expect((__rosconsole_define_location__loc.level_ != ::ros::console::levels::Debug),0)) { setLogLocationLevel(&__rosconsole_define_location__loc, ::ros::console::levels::Debug); checkLogLocationEnabled(&__rosconsole_define_location__loc); } bool __rosconsole_define_location__enabled = __rosconsole_define_location__loc.logger_enabled_ && (true);; if (__builtin_expect((__rosconsole_define_location__enabled),0)) { ::ros::console::print(0, __rosconsole_define_location__loc.logger_, __rosconsole_define_location__loc.level_, "srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp", 136, __PRETTY_FUNCTION__, "(%f, %f, %f)", pathS_.at(i).x, pathS_.at(i).y, pathS_.at(i).theta); } } while(false);
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   ~~~~~~    ^
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:136:1166: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  do { do { if (__builtin_expect((!::ros::console::g_initialized),0)) { ::ros::console::initialize(); } } while(false); static ::ros::console::LogLocation __rosconsole_define_location__loc = {false, false, ::ros::console::levels::Count, 0}; if (__builtin_expect((!__rosconsole_define_location__loc.initialized_),0)) { initializeLogLocation(&__rosconsole_define_location__loc, "ros" "." "srl_dstar_lite", ::ros::console::levels::Debug); } if (__builtin_expect((__rosconsole_define_location__loc.level_ != ::ros::console::levels::Debug),0)) { setLogLocationLevel(&__rosconsole_define_location__loc, ::ros::console::levels::Debug); checkLogLocationEnabled(&__rosconsole_define_location__loc); } bool __rosconsole_define_location__enabled = __rosconsole_define_location__loc.logger_enabled_ && (true);; if (__builtin_expect((__rosconsole_define_location__enabled),0)) { ::ros::console::print(0, __rosconsole_define_location__loc.logger_, __rosconsole_define_location__loc.level_, "srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp", 136, __PRETTY_FUNCTION__, "(%f, %f, %f)", pathS_.at(i).x, pathS_.at(i).y, pathS_.at(i).theta); } } while(false);
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   ~~~~~~    ^
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:136:1182: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  do { do { if (__builtin_expect((!::ros::console::g_initialized),0)) { ::ros::console::initialize(); } } while(false); static ::ros::console::LogLocation __rosconsole_define_location__loc = {false, false, ::ros::console::levels::Count, 0}; if (__builtin_expect((!__rosconsole_define_location__loc.initialized_),0)) { initializeLogLocation(&__rosconsole_define_location__loc, "ros" "." "srl_dstar_lite", ::ros::console::levels::Debug); } if (__builtin_expect((__rosconsole_define_location__loc.level_ != ::ros::console::levels::Debug),0)) { setLogLocationLevel(&__rosconsole_define_location__loc, ::ros::console::levels::Debug); checkLogLocationEnabled(&__rosconsole_define_location__loc); } bool __rosconsole_define_location__enabled = __rosconsole_define_location__loc.logger_enabled_ && (true);; if (__builtin_expect((__rosconsole_define_location__enabled),0)) { ::ros::console::print(0, __rosconsole_define_location__loc.logger_, __rosconsole_define_location__loc.level_, "srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp", 136, __PRETTY_FUNCTION__, "(%f, %f, %f)", pathS_.at(i).x, pathS_.at(i).y, pathS_.at(i).theta); } } while(false);
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   ~~~~~~    ^
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:131:10: error: implicit conversion loses integer precision: 'size_type' (aka 'unsigned long') to 'int' [-Werror,-Wshorten-64-to-32]
 int l = pathS_.size();                                                                                                                                                                                                                
     ~   ^~~~~~~~~~~~~                                                                                                                                                                                                                 
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:194:38: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   segments[i] = sqrt(pow((path_.at(i+1).x - path_.at(i).x),2) + pow((path_.at(i+1).y - path_.at(i).y),2));                                                                                                                            
                           ~~~~~    ~^~                                                                                                                                                                                                
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:194:55: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   segments[i] = sqrt(pow((path_.at(i+1).x - path_.at(i).x),2) + pow((path_.at(i+1).y - path_.at(i).y),2));                                                                                                                            
                                             ~~~~~    ^                                                                                                                                                                                
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:194:81: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   segments[i] = sqrt(pow((path_.at(i+1).x - path_.at(i).x),2) + pow((path_.at(i+1).y - path_.at(i).y),2));                                                                                                                            
                                                                      ~~~~~    ~^~                                                                                                                                                     
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:194:98: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   segments[i] = sqrt(pow((path_.at(i+1).x - path_.at(i).x),2) + pow((path_.at(i+1).y - path_.at(i).y),2));                                                                                                                            
                                                                                        ~~~~~    ^                                                                                                                                     
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:215:31: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
    pathC_.push_back(path_.at(i));                                                                                                                                                                                                     
                     ~~~~~    ^                                                                                                                                                                                                        
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:221:17: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  if(pathC_.at(M-1).x != path_.at(N-1).x ||                                                                                                                                                                                            
     ~~~~~~    ~^~                                                                                                                                                                                                                     
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:221:36: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  if(pathC_.at(M-1).x != path_.at(N-1).x ||                                                                                                                                                                                            
                         ~~~~~    ~^~                                                                                                                                                                                                  
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:222:15: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathC_.at(M-1).y != path_.at(N-1).y ||                                                                                                                                                                                              
   ~~~~~~    ~^~                                                                                                                                                                                                                       
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:222:34: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathC_.at(M-1).y != path_.at(N-1).y ||                                                                                                                                                                                              
                       ~~~~~    ~^~                                                                                                                                                                                                    
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:223:15: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathC_.at(M-1).theta != path_.at(N-1).theta)                                                                                                                                                                                        
   ~~~~~~    ~^~                                                                                                                                                                                                                       
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:223:38: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathC_.at(M-1).theta != path_.at(N-1).theta)                                                                                                                                                                                        
                           ~~~~~    ~^~                                                                                                                                                                                                
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:224:32: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
    pathC_.push_back(path_.at(N-1));                                                                                                                                                                                                   
                     ~~~~~    ~^~                                                                                                                                                                                                      
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:173:10: error: implicit conversion loses integer precision: 'size_type' (aka 'unsigned long') to 'int' [-Werror,-Wshorten-64-to-32]
 int N = path_.size();                                                                                                                                                                                                                 
     ~   ^~~~~~~~~~~~                                                                                                                                                                                                                  
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:220:11: error: implicit conversion loses integer precision: 'size_type' (aka 'unsigned long') to 'int' [-Werror,-Wshorten-64-to-32]
  int M = pathC_.size();                                                                                                                                                                                                               
      ~   ^~~~~~~~~~~~~                                                                                                                                                                                                                
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:195:4: error: variable 'avgSegmentLength' is uninitialized when used here [-Werror,-Wuninitialized]              
   avgSegmentLength+=segments[i];                                                                                                                                                                                                      
   ^~~~~~~~~~~~~~~~                                                                                                                                                                                                                    
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:189:26: note: initialize the variable 'avgSegmentLength' to silence this warning                                 
  double avgSegmentLength;                                                                                                                                                                                                             
                         ^                                                                                                                                                                                                             
                          = 0.0                                                                                                                                                                                                        
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:265:22: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   dx[i] = path_.at(i+1).x - path_.at(i).x;                                                                                                                                                                                            
           ~~~~~    ~^~                                                                                                                                                                                                                
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:265:39: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   dx[i] = path_.at(i+1).x - path_.at(i).x;                                                                                                                                                                                            
                             ~~~~~    ^                                                                                                                                                                                                
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:266:22: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   dy[i] = path_.at(i+1).y - path_.at(i).y;                                                                                                                                                                                            
           ~~~~~    ~^~                                                                                                                                                                                                                
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:266:39: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   dy[i] = path_.at(i+1).y - path_.at(i).y;                                                                                                                                                                                            
                             ~~~~~    ^                                                                                                                                                                                                
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:285:24: warning: implicit conversion turns floating-point number into integer: 'double' to 'int' [-Wfloat-conversion]
    int numNewPoints = round(segments[i]/minSegmentLength);                                                                                                                                                                            
        ~~~~~~~~~~~~   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                                                                                                                                                                             
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:295:26: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
      point.x = path_.at(i).x + (j*dx[i])/numNewPoints;                                                                                                                                                                                
                ~~~~~    ^                                                                                                                                                                                                             
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:296:26: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
      point.y = path_.at(i).y + (j*dy[i])/numNewPoints;                                                                                                                                                                                
                ~~~~~    ^                                                                                                                                                                                                             
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:297:30: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
      point.theta = path_.at(i).theta;                                                                                                                                                                                                 
                    ~~~~~    ^                                                                                                                                                                                                         
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:302:32: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
    pathC_.push_back(path_.at(i+1));                                                                                                                                                                                                   
                     ~~~~~    ~^~                                                                                                                                                                                                      
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:243:10: error: implicit conversion loses integer precision: 'size_type' (aka 'unsigned long') to 'int' [-Werror,-Wshorten-64-to-32]
 int N = path_.size();                                                                                                                                                                                                                 
     ~   ^~~~~~~~~~~~                                                                                                                                                                                                                  
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:325:25: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dx1 = path.at(i).x - path.at(i-1).x;                                                                                                                                                                                         
                ~~~~    ^                                                                                                                                                                                                              
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:325:41: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dx1 = path.at(i).x - path.at(i-1).x;                                                                                                                                                                                         
                               ~~~~    ~^~                                                                                                                                                                                             
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:326:25: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dy1 = path.at(i).y - path.at(i-1).y;                                                                                                                                                                                         
                ~~~~    ^                                                                                                                                                                                                              
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:326:41: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dy1 = path.at(i).y - path.at(i-1).y;                                                                                                                                                                                         
                               ~~~~    ~^~                                                                                                                                                                                             
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:327:26: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dx2 = path.at(i+1).x - path.at(i).x;                                                                                                                                                                                         
                ~~~~    ~^~                                                                                                                                                                                                            
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:327:42: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dx2 = path.at(i+1).x - path.at(i).x;                                                                                                                                                                                         
                                 ~~~~    ^                                                                                                                                                                                             
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:328:26: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dy2 = path.at(i+1).y - path.at(i).y;                                                                                                                                                                                         
                ~~~~    ~^~                                                                                                                                                                                                            
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:328:42: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dy2 = path.at(i+1).y - path.at(i).y;                                                                                                                                                                                         
                                 ~~~~    ^                                                                                                                                                                                             
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:319:10: error: implicit conversion loses integer precision: 'size_type' (aka 'unsigned long') to 'int' [-Werror,-Wshorten-64-to-32]
 int N = path.size();                                                                                                                                                                                                                  
     ~   ^~~~~~~~~~~                                                                                                                                                                                                                   
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:373:21: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   x[i] = pathC_.at(i).x;                                                                                                                                                                                                              
          ~~~~~~    ^                                                                                                                                                                                                                  
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:374:21: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   y[i] = pathC_.at(i).y;                                                                                                                                                                                                              
          ~~~~~~    ^                                                                                                                                                                                                                  
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:392:27: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dx1 = pathS_.at(i).x - pathS_.at(i-1).x;                                                                                                                                                                                     
                ~~~~~~    ^                                                                                                                                                                                                            
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:392:45: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dx1 = pathS_.at(i).x - pathS_.at(i-1).x;                                                                                                                                                                                     
                                 ~~~~~~    ~^~                                                                                                                                                                                         
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:393:27: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dy1 = pathS_.at(i).y - pathS_.at(i-1).y;                                                                                                                                                                                     
                ~~~~~~    ^                                                                                                                                                                                                            
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:393:45: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dy1 = pathS_.at(i).y - pathS_.at(i-1).y;                                                                                                                                                                                     
                                 ~~~~~~    ~^~                                                                                                                                                                                         
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:394:28: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dx2 = pathS_.at(i+1).x - pathS_.at(i).x;                                                                                                                                                                                     
                ~~~~~~    ~^~                                                                                                                                                                                                          
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:394:46: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dx2 = pathS_.at(i+1).x - pathS_.at(i).x;                                                                                                                                                                                     
                                   ~~~~~~    ^                                                                                                                                                                                         
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:395:28: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dy2 = pathS_.at(i+1).y - pathS_.at(i).y;                                                                                                                                                                                     
                ~~~~~~    ~^~                                                                                                                                                                                                          
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:395:46: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dy2 = pathS_.at(i+1).y - pathS_.at(i).y;                                                                                                                                                                                     
                                   ~~~~~~    ^                                                                                                                                                                                         
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:400:14: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(i).theta = 0.5*(alpha1 + alpha2);                                                                                                                                                                                         
   ~~~~~~    ^                                                                                                                                                                                                                         
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:401:17: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   if(pathS_.at(i).theta>3.14159265358979323846) pathS_.at(i).theta-=2*3.14159265358979323846;                                                                                                                                         
      ~~~~~~    ^                                                                                                                                                                                                                      
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:401:60: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   if(pathS_.at(i).theta>3.14159265358979323846) pathS_.at(i).theta-=2*3.14159265358979323846;                                                                                                                                         
                                                 ~~~~~~    ^                                                                                                                                                                           
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:404:14: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(M-1).theta = pathS_.at(M-2).theta;                                                                                                                                                                                         
  ~~~~~~    ~^~                                                                                                                                                                                                                        
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:404:37: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(M-1).theta = pathS_.at(M-2).theta;                                                                                                                                                                                         
                         ~~~~~~    ~^~                                                                                                                                                                                                 
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:353:10: error: implicit conversion loses integer precision: 'size_type' (aka 'unsigned long') to 'int' [-Werror,-Wshorten-64-to-32]
 int M = pathC_.size();                                                                                                                                                                                                                
     ~   ^~~~~~~~~~~~~                                                                                                                                                                                                                 
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:424:11: warning: implicit conversion turns floating-point number into integer: 'typename __gnu_cxx::__enable_if<__is_integer<int>::__value, double>::__type' (aka 'double') to 'int' [-Wfloat-conversion]
 int nc = ceil(n/2);                                                                                                                                                                                                                   
     ~~   ^~~~~~~~~                                                                                                                                                                                                                    
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:424:6: error: unused variable 'nc' [-Werror,-Wunused-variable]                                                   
 int nc = ceil(n/2);                                                                                                                                                                                                                   
     ^                                                                                                                                                                                                                                 
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:495:12: warning: implicit conversion turns floating-point number into integer: 'typename __gnu_cxx::__enable_if<__is_integer<int>::__value, double>::__type' (aka 'double') to 'int' [-Wfloat-conversion]
  int nc = ceil(n/2);                                                                                                                                                                                                                  
      ~~   ^~~~~~~~~                                                                                                                                                                                                                   
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:503:14: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(i).x = 0;                                                                                                                                                                                                                 
   ~~~~~~    ^                                                                                                                                                                                                                         
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:528:14: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(j).x = f[j] * (lam * pathC_.at(j).x + mu * pathS_.at(m1).x - pathS_.at(m2).x);                                                                                                                                            
   ~~~~~~    ^                                                                                                                                                                                                                         
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:528:45: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(j).x = f[j] * (lam * pathC_.at(j).x + mu * pathS_.at(m1).x - pathS_.at(m2).x);                                                                                                                                            
                                  ~~~~~~    ^                                                                                                                                                                                          
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:528:67: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(j).x = f[j] * (lam * pathC_.at(j).x + mu * pathS_.at(m1).x - pathS_.at(m2).x);                                                                                                                                            
                                                        ~~~~~~    ^~                                                                                                                                                                   
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:528:85: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(j).x = f[j] * (lam * pathC_.at(j).x + mu * pathS_.at(m1).x - pathS_.at(m2).x);                                                                                                                                            
                                                                          ~~~~~~    ^~                                                                                                                                                 
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:535:14: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-2).x = f[n - 2] * (lam * pathC_.at(n-2).x + mu * pathS_.at(n-3).x - pathS_.at(n-4).x);                                                                                                                                   
  ~~~~~~    ~^~                                                                                                                                                                                                                        
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:535:51: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-2).x = f[n - 2] * (lam * pathC_.at(n-2).x + mu * pathS_.at(n-3).x - pathS_.at(n-4).x);                                                                                                                                   
                                       ~~~~~~    ~^~                                                                                                                                                                                   
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:535:75: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-2).x = f[n - 2] * (lam * pathC_.at(n-2).x + mu * pathS_.at(n-3).x - pathS_.at(n-4).x);                                                                                                                                   
                                                               ~~~~~~    ~^~                                                                                                                                                           
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:535:94: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-2).x = f[n - 2] * (lam * pathC_.at(n-2).x + mu * pathS_.at(n-3).x - pathS_.at(n-4).x);                                                                                                                                   
                                                                                  ~~~~~~    ~^~                                                                                                                                        
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:540:14: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-1).x = f[n-1] * (lam * pathC_.at(n-1).x + mu * pathS_.at(n-2).x - pathS_.at(n-3).x);                                                                                                                                     
  ~~~~~~    ~^~                                                                                                                                                                                                                        
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:540:49: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-1).x = f[n-1] * (lam * pathC_.at(n-1).x + mu * pathS_.at(n-2).x - pathS_.at(n-3).x);                                                                                                                                     
                                     ~~~~~~    ~^~                                                                                                                                                                                     
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:540:73: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-1).x = f[n-1] * (lam * pathC_.at(n-1).x + mu * pathS_.at(n-2).x - pathS_.at(n-3).x);                                                                                                                                     
                                                             ~~~~~~    ~^~                                                                                                                                                             
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:540:92: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-1).x = f[n-1] * (lam * pathC_.at(n-1).x + mu * pathS_.at(n-2).x - pathS_.at(n-3).x);                                                                                                                                     
                                                                                ~~~~~~    ~^~                                                                                                                                          
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:543:14: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-2).x = pathS_.at(n-2).x + e[n - 2] * pathS_.at(n-1).x;                                                                                                                                                                   
  ~~~~~~    ~^~                                                                                                                                                                                                                        
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:543:33: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-2).x = pathS_.at(n-2).x + e[n - 2] * pathS_.at(n-1).x;                                                                                                                                                                   
                     ~~~~~~    ~^~                                                                                                                                                                                                     
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:543:63: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-2).x = pathS_.at(n-2).x + e[n - 2] * pathS_.at(n-1).x;                                                                                                                                                                   
                                                   ~~~~~~    ~^~                                                                                                                                                                       
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:545:14: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(j).x = pathS_.at(j).x + e[j] * pathS_.at(j+1).x - f[j] * pathS_.at(j+2).x;                                                                                                                                                
   ~~~~~~    ^                                                                                                                                                                                                                         
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:545:31: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(j).x = pathS_.at(j).x + e[j] * pathS_.at(j+1).x - f[j] * pathS_.at(j+2).x;                                                                                                                                                
                    ~~~~~~    ^                                                                                                                                                                                                        
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:545:56: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(j).x = pathS_.at(j).x + e[j] * pathS_.at(j+1).x - f[j] * pathS_.at(j+2).x;                                                                                                                                                
                                            ~~~~~~    ~^~                                                                                                                                                                              
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:545:82: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(j).x = pathS_.at(j).x + e[j] * pathS_.at(j+1).x - f[j] * pathS_.at(j+2).x;                                                                                                                                                
                                                                      ~~~~~~    ~^~                                                                                                                                                    
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:549:8: warning: implicit conversion turns floating-point number into integer: 'typename __gnu_cxx::__enable_if<__is_integer<int>::__value, double>::__type' (aka 'double') to 'int' [-Wfloat-conversion]
  nc = ceil(n/2);                                                                                                                                                                                                                      
     ~ ^~~~~~~~~                                                                                                                                                                                                                       
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:555:14: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(i).y = 0;                                                                                                                                                                                                                 
   ~~~~~~    ^                                                                                                                                                                                                                         
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:580:14: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(j).y = f[j] * (lam * pathC_.at(j).y + mu * pathS_.at(m1).y - pathS_.at(m2).y);                                                                                                                                            
   ~~~~~~    ^                                                                                                                                                                                                                         
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:580:45: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(j).y = f[j] * (lam * pathC_.at(j).y + mu * pathS_.at(m1).y - pathS_.at(m2).y);                                                                                                                                            
                                  ~~~~~~    ^                                                                                                                                                                                          
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:580:67: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(j).y = f[j] * (lam * pathC_.at(j).y + mu * pathS_.at(m1).y - pathS_.at(m2).y);                                                                                                                                            
                                                        ~~~~~~    ^~                                                                                                                                                                   
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:580:85: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(j).y = f[j] * (lam * pathC_.at(j).y + mu * pathS_.at(m1).y - pathS_.at(m2).y);                                                                                                                                            
                                                                          ~~~~~~    ^~                                                                                                                                                 
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:587:14: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-2).y = f[n - 2] * (lam * pathC_.at(n-2).y + mu * pathS_.at(n-3).y - pathS_.at(n-4).y);                                                                                                                                   
  ~~~~~~    ~^~                                                                                                                                                                                                                        
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:587:51: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-2).y = f[n - 2] * (lam * pathC_.at(n-2).y + mu * pathS_.at(n-3).y - pathS_.at(n-4).y);                                                                                                                                   
                                       ~~~~~~    ~^~                                                                                                                                                                                   
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:587:75: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-2).y = f[n - 2] * (lam * pathC_.at(n-2).y + mu * pathS_.at(n-3).y - pathS_.at(n-4).y);                                                                                                                                   
                                                               ~~~~~~    ~^~                                                                                                                                                           
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:587:94: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-2).y = f[n - 2] * (lam * pathC_.at(n-2).y + mu * pathS_.at(n-3).y - pathS_.at(n-4).y);                                                                                                                                   
                                                                                  ~~~~~~    ~^~                                                                                                                                        
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:592:14: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-1).y = f[n-1] * (lam * pathC_.at(n-1).y + mu * pathS_.at(n-2).y - pathS_.at(n-3).y);                                                                                                                                     
  ~~~~~~    ~^~                                                                                                                                                                                                                        
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:592:49: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-1).y = f[n-1] * (lam * pathC_.at(n-1).y + mu * pathS_.at(n-2).y - pathS_.at(n-3).y);                                                                                                                                     
                                     ~~~~~~    ~^~                                                                                                                                                                                     
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:592:73: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-1).y = f[n-1] * (lam * pathC_.at(n-1).y + mu * pathS_.at(n-2).y - pathS_.at(n-3).y);                                                                                                                                     
                                                             ~~~~~~    ~^~                                                                                                                                                             
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:592:92: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-1).y = f[n-1] * (lam * pathC_.at(n-1).y + mu * pathS_.at(n-2).y - pathS_.at(n-3).y);                                                                                                                                     
                                                                                ~~~~~~    ~^~                                                                                                                                          
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:595:14: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-2).y = pathS_.at(n-2).y + e[n - 2] * pathS_.at(n-1).y;                                                                                                                                                                   
  ~~~~~~    ~^~                                                                                                                                                                                                                        
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:595:33: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-2).y = pathS_.at(n-2).y + e[n - 2] * pathS_.at(n-1).y;                                                                                                                                                                   
                     ~~~~~~    ~^~                                                                                                                                                                                                     
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:595:63: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-2).y = pathS_.at(n-2).y + e[n - 2] * pathS_.at(n-1).y;                                                                                                                                                                   
                                                   ~~~~~~    ~^~                                                                                                                                                                       
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:597:14: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(j).y = pathS_.at(j).y + e[j] * pathS_.at(j+1).y - f[j] * pathS_.at(j+2).y;                                                                                                                                                
   ~~~~~~    ^                                                                                                                                                                                                                         
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:597:31: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(j).y = pathS_.at(j).y + e[j] * pathS_.at(j+1).y - f[j] * pathS_.at(j+2).y;                                                                                                                                                
                    ~~~~~~    ^                                                                                                                                                                                                        
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:597:56: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(j).y = pathS_.at(j).y + e[j] * pathS_.at(j+1).y - f[j] * pathS_.at(j+2).y;                                                                                                                                                
                                            ~~~~~~    ~^~                                                                                                                                                                              
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:597:82: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(j).y = pathS_.at(j).y + e[j] * pathS_.at(j+1).y - f[j] * pathS_.at(j+2).y;                                                                                                                                                
                                                                      ~~~~~~    ~^~                                                                                                                                                    
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:603:27: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dx1 = pathS_.at(i).x - pathS_.at(i-1).x;                                                                                                                                                                                     
                ~~~~~~    ^                                                                                                                                                                                                            
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:603:45: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dx1 = pathS_.at(i).x - pathS_.at(i-1).x;                                                                                                                                                                                     
                                 ~~~~~~    ~^~                                                                                                                                                                                         
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:604:27: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dy1 = pathS_.at(i).y - pathS_.at(i-1).y;                                                                                                                                                                                     
                ~~~~~~    ^                                                                                                                                                                                                            
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:604:45: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dy1 = pathS_.at(i).y - pathS_.at(i-1).y;                                                                                                                                                                                     
                                 ~~~~~~    ~^~                                                                                                                                                                                         
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:605:28: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dx2 = pathS_.at(i+1).x - pathS_.at(i).x;                                                                                                                                                                                     
                ~~~~~~    ~^~                                                                                                                                                                                                          
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:605:46: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dx2 = pathS_.at(i+1).x - pathS_.at(i).x;                                                                                                                                                                                     
                                   ~~~~~~    ^                                                                                                                                                                                         
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:606:28: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dy2 = pathS_.at(i+1).y - pathS_.at(i).y;                                                                                                                                                                                     
                ~~~~~~    ~^~                                                                                                                                                                                                          
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:606:46: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double dy2 = pathS_.at(i+1).y - pathS_.at(i).y;                                                                                                                                                                                     
                                   ~~~~~~    ^                                                                                                                                                                                         
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:611:14: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(i).theta = 0.5*(alpha1 + alpha2);                                                                                                                                                                                         
   ~~~~~~    ^                                                                                                                                                                                                                         
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:612:17: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   if(pathS_.at(i).theta>3.14159265358979323846) pathS_.at(i).theta-=2*3.14159265358979323846;                                                                                                                                         
      ~~~~~~    ^                                                                                                                                                                                                                      
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:612:60: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   if(pathS_.at(i).theta>3.14159265358979323846) pathS_.at(i).theta-=2*3.14159265358979323846;                                                                                                                                         
                                                 ~~~~~~    ^                                                                                                                                                                           
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:615:14: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-1).theta = pathS_.at(n-2).theta;                                                                                                                                                                                         
  ~~~~~~    ~^~                                                                                                                                                                                                                        
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:615:37: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(n-1).theta = pathS_.at(n-2).theta;                                                                                                                                                                                         
                         ~~~~~~    ~^~                                                                                                                                                                                                 
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:479:10: error: implicit conversion loses integer precision: 'size_type' (aka 'unsigned long') to 'int' [-Werror,-Wshorten-64-to-32]
 int n = pathC_.size();                                                                                                                                                                                                                
     ~   ^~~~~~~~~~~~~                                                                                                                                                                                                                 
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:652:10: error: unused variable 'sigma_old' [-Werror,-Wunused-variable]                                           
  double sigma_old = sigma_;                                                                                                                                                                                                           
         ^                                                                                                                                                                                                                             
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:641:10: error: implicit conversion loses integer precision: 'size_type' (aka 'unsigned long') to 'int' [-Werror,-Wshorten-64-to-32]
 int n = pathC_.size();                                                                                                                                                                                                                
     ~   ^~~~~~~~~~~~~                                                                                                                                                                                                                 
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:707:10: error: unused variable 'sigma_old' [-Werror,-Wunused-variable]                                           
  double sigma_old = sigma_;                                                                                                                                                                                                           
         ^                                                                                                                                                                                                                             
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:696:10: error: implicit conversion loses integer precision: 'size_type' (aka 'unsigned long') to 'int' [-Werror,-Wshorten-64-to-32]
 int n = pathC_.size();                                                                                                                                                                                                                
     ~   ^~~~~~~~~~~~~                                                                                                                                                                                                                 
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:766:14: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(M-1) = pathC_.at(M-1);                                                                                                                                                                                                     
  ~~~~~~    ~^~                                                                                                                                                                                                                        
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:766:31: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  pathS_.at(M-1) = pathC_.at(M-1);                                                                                                                                                                                                     
                   ~~~~~~    ~^~                                                                                                                                                                                                       
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:767:26: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  double dx1 = pathS_.at(numPointsToRemove).x - pathC_.at(0).x;                                                                                                                                                                        
               ~~~~~~    ^~~~~~~~~~~~~~~~~                                                                                                                                                                                             
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:768:26: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  double dy1 = pathS_.at(numPointsToRemove).y - pathC_.at(0).y;                                                                                                                                                                        
               ~~~~~~    ^~~~~~~~~~~~~~~~~                                                                                                                                                                                             
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:769:29: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  double dx2 = pathS_.at(M-1-numPointsToRemove).x - pathC_.at(M-1).x;                                                                                                                                                                  
               ~~~~~~    ~~~^~~~~~~~~~~~~~~~~~                                                                                                                                                                                         
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:769:64: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  double dx2 = pathS_.at(M-1-numPointsToRemove).x - pathC_.at(M-1).x;                                                                                                                                                                  
                                                    ~~~~~~    ~^~                                                                                                                                                                      
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:770:29: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  double dy2 = pathS_.at(M-1-numPointsToRemove).y - pathC_.at(M-1).y;                                                                                                                                                                  
               ~~~~~~    ~~~^~~~~~~~~~~~~~~~~~                                                                                                                                                                                         
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:770:64: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  double dy2 = pathS_.at(M-1-numPointsToRemove).y - pathC_.at(M-1).y;                                                                                                                                                                  
                                                    ~~~~~~    ~^~                                                                                                                                                                      
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:777:14: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(i) = point;                                                                                                                                                                                                               
   ~~~~~~    ^                                                                                                                                                                                                                         
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:778:25: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   point.x = pathC_.at(M-1).x + (i*dx2)/numPointsToRemove;                                                                                                                                                                             
             ~~~~~~    ~^~                                                                                                                                                                                                             
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:779:25: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   point.y = pathC_.at(M-1).y + (i*dy2)/numPointsToRemove;                                                                                                                                                                             
             ~~~~~~    ~^~                                                                                                                                                                                                             
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:781:17: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   pathS_.at(M-1-i) = point;                                                                                                                                                                                                           
   ~~~~~~    ~~~^~                                                                                                                                                                                                                     
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:747:10: error: implicit conversion loses integer precision: 'size_type' (aka 'unsigned long') to 'int' [-Werror,-Wshorten-64-to-32]
 int M = pathS_.size();                                                                                                                                                                                                                
     ~   ^~~~~~~~~~~~~                                                                                                                                                                                                                 
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:808:10: error: implicit conversion loses integer precision: 'size_type' (aka 'unsigned long') to 'int' [-Werror,-Wshorten-64-to-32]
 int n = pathS_.size();                                                                                                                                                                                                                
     ~   ^~~~~~~~~~~~~                                                                                                                                                                                                                 
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:830:25: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  double x1 = path_.at(m-1).x;                                                                                                                                                                                                         
              ~~~~~    ~^~                                                                                                                                                                                                             
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:831:26: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  double x2 = pathS_.at(n-1).x;                                                                                                                                                                                                        
              ~~~~~~    ~^~                                                                                                                                                                                                            
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:832:25: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  double y1 = path_.at(m-1).y;                                                                                                                                                                                                         
              ~~~~~    ~^~                                                                                                                                                                                                             
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:833:26: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
  double y2 = pathS_.at(n-1).y;                                                                                                                                                                                                        
              ~~~~~~    ~^~                                                                                                                                                                                                            
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:826:10: error: implicit conversion loses integer precision: 'size_type' (aka 'unsigned long') to 'int' [-Werror,-Wshorten-64-to-32]
 int n = pathS_.size();                                                                                                                                                                                                                
     ~   ^~~~~~~~~~~~~                                                                                                                                                                                                                 
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:827:10: error: implicit conversion loses integer precision: 'size_type' (aka 'unsigned long') to 'int' [-Werror,-Wshorten-64-to-32]
 int m = path_.size();                                                                                                                                                                                                                 
     ~   ^~~~~~~~~~~~                                                                                                                                                                                                                  
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:851:26: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double x1 = pathC_.at(i).x;                                                                                                                                                                                                         
               ~~~~~~    ^                                                                                                                                                                                                             
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:852:26: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double x2 = pathS_.at(i).x;                                                                                                                                                                                                         
               ~~~~~~    ^                                                                                                                                                                                                             
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:853:26: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double y1 = pathC_.at(i).y;                                                                                                                                                                                                         
               ~~~~~~    ^                                                                                                                                                                                                             
srl_dstar_lite/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp:854:26: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]
   double y2 = pathS_.at(i).y;                                                                                                                                                                                                         
               ~~~~~~    ^                                                                                                                                                                                                             
fatal error: too many errors emitted, stopping now [-ferror-limit=]                                                                                                                                                                    
129 warnings and 20 errors generated.                                                                                                                                                                                                  
CMakeFiles/srl_dstar_lite.dir/build.make:101: recipe for target 'CMakeFiles/srl_dstar_lite.dir/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp.o' failed                                                              
make[2]: *** [CMakeFiles/srl_dstar_lite.dir/include/srl_dstar_lite/pathSplineSmoother/pathSplineSmoother.cpp.o] Error 1                                                                                                                
distcc[6785] ERROR: compile /home/johannes/.ccache/tmp/costmap_mo.stdout.im-laptop-007.6766.klXDXK.ii on localhost failed                                                                                                              
srl_dstar_lite/include/srl_dstar_lite/costmap_model.cpp:91:28: warning: implicit conversion changes signedness: 'unsigned int' to 'int' [-Wsign-conversion]                                      
      line_cost = lineCost(x0, x1, y0, y1);                                                                                                                                                                                            
                  ~~~~~~~~ ^~                                                                                                                                                                                                          
srl_dstar_lite/include/srl_dstar_lite/costmap_model.cpp:91:32: warning: implicit conversion changes signedness: 'unsigned int' to 'int' [-Wsign-conversion]                                      
      line_cost = lineCost(x0, x1, y0, y1);                                                                                                                                                                                            
                  ~~~~~~~~     ^~                                                                                                                                                                                                      
srl_dstar_lite/include/srl_dstar_lite/costmap_model.cpp:91:36: warning: implicit conversion changes signedness: 'unsigned int' to 'int' [-Wsign-conversion]                                      
      line_cost = lineCost(x0, x1, y0, y1);                                                                                                                                                                                            
                  ~~~~~~~~         ^~                                                                                                                                                                                                  
srl_dstar_lite/include/srl_dstar_lite/costmap_model.cpp:91:40: warning: implicit conversion changes signedness: 'unsigned int' to 'int' [-Wsign-conversion]                                      
      line_cost = lineCost(x0, x1, y0, y1);                                                                                                                                                                                            
                  ~~~~~~~~             ^~                                                                                                                                                                                              
srl_dstar_lite/include/srl_dstar_lite/costmap_model.cpp:109:26: warning: implicit conversion changes signedness: 'unsigned int' to 'int' [-Wsign-conversion]                                     
    line_cost = lineCost(x0, x1, y0, y1);                                                                                                                                                                                              
                ~~~~~~~~ ^~                                                                                                                                                                                                            
srl_dstar_lite/include/srl_dstar_lite/costmap_model.cpp:109:30: warning: implicit conversion changes signedness: 'unsigned int' to 'int' [-Wsign-conversion]                                     
    line_cost = lineCost(x0, x1, y0, y1);                                                                                                                                                                                              
                ~~~~~~~~     ^~                                                                                                                                                                                                        
srl_dstar_lite/include/srl_dstar_lite/costmap_model.cpp:109:34: warning: implicit conversion changes signedness: 'unsigned int' to 'int' [-Wsign-conversion]                                     
    line_cost = lineCost(x0, x1, y0, y1);                                                                                                                                                                                              
                ~~~~~~~~         ^~                                                                                                                                                                                                    
srl_dstar_lite/include/srl_dstar_lite/costmap_model.cpp:109:38: warning: implicit conversion changes signedness: 'unsigned int' to 'int' [-Wsign-conversion]                                     
    line_cost = lineCost(x0, x1, y0, y1);                                                                                                                                                                                              
                ~~~~~~~~             ^~                                                                                                                                                                                                
srl_dstar_lite/include/srl_dstar_lite/costmap_model.cpp:56:14: warning: unused parameter 'inscribed_radius' [-Wunused-parameter]                                                                 
      double inscribed_radius, double circumscribed_radius){                                                                                                                                                                           
             ^                                                                                                                                                                                                                         
srl_dstar_lite/include/srl_dstar_lite/costmap_model.cpp:56:39: warning: unused parameter 'circumscribed_radius' [-Wunused-parameter]                                                             
      double inscribed_radius, double circumscribed_radius){                                                                                                                                                                           
                                      ^                                                                                                                                                                                                
srl_dstar_lite/include/srl_dstar_lite/costmap_model.cpp:140:44: warning: implicit conversion changes signedness: 'int' to 'unsigned int' [-Wsign-conversion]                                     
            point_cost = costmap_.getCost( x, y );                                                                                                                                                                                     
                         ~~~~~~~~          ^                                                                                                                                                                                           
srl_dstar_lite/include/srl_dstar_lite/costmap_model.cpp:140:47: warning: implicit conversion changes signedness: 'int' to 'unsigned int' [-Wsign-conversion]                                     
            point_cost = costmap_.getCost( x, y );                                                                                                                                                                                     
                         ~~~~~~~~             ^                                                                                                                                                                                        
srl_dstar_lite/include/srl_dstar_lite/costmap_model.cpp:126:16: error: unused variable 'res' [-Werror,-Wunused-variable]                                                                         
        double res = 0;                                                                                                                                                                                                                
               ^                                                                                                                                                                                                                       
srl_dstar_lite/include/srl_dstar_lite/costmap_model.cpp:184:43: warning: implicit conversion changes signedness: 'int' to 'unsigned int' [-Wsign-conversion]                                     
    unsigned char cost = costmap_.getCost(x, y);                                                                                                                                                                                       
                         ~~~~~~~~         ^                                                                                                                                                                                            
srl_dstar_lite/include/srl_dstar_lite/costmap_model.cpp:184:46: warning: implicit conversion changes signedness: 'int' to 'unsigned int' [-Wsign-conversion]                                     
    unsigned char cost = costmap_.getCost(x, y);                                                                                                                                                                                       
                         ~~~~~~~~            ^                                                                                                                                                                                         
14 warnings and 1 error generated.                                                                                                                                                                                                     
CMakeFiles/srl_dstar_lite.dir/build.make:75: recipe for target 'CMakeFiles/srl_dstar_lite.dir/include/srl_dstar_lite/costmap_model.cpp.o' failed                                                                                       
make[2]: *** [CMakeFiles/srl_dstar_lite.dir/include/srl_dstar_lite/costmap_model.cpp.o] Error 1                                                                                                                                        
In file included from srl_dstar_lite/src/srl_dstar_lite.cpp:22:                                                                                                                                  
In file included from srl_dstar_lite/include/srl_dstar_lite/srl_dstar_lite.h:58:                                                                                                                 
srl_dstar_lite/include/srl_dstar_lite/world_model.h:101:72: warning: unused parameter 'extra' [-Wunused-parameter]                                                                               
          double inscribed_radius, double circumscribed_radius, double extra) {                                                                                                                                                        
                                                                       ^                                                                                                                                                               
In file included from srl_dstar_lite/src/srl_dstar_lite.cpp:22:                                                                                                                                  
In file included from srl_dstar_lite/include/srl_dstar_lite/srl_dstar_lite.h:60:                                                                                                                 
srl_dstar_lite/include/srl_dstar_lite/data_structures.h:18:97: warning: implicit conversion turns floating-point number into integer: 'double' to 'int' [-Wfloat-conversion]                     
    HumanPoint(double xx, double yy, double zz, double ii, double tt) : x(xx), y(yy), z(zz), id(ii), type(tt) { cell_width=0.3; cell_height=0.4; }                                                                                     
                                                                                               ~^~                                                                                                                                     
srl_dstar_lite/include/srl_dstar_lite/data_structures.h:18:107: warning: implicit conversion turns floating-point number into integer: 'double' to 'int' [-Wfloat-conversion]                    
    HumanPoint(double xx, double yy, double zz, double ii, double tt) : x(xx), y(yy), z(zz), id(ii), type(tt) { cell_width=0.3; cell_height=0.4; }                                                                                     
                                                                                                         ~^~                                                                                                                           
srl_dstar_lite/include/srl_dstar_lite/data_structures.h:19:62: warning: implicit conversion turns floating-point number into integer: 'double' to 'int' [-Wfloat-conversion]                     
    HumanPoint(double* p) { x = p[0]; y = p[1]; z = p[2]; id=p[3]; type=p[4]; cell_width=0.3; cell_height=0.4;}                                                                                                                        
                                                            ~^~~~                                                                                                                                                                      
srl_dstar_lite/include/srl_dstar_lite/data_structures.h:19:73: warning: implicit conversion turns floating-point number into integer: 'double' to 'int' [-Wfloat-conversion]                     
    HumanPoint(double* p) { x = p[0]; y = p[1]; z = p[2]; id=p[3]; type=p[4]; cell_width=0.3; cell_height=0.4;}                                                                                                                        
                                                                       ~^~~~                                                                                                                                                           
In file included from srl_dstar_lite/src/srl_dstar_lite.cpp:22:                                                                                                                                  
In file included from srl_dstar_lite/include/srl_dstar_lite/srl_dstar_lite.h:61:                                                                                                                 
In file included from srl_dstar_lite/include/srl_dstar_lite/dstar.h:27:                                                                                                                          
In file included from /usr/bin/../lib/gcc/x86_64-linux-gnu/5.4.0/../../../../include/c++/5.4.0/ext/hash_map:60:                                                                                                                        
/usr/bin/../lib/gcc/x86_64-linux-gnu/5.4.0/../../../../include/c++/5.4.0/backward/backward_warning.h:32:2: error: This file includes at least one deprecated or antiquated header which   may be removed without further notice at a future date. Please use a   non-deprecated interface with equivalent functionality instead. For a   listing of replacement headers and interfaces, consult the file   backward_warning.h. To disable this warning use -Wno-deprecated. [-Werror,-W#warnings]
#warning \                                                                                                                                                                                                                             
 ^                                                                                                                                                                                                                                     
In file included from srl_dstar_lite/src/srl_dstar_lite.cpp:22:                                                                                                                                  
In file included from srl_dstar_lite/include/srl_dstar_lite/srl_dstar_lite.h:61:                                                                                                                 
srl_dstar_lite/include/srl_dstar_lite/dstar.h:83:16: warning: implicit conversion changes signedness: 'int' to 'size_t' (aka 'unsigned long') [-Wsign-conversion]                                
    return s.x + 34245*s.y;                                                                                                                                                                                                            
    ~~~~~~ ~~~~^~~~~~~~~~~                                                                                                                                                                                                             
In file included from srl_dstar_lite/src/srl_dstar_lite.cpp:22:                                                                                                                                  
srl_dstar_lite/include/srl_dstar_lite/srl_dstar_lite.h:120:22: error: field 'costmap_ros_' will be initialized after field 'initialized_' [-Werror,-Wreorder]                                    
    SrlDstarLite() : costmap_ros_(NULL), initialized_(false),  world_model_(NULL) {                                                                                                                                                    
                     ^                                                                                                                                                                                                                 
srl_dstar_lite/src/srl_dstar_lite.cpp:166:24: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]                                    
    path_.poses.resize(n_points);                                                                                                                                                                                                      
    ~~~~~              ^~~~~~~~                                                                                                                                                                                                        
srl_dstar_lite/src/srl_dstar_lite.cpp:186:54: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]                                    
        geometry_msgs::PoseStamped posei = grid_plan[i];                                                                                                                                                                               
                                           ~~~~~~~~~ ^                                                                                                                                                                                 
srl_dstar_lite/src/srl_dstar_lite.cpp:188:21: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]                                    
        path_.poses[i] = posei;                                                                                                                                                                                                        
        ~~~~~       ^                                                                                                                                                                                                                  
srl_dstar_lite/src/srl_dstar_lite.cpp:371:63: warning: implicit conversion changes signedness: 'unsigned int' to 'int' [-Wsign-conversion]                                                       
              double line_cost = world_model_->lineCostVisual(x1, x2 ,y1, y2);                                                                                                                                                         
                                 ~~~~~~~~~~~~                 ^~                                                                                                                                                                       
srl_dstar_lite/src/srl_dstar_lite.cpp:371:67: warning: implicit conversion changes signedness: 'unsigned int' to 'int' [-Wsign-conversion]                                                       
              double line_cost = world_model_->lineCostVisual(x1, x2 ,y1, y2);                                                                                                                                                         
                                 ~~~~~~~~~~~~                     ^~                                                                                                                                                                   
srl_dstar_lite/src/srl_dstar_lite.cpp:371:71: warning: implicit conversion changes signedness: 'unsigned int' to 'int' [-Wsign-conversion]                                                       
              double line_cost = world_model_->lineCostVisual(x1, x2 ,y1, y2);                                                                                                                                                         
                                 ~~~~~~~~~~~~                         ^~                                                                                                                                                               
srl_dstar_lite/src/srl_dstar_lite.cpp:371:75: warning: implicit conversion changes signedness: 'unsigned int' to 'int' [-Wsign-conversion]                                                       
              double line_cost = world_model_->lineCostVisual(x1, x2 ,y1, y2);                                                                                                                                                         
                                 ~~~~~~~~~~~~                             ^~                                                                                                                                                           
srl_dstar_lite/src/srl_dstar_lite.cpp:372:64: warning: implicit conversion changes signedness: 'unsigned int' to 'int' [-Wsign-conversion]                                                       
              double last_point_cost = world_model_->pointCost(x2, y2);                                                                                                                                                                
                                       ~~~~~~~~~~~~            ^~                                                                                                                                                                      
srl_dstar_lite/src/srl_dstar_lite.cpp:372:68: warning: implicit conversion changes signedness: 'unsigned int' to 'int' [-Wsign-conversion]                                                       
              double last_point_cost = world_model_->pointCost(x2, y2);                                                                                                                                                                
                                       ~~~~~~~~~~~~                ^~                                                                                                                                                                  
srl_dstar_lite/src/srl_dstar_lite.cpp:470:33: warning: implicit conversion changes signedness: 'unsigned int' to 'int' [-Wsign-conversion]                                                       
    dstar_planner_->updateStart(start_mx, start_my);                                                                                                                                                                                   
    ~~~~~~~~~~~~~~              ^~~~~~~~                                                                                                                                                                                               
srl_dstar_lite/src/srl_dstar_lite.cpp:470:43: warning: implicit conversion changes signedness: 'unsigned int' to 'int' [-Wsign-conversion]                                                       
    dstar_planner_->updateStart(start_mx, start_my);                                                                                                                                                                                   
    ~~~~~~~~~~~~~~                        ^~~~~~~~                                                                                                                                                                                     
srl_dstar_lite/src/srl_dstar_lite.cpp:476:32: warning: implicit conversion changes signedness: 'unsigned int' to 'int' [-Wsign-conversion]                                                       
    dstar_planner_->updateGoal(goal_mx, goal_my);                                                                                                                                                                                      
    ~~~~~~~~~~~~~~             ^~~~~~~                                                                                                                                                                                                 
srl_dstar_lite/src/srl_dstar_lite.cpp:476:41: warning: implicit conversion changes signedness: 'unsigned int' to 'int' [-Wsign-conversion]                                                       
    dstar_planner_->updateGoal(goal_mx, goal_my);                                                                                                                                                                                      
    ~~~~~~~~~~~~~~                      ^~~~~~~                                                                                                                                                                                        
srl_dstar_lite/src/srl_dstar_lite.cpp:480:16: warning: implicit conversion changes signedness: 'unsigned int' to 'int' [-Wsign-conversion]                                                       
    nx_cells = costmap_->getSizeInCellsX();                                                                                                                                                                                            
             ~ ^~~~~~~~~~~~~~~~~~~~~~~~~~~                                                                                                                                                                                             
srl_dstar_lite/src/srl_dstar_lite.cpp:481:16: warning: implicit conversion changes signedness: 'unsigned int' to 'int' [-Wsign-conversion]                                                       
    ny_cells = costmap_->getSizeInCellsY();                                                                                                                                                                                            
             ~ ^~~~~~~~~~~~~~~~~~~~~~~~~~~                                                                                                                                                                                             
srl_dstar_lite/src/srl_dstar_lite.cpp:488:25: warning: implicit conversion changes signedness: 'unsigned int' to 'int' [-Wsign-conversion]                                                       
            int index = costmap_->getIndex(x,y);                                                                                                                                                                                       
                ~~~~~   ^~~~~~~~~~~~~~~~~~~~~~~                                                                                                                                                                                        
srl_dstar_lite/src/srl_dstar_lite.cpp:488:44: warning: implicit conversion changes signedness: 'int' to 'unsigned int' [-Wsign-conversion]                                                       
            int index = costmap_->getIndex(x,y);                                                                                                                                                                                       
                        ~~~~~~~~           ^                                                                                                                                                                                           
srl_dstar_lite/src/srl_dstar_lite.cpp:488:46: warning: implicit conversion changes signedness: 'int' to 'unsigned int' [-Wsign-conversion]                                                       
            int index = costmap_->getIndex(x,y);                                                                                                                                                                                       
                        ~~~~~~~~             ^                                                                                                                                                                                         
srl_dstar_lite/src/srl_dstar_lite.cpp:556:36: warning: implicit conversion changes signedness: 'int' to '_seq_type' (aka 'unsigned int') [-Wsign-conversion]                                     
            next_node.header.seq = cnt_make_plan_;                                                                                                                                                                                     
                                 ~ ^~~~~~~~~~~~~~                                                                                                                                                                                      
srl_dstar_lite/src/srl_dstar_lite.cpp:574:36: warning: implicit conversion changes signedness: 'int' to '_seq_type' (aka 'unsigned int') [-Wsign-conversion]                                     
            next_node.header.seq = cnt_make_plan_;                                                                                                                                                                                     
                                 ~ ^~~~~~~~~~~~~~                                                                                                                                                                                      
srl_dstar_lite/src/srl_dstar_lite.cpp:578:55: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]                                    
            next_node.pose.position.x = path_smoothed[j].x;                                                                                                                                                                            
                                        ~~~~~~~~~~~~~ ^                                                                                                                                                                                
srl_dstar_lite/src/srl_dstar_lite.cpp:579:55: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]                                    
            next_node.pose.position.y = path_smoothed[j].y;                                                                                                                                                                            
                                        ~~~~~~~~~~~~~ ^                                                                                                                                                                                
srl_dstar_lite/src/srl_dstar_lite.cpp:581:102: warning: implicit conversion changes signedness: 'int' to 'size_type' (aka 'unsigned long') [-Wsign-conversion]                                   
            next_node.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(0, 0, path_smoothed[j].theta);                                                                                                                        
                                                                                       ~~~~~~~~~~~~~ ^                                                                                                                                 
srl_dstar_lite/src/srl_dstar_lite.cpp:634:36: warning: implicit conversion changes signedness: 'int' to '_seq_type' (aka 'unsigned int') [-Wsign-conversion]                                     
                posei.header.seq = cnt_make_plan_;                                                                                                                                                                                     
                                 ~ ^~~~~~~~~~~~~~                                                                                                                                                                                      
srl_dstar_lite/src/srl_dstar_lite.cpp:758:13: error: unused variable 'tcount' [-Werror,-Wunused-variable]                                                                                        
        int tcount,firstsol,deburrt;                                                                                                                                                                                                   
            ^                                                                                                                                                                                                                          
srl_dstar_lite/src/srl_dstar_lite.cpp:758:29: error: unused variable 'deburrt' [-Werror,-Wunused-variable]                                                                                       
        int tcount,firstsol,deburrt;                                                                                                                                                                                                   
                            ^                                                                                                                                                                                                          
srl_dstar_lite/src/srl_dstar_lite.cpp:758:20: error: unused variable 'firstsol' [-Werror,-Wunused-variable]                                                                                      
        int tcount,firstsol,deburrt;                                                                                                                                                                                                   
                   ^                                                                                                                                                                                                                   
srl_dstar_lite/src/srl_dstar_lite.cpp:766:25: error: variable 'x2' is uninitialized when used here [-Werror,-Wuninitialized]                                                                     
        this->xscene_ = x2-x1;                                                                                                                                                                                                         
                        ^~                                                                                                                                                                                                             
srl_dstar_lite/src/srl_dstar_lite.cpp:753:21: note: initialize the variable 'x2' to silence this warning                                                                                         
        double x1,x2, y1,y2, csx,csy;                                                                                                                                                                                                  
                    ^                                                                                                                                                                                                                  
                     = 0.0                                                                                                                                                                                                             
srl_dstar_lite/src/srl_dstar_lite.cpp:766:28: error: variable 'x1' is uninitialized when used here [-Werror,-Wuninitialized]                                                                     
        this->xscene_ = x2-x1;                                                                                                                                                                                                         
                           ^~                                                                                                                                                                                                          
srl_dstar_lite/src/srl_dstar_lite.cpp:753:18: note: initialize the variable 'x1' to silence this warning                                                                                         
        double x1,x2, y1,y2, csx,csy;                                                                                                                                                                                                  
                 ^                                                                                                                                                                                                                     
                  = 0.0                                                                                                                                                                                                                
srl_dstar_lite/src/srl_dstar_lite.cpp:767:25: error: variable 'y2' is uninitialized when used here [-Werror,-Wuninitialized]                                                                     
        this->yscene_ = y2-y1;                                                                                                                                                                                                         
                        ^~                                                                                                                                                                                                             
srl_dstar_lite/src/srl_dstar_lite.cpp:753:28: note: initialize the variable 'y2' to silence this warning                                                                                         
        double x1,x2, y1,y2, csx,csy;                                                                                                                                                                                                  
                           ^                                                                                                                                                                                                           
                            = 0.0                                                                                                                                                                                                      
srl_dstar_lite/src/srl_dstar_lite.cpp:767:28: error: variable 'y1' is uninitialized when used here [-Werror,-Wuninitialized]                                                                     
        this->yscene_ = y2-y1;                                                                                                                                                                                                         
                           ^~                                                                                                                                                                                                          
srl_dstar_lite/src/srl_dstar_lite.cpp:753:25: note: initialize the variable 'y1' to silence this warning                                                                                         
        double x1,x2, y1,y2, csx,csy;                                                                                                                                                                                                  
                        ^                                                                                                                                                                                                              
                         = 0.0                                                                                                                                                                                                         
30 warnings and 9 errors generated.

Especially the control reaches end of non-void function [-Werror,-Wreturn-type] and variable ... is uninitialized when used here [-Werror,-Wuninitialized] errors worry me.

[fevb]

We couldn't get this planner to work properly and I doubt that we will use it in the near future. For now we can leave this on standby.