Fix some more warnings.

gtsam/base/DerivedValue.h

@@ -129,7 +129,7 @@ public:
 protected:
   /// Assignment operator, protected because only the Value or DERIVED
   /// assignment operators should be used.
-  DerivedValue<DERIVED>& operator=(const DerivedValue<DERIVED>& rhs) {
+  DerivedValue<DERIVED>& operator=(const DerivedValue<DERIVED>& /*rhs*/) {
     // Nothing to do, do not call base class assignment operator
     return *this;
   }

gtsam/base/OptionalJacobian.h

@@ -83,7 +83,7 @@ public:
 #ifndef OPTIONALJACOBIAN_NOBOOST
 
   /// Constructor with boost::none just makes empty
-  OptionalJacobian(boost::none_t none) :
+  OptionalJacobian(boost::none_t /*none*/) :
       map_(NULL) {
   }
 
@@ -142,7 +142,7 @@ public:
 #ifndef OPTIONALJACOBIAN_NOBOOST
 
   /// Constructor with boost::none just makes empty
-  OptionalJacobian(boost::none_t none) :
+  OptionalJacobian(boost::none_t /*none*/) :
     pointer_(NULL) {
   }
 

gtsam/base/SymmetricBlockMatrix.h

@@ -199,6 +199,7 @@ namespace gtsam {
 
     void checkBlock(DenseIndex block) const
     {
+      static_cast<void>(block); //Disable unused varibale warnings.
       assert(matrix_.rows() == matrix_.cols());
       assert(matrix_.cols() == variableColOffsets_.back());
       assert(block >= 0);

gtsam/base/SymmetricBlockMatrixBlockExpr.h

@@ -93,7 +93,7 @@ namespace gtsam
 
     /// Create a SymmetricBlockMatrixBlockExpr from the specified range of blocks of a
     /// SymmetricBlockMatrix.
-    SymmetricBlockMatrixBlockExpr(SymmetricBlockMatrixType& blockMatrix, Index firstBlock, Index blocks, char dummy) :
+    SymmetricBlockMatrixBlockExpr(SymmetricBlockMatrixType& blockMatrix, Index firstBlock, Index blocks, char /*dummy*/) :
       xpr_(blockMatrix), myBlock_(blockMatrix.matrix_.block(0, 0, 0, 0))
     {
       initIndices(firstBlock, firstBlock, blocks, blocks);

gtsam/base/Value.h

@@ -121,7 +121,7 @@ namespace gtsam {
     virtual Vector localCoordinates_(const Value& value) const = 0;
 
     /** Assignment operator */
-    virtual Value& operator=(const Value& rhs) {
+    virtual Value& operator=(const Value& /*rhs*/) {
       //needs a empty definition so recursion in implicit derived assignment operators work
      return *this;
     }
@@ -166,7 +166,7 @@ namespace gtsam {
      * */
     friend class boost::serialization::access;
     template<class ARCHIVE>
-    void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
+    void serialize(ARCHIVE & /*ar*/, const unsigned int /*version*/) {
     }
 
   };

gtsam/base/VectorSpace.h

@@ -401,7 +401,7 @@ struct DynamicTraits {
     return result;
   }
 
-  static Dynamic Expmap(const TangentVector& v, ChartJacobian H = boost::none) {
+  static Dynamic Expmap(const TangentVector& /*v*/, ChartJacobian /*H*/) {
     throw std::runtime_error("Expmap not defined for dynamic types");
   }
 

gtsam/base/VerticalBlockMatrix.h

@@ -199,6 +199,7 @@ namespace gtsam {
     }
 
     void checkBlock(DenseIndex block) const {
+      static_cast<void>(block); //Disable unused varibale warnings.
       assert(matrix_.cols() == variableColOffsets_.back());
       assert(block < (DenseIndex)variableColOffsets_.size() - 1);
       assert(variableColOffsets_[block] < matrix_.cols() && variableColOffsets_[block+1] <= matrix_.cols());

gtsam/geometry/Rot2.h

@@ -118,12 +118,12 @@ namespace gtsam {
     Matrix1 AdjointMap() const { return I_1x1; }
 
     /// Left-trivialized derivative of the exponential map
-    static Matrix ExpmapDerivative(const Vector& v) {
+    static Matrix ExpmapDerivative(const Vector& /*v*/) {
       return ones(1);
     }
 
     /// Left-trivialized derivative inverse of the exponential map
-    static Matrix LogmapDerivative(const Vector& v) {
+    static Matrix LogmapDerivative(const Vector& /*v*/) {
       return ones(1);
     }
 

gtsam/linear/NoiseModel.h

@@ -592,12 +592,12 @@ namespace gtsam {
       virtual Vector whiten(const Vector& v) const { return v; }
       virtual Vector unwhiten(const Vector& v) const { return v; }
       virtual Matrix Whiten(const Matrix& H) const { return H; }
-      virtual void WhitenInPlace(Matrix& H) const {}
-      virtual void WhitenInPlace(Eigen::Block<Matrix> H) const {}
-      virtual void whitenInPlace(Vector& v) const {}
-      virtual void unwhitenInPlace(Vector& v) const {}
-      virtual void whitenInPlace(Eigen::Block<Vector>& v) const {}
-      virtual void unwhitenInPlace(Eigen::Block<Vector>& v) const {}
+      virtual void WhitenInPlace(Matrix& /*H*/) const {}
+      virtual void WhitenInPlace(Eigen::Block<Matrix> /*H*/) const {}
+      virtual void whitenInPlace(Vector& /*v*/) const {}
+      virtual void unwhitenInPlace(Vector& /*v*/) const {}
+      virtual void whitenInPlace(Eigen::Block<Vector>& /*v*/) const {}
+      virtual void unwhitenInPlace(Eigen::Block<Vector>& /*v*/) const {}
 
     private:
       /** Serialization function */
@@ -667,9 +667,9 @@ namespace gtsam {
 
         Null(const ReweightScheme reweight = Block) : Base(reweight) {}
         virtual ~Null() {}
-        virtual double weight(const double &error) const { return 1.0; }
+        virtual double weight(const double& /*error*/) const { return 1.0; }
         virtual void print(const std::string &s) const;
-        virtual bool equals(const Base& expected, const double tol=1e-8) const { return true; }
+        virtual bool equals(const Base& /*expected*/, const double /*tol*/) const { return true; }
         static shared_ptr Create() ;
 
       private:
@@ -848,7 +848,7 @@ namespace gtsam {
       // TODO: functions below are dummy but necessary for the noiseModel::Base
       inline virtual Vector whiten(const Vector& v) const
       { Vector r = v; this->WhitenSystem(r); return r; }
-      inline virtual Vector unwhiten(const Vector& v) const
+      inline virtual Vector unwhiten(const Vector& /*v*/) const
       { throw std::invalid_argument("unwhiten is not currently supported for robust noise models."); }
       inline virtual double distance(const Vector& v) const
       { return this->whiten(v).squaredNorm(); }

gtsam/navigation/ImuFactorBase.h

@@ -61,7 +61,7 @@ public:
 
   /// Needed for testable
   //------------------------------------------------------------------------------
-  void print(const std::string& s) const {
+  void print(const std::string& /*s*/) const {
     std::cout << "  gravity: [ " << gravity_.transpose() << " ]" << std::endl;
     std::cout << "  omegaCoriolis: [ " << omegaCoriolis_.transpose() << " ]" << std::endl;
     std::cout << "  use2ndOrderCoriolis: [ " << use2ndOrderCoriolis_ << " ]" << std::endl;

gtsam/nonlinear/NonlinearFactor.h

@@ -112,7 +112,7 @@ public:
    * when the constraint is *NOT* fulfilled.
    * @return true if the constraint is active
    */
-  virtual bool active(const Values& c) const { return true; }
+  virtual bool active(const Values& /*c*/) const { return true; }
 
   /** linearize to a GaussianFactor */
   virtual boost::shared_ptr<GaussianFactor>