From 5fb2990594367111df8e9868ed819fd7fe92b876 Mon Sep 17 00:00:00 2001
From: olivier-stasse <olivier.stasse@aist.go.jp>
Date: Wed, 23 Feb 2011 16:24:35 +0900
Subject: [PATCH] Fix warning and remove unused setReference(strm) for
generator-vel-ref.
---
...FootConstraintsAsLinearSystemForVelRef.cpp | 2 +-
.../generator-vel-ref.cpp | 10 +--------
.../generator-vel-ref.hh | 6 -----
src/ZMPRefTrajectoryGeneration/qp-problem.cpp | 22 +++++++++----------
src/privatepgtypes.cpp | 4 ++--
5 files changed, 14 insertions(+), 30 deletions(-)
diff --git a/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.cpp b/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.cpp
index 102f9ca6..a3678713 100644
--- a/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.cpp
+++ b/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.cpp
@@ -163,7 +163,7 @@ FootConstraintsAsLinearSystemForVelRef::setVertices( convex_hull_t & ConvexHull,
int constraints_type)
{
- edges_s * conv_hulls;
+ edges_s * conv_hulls=0;
switch(constraints_type)
{
case ZMP_CONSTRAINTS:
diff --git a/src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp b/src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
index 5e42bd9f..31074157 100644
--- a/src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
+++ b/src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
@@ -59,15 +59,7 @@ GeneratorVelRef::setPonderation( IntermedQPMat & Matrices, double weight, int ty
IntermedQPMat::objective_variant_t & Objective = Matrices.Objective( type );
Objective.weight = weight;
-}
-
-
-void
-GeneratorVelRef::setReference(std::istringstream &strm)
-{
- //TODO:
-}
-
+}
void
GeneratorVelRef::previewSupportStates(IntermedQPMat & Matrices,
diff --git a/src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh b/src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh
index 94cda884..5249789b 100644
--- a/src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh
+++ b/src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh
@@ -57,8 +57,6 @@ namespace PatternGeneratorJRL
~GeneratorVelRef();
/// \}
-// /// \brief Call method to handle the plugins (SimplePlugin interface).
-// void CallMethod(std::string &Method, std::istringstream &strm);
/// \brief Set the weights on the objective terms
///
@@ -67,10 +65,6 @@ namespace PatternGeneratorJRL
/// \param[in] objective
void setPonderation( IntermedQPMat & Matrices, double weight, int objective );
- /// \brief Set the velocity reference from string
- ///
- /// \param[in] strm velocity reference string
- void setReference(std::istringstream &strm);
/// \brief Preview support state for the whole preview period
///
diff --git a/src/ZMPRefTrajectoryGeneration/qp-problem.cpp b/src/ZMPRefTrajectoryGeneration/qp-problem.cpp
index 84a04b15..0a3ccfea 100644
--- a/src/ZMPRefTrajectoryGeneration/qp-problem.cpp
+++ b/src/ZMPRefTrajectoryGeneration/qp-problem.cpp
@@ -90,8 +90,6 @@ void
QPProblem_s::clear( int type )
{
- double * array;
- int array_size;
switch(type)
{
case MATRIX_Q:
@@ -188,13 +186,13 @@ QPProblem_s::addTerm( const MAL_MATRIX (&Mat, double), int type,
{
case MATRIX_Q:
pArray_s = &Q_;
- nbvariables_ = (col+Mat.size2()>nbvariables_) ? col+Mat.size2() : nbvariables_;
+ nbvariables_ = (col+Mat.size2()>(unsigned int)nbvariables_) ? col+Mat.size2() : nbvariables_;
break;
case MATRIX_DU:
pArray_s = &DU_;
- nbconstraints_ = (row+Mat.size1()>nbconstraints_) ? row+Mat.size1() : nbconstraints_;
- nbvariables_ = (col+Mat.size2()>nbvariables_) ? col+Mat.size2() : nbvariables_;
+ nbconstraints_ = (row+Mat.size1()>(unsigned int)nbconstraints_) ? row+Mat.size1() : nbconstraints_;
+ nbvariables_ = (col+Mat.size2()>(unsigned int)nbvariables_) ? col+Mat.size2() : nbvariables_;
break;
}
@@ -212,8 +210,8 @@ QPProblem_s::addTerm( const MAL_MATRIX (&Mat, double), int type,
war_.resize(2*(3*nbvariables_*nbvariables_/2+10*nbvariables_+2*(nbconstraints_+1)+20000), 1,true);
}
- for( int i = 0;i < MAL_MATRIX_NB_ROWS(Mat); i++)
- for( int j = 0;j < MAL_MATRIX_NB_COLS(Mat); j++)
+ for( unsigned int i = 0;i < MAL_MATRIX_NB_ROWS(Mat); i++)
+ for( unsigned int j = 0;j < MAL_MATRIX_NB_COLS(Mat); j++)
{
pArray_s->array_[row+i+(col+j)*pArray_s->nrows_] += Mat(i,j);
}
@@ -232,22 +230,22 @@ void QPProblem_s::addTerm( const MAL_VECTOR (&Vec, double), int type,
{
case VECTOR_D:
pArray_s = &D_;
- nbvariables_ = (row+Vec.size()>nbvariables_) ? row+Vec.size() : nbvariables_;
+ nbvariables_ = (row+Vec.size()>(unsigned int)nbvariables_) ? row+Vec.size() : nbvariables_;
break;
case VECTOR_XL:
pArray_s = &XL_;
- nbvariables_ = (row+Vec.size()>nbvariables_) ? row+Vec.size() : nbvariables_;
+ nbvariables_ = (row+Vec.size()>(unsigned int)nbvariables_) ? row+Vec.size() : nbvariables_;
break;
case VECTOR_XU:
pArray_s = &XU_;
- nbvariables_ = (row+Vec.size()>nbvariables_) ? row+Vec.size() : nbvariables_;
+ nbvariables_ = (row+Vec.size()>(unsigned int)nbvariables_) ? row+Vec.size() : nbvariables_;
break;
case VECTOR_DS:
pArray_s = &DS_;
- nbconstraints_ = (row+Vec.size()>nbconstraints_) ? row+Vec.size() : nbconstraints_;
+ nbconstraints_ = (row+Vec.size()>(unsigned int)nbconstraints_) ? row+Vec.size() : nbconstraints_;
break;
}
@@ -257,7 +255,7 @@ void QPProblem_s::addTerm( const MAL_VECTOR (&Vec, double), int type,
}
boost_ublas::vector<double>::const_iterator VecIt = Vec.begin();
- for( int i = 0; i < Vec.size(); i++ )
+ for( unsigned int i = 0; i < Vec.size(); i++ )
{
pArray_s->array_[row+i] += *VecIt;
VecIt++;
diff --git a/src/privatepgtypes.cpp b/src/privatepgtypes.cpp
index 953779e1..46ced799 100644
--- a/src/privatepgtypes.cpp
+++ b/src/privatepgtypes.cpp
@@ -135,7 +135,7 @@ namespace PatternGeneratorJRL
double c_a = cos(angle);
double s_a = sin(angle);
- for( int j=0;j<X.size();j++ )
+ for( unsigned int j=0;j<X.size();j++ )
{
X[j] = ( X[j]*c_a - Y[j]*s_a );
Y[j] = ( X[j]*s_a + Y[j]*c_a );
@@ -171,7 +171,7 @@ namespace PatternGeneratorJRL
void
convex_hull_t::set(const double * arrayX, const double * arrayY)
{
- for(int i=0;i<X.size();i++)
+ for(unsigned int i=0;i<X.size();i++)
{
X[i] = arrayX[i];
Y[i] = arrayY[i];
--
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