From ca80678ffcdb069e0301e8c49a1efaf8ebabc9a3 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Mon, 8 Oct 2018 21:38:50 -0400
Subject: [PATCH] Fixed more warnings

---
 examples/SolverComparer.cpp      |  2 +-
 gtsam/3rdparty/metis/GKlib/csr.c | 31 +++++++++++++++----------------
 gtsam/base/cholesky.cpp          |  5 +++--
 3 files changed, 19 insertions(+), 19 deletions(-)

diff --git a/examples/SolverComparer.cpp b/examples/SolverComparer.cpp
index deaf3b781..63c512edb 100644
--- a/examples/SolverComparer.cpp
+++ b/examples/SolverComparer.cpp
@@ -206,7 +206,7 @@ int main(int argc, char *argv[]) {
   }
 
 #ifdef GTSAM_USE_TBB
-  std::auto_ptr<tbb::task_scheduler_init> init;
+  std::unique_ptr<tbb::task_scheduler_init> init;
   if(nThreads > 0) {
     cout << "Using " << nThreads << " threads" << endl;
     init.reset(new tbb::task_scheduler_init(nThreads));
diff --git a/gtsam/3rdparty/metis/GKlib/csr.c b/gtsam/3rdparty/metis/GKlib/csr.c
index 57934ee9d..4f6213c49 100644
--- a/gtsam/3rdparty/metis/GKlib/csr.c
+++ b/gtsam/3rdparty/metis/GKlib/csr.c
@@ -1349,27 +1349,26 @@ void gk_csr_Normalize(gk_csr_t *mat, int what, int norm)
     }
   }
 
-  if (what&GK_CSR_COL && mat->colval) {
-    n   = mat->ncols;
+  if (what & GK_CSR_COL && mat->colval) {
+    n = mat->ncols;
     ptr = mat->colptr;
     val = mat->colval;
 
-    #pragma omp parallel if (ptr[n] > OMPMINOPS)
+#pragma omp parallel if (ptr[n] > OMPMINOPS)
     {
-    #pragma omp for private(j,sum) schedule(static)
-      for (i=0; i<n; i++) {
-        for (sum=0.0, j=ptr[i]; j<ptr[i+1]; j++)
-  	if (norm == 2)
-  	  sum += val[j]*val[j];
-  	else if (norm == 1)
-  	  sum += val[j]; 
+#pragma omp for private(j, sum) schedule(static)
+      for (i = 0; i < n; i++) {
+        for (sum = 0.0, j = ptr[i]; j < ptr[i + 1]; j++)
+          if (norm == 2)
+            sum += val[j] * val[j];
+          else if (norm == 1)
+            sum += val[j];
         if (sum > 0) {
-  	if (norm == 2)
-  	  sum=1.0/sqrt(sum); 
-  	else if (norm == 1)
-  	  sum=1.0/sum; 
-          for (j=ptr[i]; j<ptr[i+1]; j++)
-            val[j] *= sum;
+          if (norm == 2)
+            sum = 1.0 / sqrt(sum);
+          else if (norm == 1)
+            sum = 1.0 / sum;
+          for (j = ptr[i]; j < ptr[i + 1]; j++) val[j] *= sum;
         }
       }
     }
diff --git a/gtsam/base/cholesky.cpp b/gtsam/base/cholesky.cpp
index bc5279c7b..31e4b8244 100644
--- a/gtsam/base/cholesky.cpp
+++ b/gtsam/base/cholesky.cpp
@@ -111,8 +111,9 @@ bool choleskyPartial(Matrix& ABC, size_t nFrontal, size_t topleft) {
     return true;
 
   assert(ABC.cols() == ABC.rows());
-  const Eigen::DenseIndex n = ABC.rows() - topleft;
-  assert(n >= 0 && nFrontal <= size_t(n));
+  assert(ABC.rows() >= topleft);
+  const size_t n = static_cast<size_t>(ABC.rows() - topleft);
+  assert(nFrontal <= size_t(n));
 
   // Create views on blocks
   auto A = ABC.block(topleft, topleft, nFrontal, nFrontal);