Commit 269e9f19 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

fix all compilation warnings in rbprmBuilder.impl

parent eed181ed
......@@ -364,7 +364,7 @@ namespace hpp {
std::vector<fcl::Vec3f> res;
const rbprm::T_Limb& limbs = device->GetLimbs();
rbprm::RbPrmLimbPtr_t limb;
Matrix43 p; Eigen::Matrix3d R = Eigen::Matrix3d::Identity(); Eigen::Matrix3d cFrame = Eigen::Matrix3d::Identity();
Matrix43 p; Eigen::Matrix3d cFrame = Eigen::Matrix3d::Identity();
for(std::map<std::string, fcl::Vec3f>::const_iterator cit = state.contactPositions_.begin();
cit != state.contactPositions_.end(); ++cit)
{
......@@ -820,7 +820,7 @@ namespace hpp {
state.nbContacts = state.contactNormals_.size();
lastStatesComputed_.push_back(state);
lastStatesComputedTime_.push_back(std::make_pair(-1., state));
return lastStatesComputed_.size()-1;
return (CORBA::Short)(lastStatesComputed_.size()-1);
}
double RbprmBuilder::projectStateToCOM(unsigned short stateId, const hpp::floatSeq& com, unsigned short max_num_sample) throw (hpp::Error)
......@@ -882,7 +882,7 @@ namespace hpp {
rbprm::State state = generateContacts_internal(configuration,direction,acceleration,robustnessThreshold);
lastStatesComputed_.push_back(state);
lastStatesComputedTime_.push_back(std::make_pair(-1., state));
return lastStatesComputed_.size()-1;
return (CORBA::Short)(lastStatesComputed_.size()-1);
} catch (const std::exception& exc) {
throw hpp::Error (exc.what ());
}
......@@ -956,7 +956,7 @@ namespace hpp {
config[1]=0;
hpp::floatSeq* dofArray = new hpp::floatSeq();
dofArray->length(_CORBA_ULong(config.rows()));
for(std::size_t j=0; j< config.rows(); j++)
for(size_type j=0; j< config.rows(); j++)
{
(*dofArray)[(_CORBA_ULong)j] = config [j];
}
......@@ -1078,14 +1078,12 @@ namespace hpp {
// randomize samples
std::random_shuffle(reports.begin(), reports.end());
unsigned short num_samples_ok (0);
bool success(false);
pinocchio::Configuration_t sampleConfig = config;
std::vector<pinocchio::Configuration_t> results;
sampling::T_OctreeReport::const_iterator candCit = finalSet.begin();
for(std::size_t i=0; i< _CORBA_ULong(finalSet.size()) && num_samples_ok < numSamples; ++i, ++candCit)
{
const sampling::OctreeReport& report = *candCit;
success = false;
State state;
state.configuration_ = config;
hpp::rbprm::projection::ProjectionReport rep =
......@@ -1539,7 +1537,7 @@ namespace hpp {
{
try
{
if(lastStatesComputed_.size() <= stateId+1)
if(lastStatesComputed_.size() <= (std::size_t)(stateId+1))
{
throw std::runtime_error ("Unexisting state " + std::string(""+(stateId+1)));
}
......@@ -1674,7 +1672,7 @@ namespace hpp {
core::PathPtr_t makePath(DevicePtr_t device,
core::PathPtr_t makePath(DevicePtr_t /*device*/,
const ProblemPtr_t& problem,
pinocchio::ConfigurationIn_t q1,
pinocchio::ConfigurationIn_t q2)
......@@ -1742,7 +1740,7 @@ namespace hpp {
try
{
pinocchio::Configuration_t q1 = dofArrayToConfig(4, q1Seq), q2 = dofArrayToConfig(4, q2Seq);
return problemSolver()->addPath(generateTrunkPath(fullBody(), problemSolver(), rootPositions, q1, q2));
return (CORBA::Short)problemSolver()->addPath(generateTrunkPath(fullBody(), problemSolver(), rootPositions, q1, q2));
}
catch(std::runtime_error& e)
{
......@@ -1768,7 +1766,7 @@ namespace hpp {
pinocchio::vector3_t speed = (*cit) - *(cit-1);
res->appendPath(interpolation::ComTrajectory::create(*(cit-1),*cit,speed,zero,1.));
}
return problemSolver()->addPath(res);
return (CORBA::Short)problemSolver()->addPath(res);
}
catch(std::runtime_error& e)
{
......@@ -1787,7 +1785,7 @@ namespace hpp {
hpp::rbprm::interpolation::PolynomTrajectoryPtr_t path = hpp::rbprm::interpolation::PolynomTrajectory::create(curvePtr);
core::PathVectorPtr_t res = core::PathVector::create(3, 3);
res->appendPath(path);
return problemSolver()->addPath(res);
return (CORBA::Short)problemSolver()->addPath(res);
}
catch(std::runtime_error& e)
{
......@@ -1814,7 +1812,7 @@ namespace hpp {
res->appendPath(cutPath);
problemSolver()->addPath(res);
}
return returned_pathId;
return (CORBA::Short)returned_pathId;
}
catch(std::runtime_error& e)
{
......@@ -1849,7 +1847,7 @@ namespace hpp {
{
res->appendPath(interpolation::ComTrajectory::create(*(cit-1),*cit,*cdit,*cddit,dt));
}
return problemSolver()->addPath(res);
return (CORBA::Short)problemSolver()->addPath(res);
}
catch(std::runtime_error& e)
{
......@@ -1860,7 +1858,7 @@ namespace hpp {
floatSeqSeq* RbprmBuilder::computeContactPoints(unsigned short cId) throw (hpp::Error)
{
if(lastStatesComputed_.size() <= cId + 1)
if(lastStatesComputed_.size() <= (std::size_t)(cId + 1))
{
throw std::runtime_error ("Unexisting state " + std::string(""+(cId+1)));
}
......@@ -1961,7 +1959,7 @@ namespace hpp {
floatSeqSeq* RbprmBuilder::computeContactPointsForLimb(unsigned short cId, const char *limbName) throw (hpp::Error)
{
if(lastStatesComputed_.size() <= cId + 1)
if(lastStatesComputed_.size() <= (std::size_t)(cId + 1))
{
throw std::runtime_error ("Unexisting state " + std::string(""+(cId+1)));
}
......@@ -2180,7 +2178,7 @@ namespace hpp {
{
core::PathVectorPtr_t resPath = core::PathVector::create(path->outputSize(), path->outputDerivativeSize());
resPath->appendPath(path);
return ps->addPath(resPath);
return (CORBA::Short)ps->addPath(resPath);
}
CORBA::Short RbprmBuilder::limbRRT(unsigned short s1, unsigned short s2, unsigned short numOptimizations) throw (hpp::Error)
......@@ -2422,7 +2420,7 @@ namespace hpp {
unsigned short cT3,
unsigned short numOptimizations) throw (hpp::Error)
{
return rrt(&interpolation::comRRT, state1,state1+1, cT1, cT2, cT3, numOptimizations);
return rrt(&interpolation::comRRT, state1,(unsigned short)(state1+1), cT1, cT2, cT3, numOptimizations);
}
......@@ -2452,7 +2450,7 @@ namespace hpp {
unsigned short cT3,
unsigned short numOptimizations) throw (hpp::Error)
{
return rrt(&interpolation::effectorRRT, state1, state1+1, cT1, cT2, cT3, numOptimizations);
return rrt(&interpolation::effectorRRT, state1, (unsigned short)(state1+1), cT1, cT2, cT3, numOptimizations);
}
hpp::floatSeq* RbprmBuilder::effectorRRTFromPath(unsigned short s1,
......@@ -2638,7 +2636,7 @@ namespace hpp {
}
// convert pathIds to floatSeq :
hpp::floatSeq* dofArray = new hpp::floatSeq();
dofArray->length(pathIds.size());
dofArray->length((_CORBA_ULong)pathIds.size());
for(std::size_t i=0; i< pathIds.size(); ++i)
{
(*dofArray)[(_CORBA_ULong)i] = pathIds[i];
......@@ -2690,8 +2688,8 @@ namespace hpp {
fcl::Vec3f comTarget; for(int i =0; i<3; ++i) comTarget[i] = config[i];
pinocchio::Configuration_t res = project_or_throw(fullBody(), lastStatesComputed_[state],comTarget);
hpp::floatSeq* dofArray = new hpp::floatSeq();
dofArray->length(res.rows());
for(std::size_t i=0; i< res.rows(); ++i)
dofArray->length((_CORBA_ULong)res.rows());
for(size_type i=0; i< res.rows(); ++i)
{
(*dofArray)[(_CORBA_ULong)i] = res[i];
}
......@@ -2741,8 +2739,8 @@ namespace hpp {
}
pinocchio::Configuration_t res = lastStatesComputed_[state].configuration_;
hpp::floatSeq* dofArray = new hpp::floatSeq();
dofArray->length(res.rows());
for(std::size_t i=0; i< res.rows(); ++i)
dofArray->length((_CORBA_ULong)res.rows());
for(size_type i=0; i< res.rows(); ++i)
{
(*dofArray)[(_CORBA_ULong)i] = res[i];
}
......@@ -2903,7 +2901,7 @@ namespace hpp {
{
try
{
if(lastStatesComputed_.size () < s+1)
if(lastStatesComputed_.size () < (std::size_t)(s+1))
{
throw std::runtime_error ("did not find a states at indicated indices: " + std::string(""+s));
}
......@@ -2927,20 +2925,18 @@ namespace hpp {
CORBA::Short RbprmBuilder::computeIntermediary(unsigned short stateFrom, unsigned short stateTo) throw (hpp::Error)
try
{
std::size_t s((std::size_t)stateFrom);
std::size_t s2((std::size_t)stateTo);
if(lastStatesComputed_.size () < s+1 || lastStatesComputed_.size () < s2+1)
if(lastStatesComputed_.size () < (std::size_t)(stateFrom+1) || lastStatesComputed_.size () < (std::size_t)(stateTo+1))
{
throw std::runtime_error ("did not find a states at indicated indices: " + std::string(""+s));
throw std::runtime_error ("did not find a states at indicated indices: " + std::string(""+stateFrom));
}
const State& state1 = lastStatesComputed_[s];
const State& state2 = lastStatesComputed_[s2];
const State& state1 = lastStatesComputed_[stateFrom];
const State& state2 = lastStatesComputed_[stateTo];
bool unused;
short unsigned cId = s;
short unsigned cId = stateFrom;
const State state = intermediary(state1, state2,cId,unused);
lastStatesComputed_.push_back(state);
lastStatesComputedTime_.push_back(std::make_pair(-1., state));
return lastStatesComputed_.size() -1;
return (CORBA::Short)(lastStatesComputed_.size() -1);
}
catch(std::runtime_error& e)
{
......@@ -3159,7 +3155,7 @@ namespace hpp {
hpp::floatSeq* dofArray = new hpp::floatSeq();
dofArray->length(fullBody()->GetLimbs().size());
dofArray->length((_CORBA_ULong)fullBody()->GetLimbs().size());
size_t id = 0;
pinocchio::Configuration_t config = dofArrayToConfig (fullBody()->device_, configuration);
for(T_Limb::const_iterator lit = fullBody()->GetLimbs().begin() ; lit != fullBody()->GetLimbs().end() ; ++lit){
......@@ -3217,7 +3213,7 @@ namespace hpp {
rep.result_.nbContacts= rep.result_.contactNormals_.size();
lastStatesComputed_.push_back(rep.result_);
lastStatesComputedTime_.push_back(std::make_pair(-1., rep.result_));
return lastStatesComputed_.size() -1;
return (CORBA::Short)(lastStatesComputed_.size() -1);
}
else
return -1;
......@@ -3240,7 +3236,7 @@ namespace hpp {
ns.RemoveContact(limb);
lastStatesComputed_.push_back(ns);
lastStatesComputedTime_.push_back(std::make_pair(-1., ns));
return lastStatesComputed_.size() -1;
return (CORBA::Short)(lastStatesComputed_.size() -1);
}
catch(std::runtime_error& e)
{
......@@ -3261,6 +3257,7 @@ namespace hpp {
watch.report_all_and_count(2,*fp);
fout.close();
#else
(void)logFile; // used to silent unused variable warning
throw(std::runtime_error("PROFILE PREPOC variable undefined, cannot dump profile"));
#endif
}
......@@ -3407,12 +3404,12 @@ namespace hpp {
res = reachability::isReachableDynamic(fullBody(),lastStatesComputed_[stateFrom],lastStatesComputed_[stateTo],false,std::vector<double>(),numPointPerPhase);
}
if (res.success()){
std::vector<int> ids;
std::vector<std::size_t> ids;
core::PathVectorPtr_t pathVector_full = core::PathVector::create(res.path_->outputSize(),res.path_->outputDerivativeSize());
pathVector_full->appendPath(res.path_);
ids.push_back(problemSolver()->addPath(pathVector_full));
if(addPathPerPhase){
for(size_t i = 0 ; i < res.timings_.size() ; ++i){
for(size_type i = 0 ; i < res.timings_.size() ; ++i){
core::PathVectorPtr_t pathVector = core::PathVector::create(res.path_->outputSize(),res.path_->outputDerivativeSize());
pathVector->appendPath(res.pathPerPhases_[i]);
ids.push_back(problemSolver()->addPath(pathVector));
......@@ -3420,10 +3417,10 @@ namespace hpp {
}
// convert vector of int to floatSeq :
hpp::floatSeq* dofArray = new hpp::floatSeq();
dofArray->length(ids.size());
dofArray->length((_CORBA_ULong)ids.size());
for(std::size_t i=0; i< ids.size(); ++i)
{
(*dofArray)[(_CORBA_ULong)i] = ids[i];
(*dofArray)[(_CORBA_ULong)i] = (CORBA::Double)ids[i];
}
return dofArray;
}else
......
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