From d317ee5470613e1bbff55d6a65fa90ebfc88828f Mon Sep 17 00:00:00 2001
From: cyy_mac <cyy@mac.com>
Date: Fri, 27 Mar 2026 04:14:09 +0800
Subject: [PATCH] fix_wust_build

---
 .../armor_solver/src/trajectory_planner.cpp            | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/rm_auto_aim/armor_solver/src/trajectory_planner.cpp b/src/rm_auto_aim/armor_solver/src/trajectory_planner.cpp
index 182d88c..a869b49 100644
--- a/src/rm_auto_aim/armor_solver/src/trajectory_planner.cpp
+++ b/src/rm_auto_aim/armor_solver/src/trajectory_planner.cpp
@@ -30,7 +30,7 @@ GimbalState SegPlanner::plan(const TargetInfo& target, double dt) {
     std::vector<GimbalState> states;
     states.reserve(horizon + 1);
 
-    for (int i = 0; i <= horizon; ++i) {
+    for (size_t i = 0; i <= horizon; ++i) {
         double t = i * time_step;
         auto state = predictTarget(target, t);
         states.push_back(state);
@@ -311,7 +311,7 @@ GimbalState MpcPlanner::plan(const TargetInfo& target, double dt) {
     std::vector<GimbalState> ref_traj;
     ref_traj.reserve(N);
 
-    for (int i = 0; i < N; ++i) {
+    for (size_t i = 0; i < static_cast<size_t>(N); ++i) {
         double t = i * time_step;
         Eigen::Vector3d pred_pos = target.position + t * target.velocity;
         double pred_yaw = target.yaw + t * target.v_yaw;
@@ -331,7 +331,7 @@ GimbalState MpcPlanner::plan(const TargetInfo& target, double dt) {
     x_.col(0) << target.yaw, target.v_yaw;
 
     // 3. Set reference trajectory
-    for (int i = 0; i < N; ++i) {
+    for (size_t i = 0; i < static_cast<size_t>(N); ++i) {
         x_ref_.col(i) << ref_traj[i].yaw.p, ref_traj[i].yaw.v;
     }
 
@@ -367,7 +367,7 @@ void MpcPlanner::solveMpc(const std::vector<GimbalState>& ref_traj) {
     // Simple forward simulation with feedback
     // This is a simplified MPC that uses the reference trajectory
     // and applies acceleration constraints
-    for (int i = 0; i < N - 1; ++i) {
+    for (size_t i = 0; i < static_cast<size_t>(N - 1); ++i) {
         // Get reference state
         Eigen::Vector2d x_ref = x_ref_.col(i);
 
@@ -388,7 +388,7 @@ void MpcPlanner::solveMpc(const std::vector<GimbalState>& ref_traj) {
     // Store solution
     mpc_solution_yaw_.clear();
     mpc_solution_yaw_.reserve(N);
-    for (int i = 0; i < N; ++i) {
+    for (size_t i = 0; i < static_cast<size_t>(N); ++i) {
         State1D yaw_state(x_(0, i), x_(1, i), 0.0);
         mpc_solution_yaw_.push_back(yaw_state);
     }