resolve compile warnings, fix issue microsoft#411

AirLib/include/common/StateReporterWrapper.hpp

@@ -64,6 +64,9 @@ class StateReporterWrapper : public UpdatableObject {
     }
     virtual void reportState(StateReporter& reporter) override
     {
+        //TODO: perhaps we should be using supplied reporter?
+        unused(reporter);
+
         //write dt stats
         report_.writeNameOnly("dt");
         report_.writeValueOnly(dt_stats_.mean());

AirLib/include/physics/PhysicsEngineBase.hpp

@@ -24,6 +24,7 @@ class PhysicsEngineBase : public UpdatableObject {
 
     virtual void reportState(StateReporter& reporter) override
     {
+        unused(reporter);
         //default nothing to report for physics engine
     }
 

AirLib/include/physics/PhysicsWorld.hpp

@@ -23,7 +23,7 @@ class PhysicsWorld {
     {
         enableStateReport(state_reporter_enabled);
         update_period_nanos_ = update_period_nanos;
-        initializeWorld(physics_engine, bodies, start_async_updator);
+        initializeWorld(bodies, start_async_updator);
     }
 
     void lock()
@@ -77,8 +77,7 @@ class PhysicsWorld {
     }
 
 private:
-    void initializeWorld(PhysicsEngineBase* physics_engine, 
-        const std::vector<UpdatableObject*>& bodies, bool start_async_updator)
+    void initializeWorld(const std::vector<UpdatableObject*>& bodies, bool start_async_updator)
     {
         reporter_.initialize(false);
         world_.insert(&reporter_);

AirLib/include/physics/World.hpp

@@ -85,6 +85,7 @@ class World : public UpdatableContainer<UpdatableObject*> {
     //async updater thread
     void startAsyncUpdator(uint64_t period)
     {
+        //TODO: probably we shouldn't be passing around fixed period
         executor_.initialize(std::bind(&World::worldUpdatorAsync, this, std::placeholders::_1), period);
         executor_.start();
     }
@@ -109,6 +110,8 @@ class World : public UpdatableContainer<UpdatableObject*> {
 private:
     bool worldUpdatorAsync(uint64_t dt_nanos)
     {
+        unused(dt_nanos);
+
         try {
             update();
         }

PythonClient/PythonClient.py

@@ -97,28 +97,28 @@ def simGetImage(self, camera_id, image_type):
         # helper method for converting getOrientation to roll/pitch/yaw
         # https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
         def toEulerianAngle(self, q):
-            x = q[0]
+            z = q[0]
             y = q[1]
-            z = q[2]
+            x = q[2]
             w = q[3]
             ysqr = y * y;
 
             # roll (x-axis rotation)
-            t0 = -2.0* (ysqr + z * z) + 1.0;
-            t1 = +2.0* (x * y + w * z);
-            roll = math.atan2(t1, t0)
+            t0 = +2.0 * (w*x + y*z);
+            t1 = +1.0 - 2.0*(x*x + ysqr);
+            roll = math.atan2(t0, t1)
 
             # pitch (y-axis rotation)
-            t2 = -2.0* (x * z - w * y);
+            t2 = +2.0 * (w*y - z*x);
             if (t2 > 1.0):
                 t2 = 1
             if (t2 < -1.0):
                 t2 = -1.0
-            pitch = math.sin(t2)
+            pitch = math.asin(t2)
 
             # yaw (z-axis rotation)
-            t3 = +2.0* (y * z + w * x);
-            t4 = -2.0* (x * x + ysqr) + 1.0;
+            t3 = +2.0 * (w*z + x*y);
+            t4 = +1.0 - 2.0 * (ysqr + z*z);
             yaw = math.atan2(t3, t4)
 
             return (pitch, roll, yaw)