Address compiler warnings

src/architecture/msgPayloadDefCpp/VSCMGConfigMsgPayload.h

@@ -23,103 +23,100 @@
 #include <Eigen/Dense>
 #include <vector>
 
-
-/*! @brief enumeration definiting the types of VSCMG modes */ 
+/*! @brief enumeration definiting the types of VSCMG modes */
 enum VSCMGModels { vscmgBalancedWheels, vscmgJitterSimple, vscmgJitterFullyCoupled };
 
-
 /*! @brief Structure used to define the individual VSCMG configuration data message*/
 typedef struct
-//@cond DOXYGEN_IGNORE
-VSCMGConfigMsgPayload
+    //@cond DOXYGEN_IGNORE
+    VSCMGConfigMsgPayload
 //@endcond
 {
-	VSCMGModels VSCMGModel;     //!< [-], Type of imbalance model to use
-	Eigen::Vector3d rGB_B;		//!< [m], position vector of the VSCMG relative to the spacecraft body frame
-	Eigen::Vector3d gsHat0_B;   //!< module variable
-	Eigen::Vector3d gsHat_B;	//!< [-] spin axis unit vector in body frame
-	Eigen::Vector3d gtHat0_B;   //!< module variable
-	Eigen::Vector3d gtHat_B;    //!< module variable
-	Eigen::Vector3d ggHat_B;    //!< module variable
-	Eigen::Vector3d w2Hat0_B;	//!< [-] initial torque axis unit vector in body frame
-	Eigen::Vector3d w2Hat_B;    //!< module variable
-    Eigen::Vector3d w3Hat0_B;	//!< [-] initial gimbal axis unit vector in body frame
-	Eigen::Vector3d w3Hat_B;    //!< module variable
-    double massV;               //!< [kg]
-	double massG;               //!< [kg]
-	double massW;               //!< [kg]
-    double theta;               //!< [rad], wheel angle
-    double Omega;               //!< [rad/s], wheel speed
-	double gamma;               //!< [s], gimbal angle
-	double gammaDot;            //!< [rad/s], gimbal rate
-    double IW1;                 //!< [kg-m^2], spin axis gsHat rotor moment of inertia
-    double IW2;                 //!< [kg-m^2], gtHat axis rotor moment of inertia
-    double IW3;                 //!< [kg-m^2], ggHat axis rotor moment of inertia
-	double IW13;                //!< [kg-m^2], x-z inertia of wheel about wheel center in wheel frame (imbalance)
-	double IG1;              	//!< [kg-m^2]
-	double IG2;          		//!< [kg-m^2]
-	double IG3;                 //!< [kg-m^2]
-	double IG12;             	//!< [kg-m^2]
-	double IG13;         		//!< [kg-m^2]
-	double IG23;                //!< [kg-m^2]
-	double IV1;              	//!< [kg-m^2]
-	double IV2;          		//!< [kg-m^2]
-	double IV3;                 //!< [kg-m^2]
-	double rhoG;                //!< module variable
-	double rhoW;                //!< module variable
-    double U_s;                 //!< [kg-m], static imbalance
-    double U_d;                 //!< [kg-m^2], dynamic imbalance
-	Eigen::Vector3d rGcG_G;     //!< module variable
-    double d;                	//!< [m], wheel center of mass offset from wheel frame origin
-	double l;                   //!< module variable
-	double L;                   //!< module variable
-    double u_s_current;         //!< [N-m], current motor torque
-    double u_s_max = -1.0;      //!< [N-m], Max torque
-    double u_s_min;             //!< [N-m], Min torque
-    double u_s_f;               //!< [N-m], Coulomb friction torque magnitude
-    double Omega_max = -1.0;    //!< [rad/s], max wheel speed
-	double wheelLinearFrictionRatio;//!< [%] ratio relative to max speed value up to which the friction behaves linearly
-	double u_g_current;         //!< [N-m], current motor torque
-	double u_g_max = -1.0;      //!< [N-m], Max torque
-	double u_g_min;             //!< [N-m], Min torque
-	double u_g_f;               //!< [N-m], Coulomb friction torque magnitude
-	double gammaDot_max;        //!< [rad/s], max wheel speed
-	double gimbalLinearFrictionRatio;//!< [%] ratio relative to max speed value up to which the friction behaves linearly
-
-	Eigen::Matrix3d IGPntGc_B;  //!< module variable
-    Eigen::Matrix3d IWPntWc_B;  //!< module variable
-	Eigen::Matrix3d IPrimeGPntGc_B;     //!< module variable
-	Eigen::Matrix3d IPrimeWPntWc_B;     //!< module variable
-	Eigen::Vector3d rGcG_B;     //!< module variable
-	Eigen::Vector3d rGcB_B;     //!< module variable
-    Eigen::Vector3d rWcB_B;     //!< module variable
-	Eigen::Vector3d rWcG_B;     //!< module variable
-	Eigen::Matrix3d rTildeGcB_B;        //!< module variable
-    Eigen::Matrix3d rTildeWcB_B;        //!< module variable
-	Eigen::Vector3d rPrimeGcB_B;        //!< module variable
-    Eigen::Vector3d rPrimeWcB_B;        //!< module variable
-	Eigen::Matrix3d rPrimeTildeGcB_B;   //!< module variable
-	Eigen::Matrix3d rPrimeTildeWcB_B;   //!< module variable
-
-	Eigen::Vector3d aOmega; //!< [-], parameter used in coupled jitter back substitution
-	Eigen::Vector3d bOmega; //!< [-], parameter used in coupled jitter back substitution
-	double cOmega;          //!< [-], parameter used in coupled jitter back substitution
-	double dOmega;          //!< module variable
-	double eOmega;          //!< module variable
-	Eigen::Vector3d agamma; //!< module variable
-	Eigen::Vector3d bgamma; //!< module variable
-	double cgamma;          //!< module variable
-	double dgamma;          //!< module variable
-	double egamma;          //!< module variable
-	Eigen::Vector3d p;      //!< module variable
-	Eigen::Vector3d q;      //!< module variable
-	double s;               //!< module variable
-
-	double gravityTorqueWheel_s;    //!< module variable
-	double gravityTorqueGimbal_g;   //!< module variable
-}VSCMGConfigMsgPayload;
-
-
-
+    VSCMGModels VSCMGModel;      //!< [-], Type of imbalance model to use
+    Eigen::Vector3d rGB_B{};     //!< [m], position vector of the VSCMG relative to the spacecraft body frame
+    Eigen::Vector3d gsHat0_B{};  //!< module variable
+    Eigen::Vector3d gsHat_B{};   //!< [-] spin axis unit vector in body frame
+    Eigen::Vector3d gtHat0_B{};  //!< module variable
+    Eigen::Vector3d gtHat_B{};   //!< module variable
+    Eigen::Vector3d ggHat_B{};   //!< module variable
+    Eigen::Vector3d w2Hat0_B{};  //!< [-] initial torque axis unit vector in body frame
+    Eigen::Vector3d w2Hat_B{};   //!< module variable
+    Eigen::Vector3d w3Hat0_B{};  //!< [-] initial gimbal axis unit vector in body frame
+    Eigen::Vector3d w3Hat_B{};   //!< module variable
+    double massV;                //!< [kg]
+    double massG;                //!< [kg]
+    double massW;                //!< [kg]
+    double theta;                //!< [rad], wheel angle
+    double Omega;                //!< [rad/s], wheel speed
+    double gamma;                //!< [s], gimbal angle
+    double gammaDot;             //!< [rad/s], gimbal rate
+    double IW1;                  //!< [kg-m^2], spin axis gsHat rotor moment of inertia
+    double IW2;                  //!< [kg-m^2], gtHat axis rotor moment of inertia
+    double IW3;                  //!< [kg-m^2], ggHat axis rotor moment of inertia
+    double IW13;                 //!< [kg-m^2], x-z inertia of wheel about wheel center in wheel frame (imbalance)
+    double IG1;                  //!< [kg-m^2]
+    double IG2;                  //!< [kg-m^2]
+    double IG3;                  //!< [kg-m^2]
+    double IG12;                 //!< [kg-m^2]
+    double IG13;                 //!< [kg-m^2]
+    double IG23;                 //!< [kg-m^2]
+    double IV1;                  //!< [kg-m^2]
+    double IV2;                  //!< [kg-m^2]
+    double IV3;                  //!< [kg-m^2]
+    double rhoG;                 //!< module variable
+    double rhoW;                 //!< module variable
+    double U_s;                  //!< [kg-m], static imbalance
+    double U_d;                  //!< [kg-m^2], dynamic imbalance
+    Eigen::Vector3d rGcG_G{};    //!< module variable
+    double d;                    //!< [m], wheel center of mass offset from wheel frame origin
+    double l;                    //!< module variable
+    double L;                    //!< module variable
+    double u_s_current;          //!< [N-m], current motor torque
+    double u_s_max = -1.0;       //!< [N-m], Max torque
+    double u_s_min;              //!< [N-m], Min torque
+    double u_s_f;                //!< [N-m], Coulomb friction torque magnitude
+    double Omega_max = -1.0;     //!< [rad/s], max wheel speed
+    double
+        wheelLinearFrictionRatio;  //!< [%] ratio relative to max speed value up to which the friction behaves linearly
+    double u_g_current;            //!< [N-m], current motor torque
+    double u_g_max = -1.0;         //!< [N-m], Max torque
+    double u_g_min;                //!< [N-m], Min torque
+    double u_g_f;                  //!< [N-m], Coulomb friction torque magnitude
+    double gammaDot_max;           //!< [rad/s], max wheel speed
+    double
+        gimbalLinearFrictionRatio;  //!< [%] ratio relative to max speed value up to which the friction behaves linearly
+
+    Eigen::Matrix3d IGPntGc_B = Eigen::Matrix3d::Identity();         //!< module variable
+    Eigen::Matrix3d IWPntWc_B = Eigen::Matrix3d::Identity();         //!< module variable
+    Eigen::Matrix3d IPrimeWPntWc_B = Eigen::Matrix3d::Identity();    //!< module variable
+    Eigen::Matrix3d IPrimeGPntGc_B = Eigen::Matrix3d::Identity();    //!< module variable
+    Eigen::Vector3d rGcG_B{};                                        //!< module variable
+    Eigen::Vector3d rGcB_B{};                                        //!< module variable
+    Eigen::Vector3d rWcB_B{};                                        //!< module variable
+    Eigen::Vector3d rWcG_B{};                                        //!< module variable
+    Eigen::Matrix3d rTildeGcB_B = Eigen::Matrix3d::Identity();       //!< module variable
+    Eigen::Matrix3d rTildeWcB_B = Eigen::Matrix3d::Identity();       //!< module variable
+    Eigen::Vector3d rPrimeGcB_B{};                                   //!< module variable
+    Eigen::Vector3d rPrimeWcB_B{};                                   //!< module variable
+    Eigen::Matrix3d rPrimeTildeGcB_B = Eigen::Matrix3d::Identity();  //!< module variable
+    Eigen::Matrix3d rPrimeTildeWcB_B = Eigen::Matrix3d::Identity();  //!< module variable
+
+    Eigen::Vector3d aOmega{};  //!< [-], parameter used in coupled jitter back substitution
+    Eigen::Vector3d bOmega{};  //!< [-], parameter used in coupled jitter back substitution
+    double cOmega;             //!< [-], parameter used in coupled jitter back substitution
+    double dOmega;             //!< module variable
+    double eOmega;             //!< module variable
+    Eigen::Vector3d agamma{};  //!< module variable
+    Eigen::Vector3d bgamma{};  //!< module variable
+    double cgamma;             //!< module variable
+    double dgamma;             //!< module variable
+    double egamma;             //!< module variable
+    Eigen::Vector3d p{};       //!< module variable
+    Eigen::Vector3d q{};       //!< module variable
+    double s;                  //!< module variable
+
+    double gravityTorqueWheel_s;   //!< module variable
+    double gravityTorqueGimbal_g;  //!< module variable
+} VSCMGConfigMsgPayload;
 
 #endif

src/fswAlgorithms/_GeneralModuleFiles/srukfInterface.cpp

@@ -47,7 +47,7 @@ void SRukfInterface::reset(uint64_t currentSimNanos) {
     this->wM(0) = this->lambda / ((double)this->state.size() + this->lambda);
     this->wC(0) =
         this->lambda / ((double)this->state.size() + this->lambda) + (1 - this->alpha * this->alpha + this->beta);
-    for (auto i = 1; i < this->numberSigmaPoints; ++i) {
+    for (size_t i = 1; i < this->numberSigmaPoints; ++i) {
         this->wM(i) = 1.0 / (2.0 * ((double)this->state.size() + this->lambda));
         this->wC(i) = this->wM(i);
     }

src/fswAlgorithms/_GeneralModuleFiles/srukfInterface.h

@@ -20,22 +20,22 @@
 #ifndef SRUKF_INTERFACE_HPP
 #define SRUKF_INTERFACE_HPP
 
-#include <Eigen/Dense>
-#include <functional>
-#include <optional>
-#include <array>
-#include "architecture/utilities/avsEigenSupport.h"
-#include "architecture/utilities/macroDefinitions.h"
 #include "architecture/_GeneralModuleFiles/sys_model.h"
 #include "architecture/messaging/messaging.h"
+#include "architecture/utilities/avsEigenSupport.h"
+#include "architecture/utilities/macroDefinitions.h"
 #include "fswAlgorithms/_GeneralModuleFiles/filterInterfaceDefinitions.h"
 #include "fswAlgorithms/_GeneralModuleFiles/kalmanFilter.h"
 #include "fswAlgorithms/_GeneralModuleFiles/measurementModels.h"
 #include "fswAlgorithms/_GeneralModuleFiles/stateModels.h"
+#include <Eigen/Dense>
+#include <array>
+#include <functional>
+#include <optional>
 
 /*! @brief Square Root unscented Kalman Filter base class */
-class SRukfInterface: public KalmanFilter {
-public:
+class SRukfInterface : public KalmanFilter {
+   public:
     SRukfInterface() = default;
     ~SRukfInterface() = default;
     void reset(uint64_t currentSimNanos) final;
@@ -45,7 +45,7 @@ class SRukfInterface: public KalmanFilter {
     void setBeta(double beta);
     double getBeta() const;
 
-private:
+   private:
     void timeUpdate(double updateTime) final;
     void measurementUpdate(const MeasurementModel &measurement) final;
 
@@ -58,20 +58,20 @@ class SRukfInterface: public KalmanFilter {
     Eigen::MatrixXd forwardSubstitution(const Eigen::MatrixXd &L, const Eigen::MatrixXd &b) const;
     Eigen::MatrixXd choleskyDecomposition(const Eigen::MatrixXd &input) const;
 
-    Eigen::MatrixXd sBar; //!< [-] Time updated covariance
-    std::array<FilterStateVector, 2*MAX_STATES_VECTOR+1> sigmaPoints; //!< [-]    sigma point vector
-    int numberSigmaPoints=0;//!< [-] number of sigma points
-    Eigen::MatrixXd cholProcessNoise; //!< [-] cholesky of Qnoise
-    Eigen::MatrixXd cholMeasNoise; //!< [-] cholesky of Measurement noise
+    Eigen::MatrixXd sBar;                                                  //!< [-] Time updated covariance
+    std::array<FilterStateVector, 2 * MAX_STATES_VECTOR + 1> sigmaPoints;  //!< [-]    sigma point vector
+    size_t numberSigmaPoints = 0;                                          //!< [-] number of sigma points
+    Eigen::MatrixXd cholProcessNoise;                                      //!< [-] cholesky of Qnoise
+    Eigen::MatrixXd cholMeasNoise;                                         //!< [-] cholesky of Measurement noise
 
-    double beta=0;
-    double alpha=0;
-    double lambda=0;
-    double eta=0;
+    double beta = 0;
+    double alpha = 0;
+    double lambda = 0;
+    double eta = 0;
 
     Eigen::VectorXd wM;
     Eigen::VectorXd wC;
-    Eigen::MatrixXd sBarInitial; //!< [-] Time updated covariance at previous time
+    Eigen::MatrixXd sBarInitial;  //!< [-] Time updated covariance at previous time
 };
 
 #endif /* SRUKF_INTERFACE_HPP */