build: fix compile warnings

modules/localization/msf/local_map/base_map/base_map_cache.h

@@ -59,20 +59,16 @@ class LRUCache {
   /**@brief Change cache's max capacity. New capacity must be larger than size
    * in use. */
   bool ChangeCapacity(int capacity) {
-    if (list_.size() > capacity) {
+    if (static_cast<int>(list_.size()) > capacity) {
       return false;
     }
     capacity_ = capacity;
     return true;
   }
   /**@brief return cache's in use. */
-  int Size() {
-    return list_.size();
-  }
+  int Size() { return list_.size(); }
   /**@brief return cache's max capacity. */
-  int Capacity() {
-    return capacity_;
-  }
+  int Capacity() { return capacity_; }
 
  protected:
   /**@brief do something before remove a element from cache.
@@ -123,7 +119,7 @@ Element *LRUCache<Key, Element>::Put(const Key &key, Element *value) {
     return node_remove;
   }
   // reached capacity, remove value in list, remove key in map
-  if (map_.size() >= capacity_) {
+  if (static_cast<int>(map_.size()) >= capacity_) {
     node_remove = ClearOne();
     // ListReverseIterator ritr = list_.rbegin();
     // while(ritr != list_.rend()) {
@@ -136,7 +132,7 @@ Element *LRUCache<Key, Element>::Put(const Key &key, Element *value) {
     //     ++ritr;
     // }
   }
-  if (map_.size() >= capacity_) {
+  if (static_cast<int>(map_.size()) >= capacity_) {
     std::cout << "LRUCache Warning: the cache size is temporarily increased!"
               << std::endl;
   }
@@ -223,9 +219,7 @@ class MapNodeCacheL2 : public LRUCache<Key, MapNode> {
    * Return true if the element can be removed. Return false if the element
    * can't be removed. Then the cache will try to find another element to
    * remove. */
-  virtual bool Destroy(MapNode **value) {
-    return !((*value)->GetIsReserved());
-  }
+  virtual bool Destroy(MapNode **value) { return !((*value)->GetIsReserved()); }
 };
 
 }  // namespace msf

modules/perception/obstacle/common/geometry_util.h

@@ -33,7 +33,7 @@ namespace perception {
 template <typename PointT>
 void TransformPointCloud(const Eigen::Matrix4d& trans_mat,
                          pcl::PointCloud<PointT>* cloud_in_out) {
-  for (int i = 0; i < cloud_in_out->size(); ++i) {
+  for (std::size_t i = 0; i < cloud_in_out->size(); ++i) {
     PointT& p = cloud_in_out->at(i);
     Eigen::Vector4d v(p.x, p.y, p.z, 1);
     v = trans_mat * v;
@@ -68,7 +68,7 @@ void TransformPointCloud(const pcl::PointCloud<PointType>& cloud_in,
   if (cloud_out->points.size() < cloud_in.points.size()) {
     cloud_out->points.resize(cloud_in.points.size());
   }
-  for (int i = 0; i < cloud_in.size(); ++i) {
+  for (std::size_t i = 0; i < cloud_in.size(); ++i) {
     const PointType& p = cloud_in.at(i);
     Eigen::Vector4d v(p.x, p.y, p.z, 1);
     v = trans_mat * v;

modules/perception/onboard/common_shared_data.h

@@ -154,7 +154,8 @@ void CommonSharedData<M>::RemoveStaleData() {
   bool has_change = false;
   for (auto iter = data_added_time_map_.begin();
        iter != data_added_time_map_.end();) {
-    if (now - iter->second > FLAGS_shared_data_stale_time) {
+    if (now - iter->second >
+        static_cast<uint64_t>(FLAGS_shared_data_stale_time)) {
       const size_t erase_cnt = data_map_.erase(iter->first);
       if (erase_cnt != 1u) {
         AWARN << "_data_map erase cnt:" << erase_cnt << " key:" << iter->first;

modules/perception/tool/data_generator/velodyne64.cc

@@ -20,6 +20,8 @@
 
 #include "modules/perception/tool/data_generator/velodyne64.h"
 
+#include <cmath>
+
 namespace apollo {
 namespace perception {
 namespace data_generator {
@@ -92,7 +94,8 @@ void Velodyne64::TransPointCloudMsgToPCL(
   size_t points_num = 0;
   for (size_t i = 0; i < in_cloud.size(); ++i) {
     pcl_util::PointXYZIT& pt = in_cloud.points[i];
-    if (!isnan(pt.x) && !isnan(pt.y) && !isnan(pt.z) && !isnan(pt.intensity)) {
+    if (!std::isnan(pt.x) && !std::isnan(pt.y) && !std::isnan(pt.z) &&
+        !std::isnan(pt.intensity)) {
       cloud->points[points_num].x = pt.x;
       cloud->points[points_num].y = pt.y;
       cloud->points[points_num].z = pt.z;