From 8e9a14c7d6a880179bf82a5b736b967102dbc23e Mon Sep 17 00:00:00 2001
From: LucileRemigy <45563869+LucileRemigy@users.noreply.github.com>
Date: Thu, 5 Dec 2019 09:07:39 +0100
Subject: [PATCH] Fix compilation warning (#111)
---
include/hpp/fcl/collision_object.h | 6 +++---
include/hpp/fcl/internal/traversal_node_octree.h | 8 ++++----
include/hpp/fcl/profile.h | 4 ++--
src/narrowphase/details.h | 1 +
4 files changed, 10 insertions(+), 9 deletions(-)
diff --git a/include/hpp/fcl/collision_object.h b/include/hpp/fcl/collision_object.h
index 31fc86d8..91c149b9 100644
--- a/include/hpp/fcl/collision_object.h
+++ b/include/hpp/fcl/collision_object.h
@@ -93,15 +93,15 @@ public:
}
/// @brief whether the object is completely occupied
- inline bool isOccupied() const HPP_FCL_DEPRECATED
+ inline bool isOccupied() const
{ return cost_density >= threshold_occupied; }
/// @brief whether the object is completely free
- inline bool isFree() const HPP_FCL_DEPRECATED
+ inline bool isFree() const
{ return cost_density <= threshold_free; }
/// @brief whether the object has some uncertainty
- bool isUncertain() const HPP_FCL_DEPRECATED;
+ bool isUncertain() const;
/// @brief AABB center in local coordinate
Vec3f aabb_center;
diff --git a/include/hpp/fcl/internal/traversal_node_octree.h b/include/hpp/fcl/internal/traversal_node_octree.h
index e2857da2..7ece5fd0 100644
--- a/include/hpp/fcl/internal/traversal_node_octree.h
+++ b/include/hpp/fcl/internal/traversal_node_octree.h
@@ -333,7 +333,7 @@ private:
if(solver->shapeIntersect(box, box_tf, s, tf2, NULL, NULL, NULL))
{
if(cresult->numContacts() < crequest->num_max_contacts)
- cresult->addContact(Contact(tree1, &s, root1 - tree1->getRoot(), Contact::NONE));
+ cresult->addContact(Contact(tree1, &s, static_cast<int>(root1 - tree1->getRoot()), Contact::NONE));
}
}
else
@@ -345,7 +345,7 @@ private:
if(solver->shapeIntersect(box, box_tf, s, tf2, &contact, &depth, &normal))
{
if(cresult->numContacts() < crequest->num_max_contacts)
- cresult->addContact(Contact(tree1, &s, root1 - tree1->getRoot(), Contact::NONE, contact, normal, depth));
+ cresult->addContact(Contact(tree1, &s, static_cast<int>(root1 - tree1->getRoot()), Contact::NONE, contact, normal, depth));
}
}
@@ -808,7 +808,7 @@ private:
if(obb1.overlap(obb2))
{
if(cresult->numContacts() < crequest->num_max_contacts)
- cresult->addContact(Contact(tree1, tree2, root1 - tree1->getRoot(), root2 - tree2->getRoot()));
+ cresult->addContact(Contact(tree1, tree2, static_cast<int>(root1 - tree1->getRoot()), static_cast<int>(root2 - tree2->getRoot())));
}
}
else
@@ -824,7 +824,7 @@ private:
if(solver->shapeIntersect(box1, box1_tf, box2, box2_tf, &contact, &depth, &normal))
{
if(cresult->numContacts() < crequest->num_max_contacts)
- cresult->addContact(Contact(tree1, tree2, root1 - tree1->getRoot(), root2 - tree2->getRoot(), contact, normal, depth));
+ cresult->addContact(Contact(tree1, tree2, static_cast<int>(root1 - tree1->getRoot()), static_cast<int>(root2 - tree2->getRoot()), contact, normal, depth));
}
}
diff --git a/include/hpp/fcl/profile.h b/include/hpp/fcl/profile.h
index a7e3f278..497a0a44 100644
--- a/include/hpp/fcl/profile.h
+++ b/include/hpp/fcl/profile.h
@@ -86,8 +86,8 @@ inline point now(void)
/// @brief Return the time duration representing a given number of seconds
inline duration seconds(double sec)
{
- long s = (long)sec;
- long us = (long)((sec - s) * 1000000);
+ long int s = static_cast<long int>(sec);
+ long int us = ((static_cast<long int>(sec) - s) * 1000000);
return boost::posix_time::seconds(s) + boost::posix_time::microseconds(us);
}
diff --git a/src/narrowphase/details.h b/src/narrowphase/details.h
index 58036184..7c4efa3f 100644
--- a/src/narrowphase/details.h
+++ b/src/narrowphase/details.h
@@ -151,6 +151,7 @@ namespace fcl {
Vec3f S (tf1.getTranslation ());
// axis of the cylinder
Vec3f u (tf2.getRotation ().col (2));
+ /// @todo a tiny performance improvement could be achieved using the abscissa with S as the origin
assert ((B - A - (s2.halfLength * 2) * u).norm () < eps);
Vec3f AS (S - A);
// abscissa of S on cylinder axis with A as the origin
--
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