Fixed warnings flagged by Ubuntu g++

gtsam/3rdparty/CCOLAMD/Source/ccolamd.c

@@ -1560,8 +1560,9 @@ PUBLIC Int CCOLAMD_2	    /* returns TRUE if successful, FALSE otherwise */
     Int *dead_cols ;
     Int set1 ;
     Int set2 ;
+#ifndef NDEBUG
     Int cs ;
-
+#endif
     int ok ;
 
 #ifndef NDEBUG
@@ -1909,8 +1910,10 @@ PUBLIC Int CCOLAMD_2	    /* returns TRUE if successful, FALSE otherwise */
             p [k] = col ;
             ASSERT (A [col] == EMPTY) ;
 
+#ifndef NDEBUG
 	    	cs = CMEMBER (col) ;
             ASSERT (k >= cset_start [cs] && k < cset_start [cs+1]) ;
+#endif
 
             A [col] = k ;
             k++ ;
@@ -1926,11 +1929,11 @@ PUBLIC Int CCOLAMD_2	    /* returns TRUE if successful, FALSE otherwise */
             if (A [col] == EMPTY)
             {
                 k = Col [col].shared2.order ;
-		cs = CMEMBER (col) ;
 #ifndef NDEBUG
+				cs = CMEMBER (col) ;
                 dead_cols [cs]-- ;
-#endif
                 ASSERT (k >= cset_start [cs] && k < cset_start [cs+1]) ;
+#endif
                 DEBUG1 (("ccolamd output ordering: k "ID" col "ID
                     " (dense or null col)\n", k, col)) ;
                 p [k] = col ;

gtsam/3rdparty/metis/GKlib/csr.c

@@ -1343,9 +1343,7 @@ void gk_csr_Normalize(gk_csr_t *mat, int what, int norm)
             sum = 1.0 / sqrt(sum);
           else if (norm == 1)
             sum = 1.0 / sum;
-          for (j=ptr[i]; j<ptr[i+1]; j++)
+          for (j = ptr[i]; j < ptr[i + 1]; j++) val[j] *= sum;
-            val[j] *= sum;
-  	
         }
       }
     }

gtsam/3rdparty/metis/GKlib/getopt.c

@@ -674,32 +674,33 @@ static int gk_getopt_internal(int argc, char **argv, char *optstring,
         if (*nextchar != '\0') {
           gk_optarg = nextchar;
           gk_optind++;
-	}
+        } else {
-	else
           gk_optarg = NULL;
-	nextchar = NULL;
         }
-      else {
+        nextchar = NULL;
+      } else {
         /* This is an option that requires an argument.  */
         if (*nextchar != '\0') {
           gk_optarg = nextchar;
-	  /* If we end this ARGV-element by taking the rest as an arg, we must advance to the next element now.  */
+          /* If we end this ARGV-element by taking the rest as an arg, we must
+           * advance to the next element now.  */
           gk_optind++;
-	}
+        } else if (gk_optind == argc) {
-	else if (gk_optind == argc) {
           if (print_errors) {
             /* 1003.2 specifies the format of this message.  */
-	    fprintf(stderr, "%s: option requires an argument -- %c\n", argv[0], c);
+            fprintf(stderr, "%s: option requires an argument -- %c\n", argv[0],
+                    c);
           }
           gk_optopt = c;
           if (optstring[0] == ':')
             c = ':';
           else
             c = '?';
-	}
+        } else {
-	else
+          /* We already incremented `gk_optind' once; increment it again when
-	  /* We already incremented `gk_optind' once; increment it again when taking next ARGV-elt as argument.  */
+           * taking next ARGV-elt as argument.  */
           gk_optarg = argv[gk_optind++];
+        }
         nextchar = NULL;
       }
     }

gtsam/inference/BayesTree-inst.h

@@ -84,7 +84,8 @@ namespace gtsam {
     parent += "[label=\"";
 
     for (Key index : clique->conditional_->frontals()) {
-      if(!first) parent += ","; first = false;
+      if (!first) parent += ",";
+      first = false;
       parent += indexFormatter(index);
     }
 
@@ -95,7 +96,8 @@ namespace gtsam {
 
     first = true;
     for (Key sep : clique->conditional_->parents()) {
-      if(!first) parent += ","; first = false;
+      if (!first) parent += ",";
+      first = false;
       parent += indexFormatter(sep);
     }
     parent += "\"];\n";