[C++] Remove warnings - either cast or not used typedef

src/algorithm/check.hxx

@@ -108,7 +108,7 @@ namespace se3
 
     for( JointIndex j=1;int(j)<model.njoints;++j )
       {
-        JointIndex c = data.lastChild[j];
+        JointIndex c = (JointIndex)data.lastChild[j];
         CHECK_DATA((int)c<model.njoints);
         int nv=model.joints[j].nv();
         for( JointIndex d=j+1;d<=c;++d ) // explore all descendant
@@ -122,11 +122,11 @@ namespace se3
           CHECK_DATA( (model.parents[d]<j)||(model.parents[d]>c) );
 
         int row = model.joints[j].idx_v();
-        CHECK_DATA(data.nvSubtree[j] == data.nvSubtree_fromRow[row]);
+        CHECK_DATA(data.nvSubtree[j] == data.nvSubtree_fromRow[(size_t)row]);
         
         const JointModel & jparent = model.joints[model.parents[j]];
-        if(row==0) { CHECK_DATA(data.parents_fromRow[row]==-1); }
-        else       { CHECK_DATA(jparent.idx_v()+jparent.nv()-1 == data.parents_fromRow[row]); }
+        if(row==0) { CHECK_DATA(data.parents_fromRow[(size_t)row]==-1); }
+        else       { CHECK_DATA(jparent.idx_v()+jparent.nv()-1 == data.parents_fromRow[(size_t)row]); }
       }
 
 #undef CHECK_DATA

src/multibody/geometry.hxx

@@ -18,11 +18,7 @@
 #ifndef __se3_geometry_hxx__
 #define __se3_geometry_hxx__
 
-
-
 #include <iostream>
-
-
 #include <map>
 #include <list>
 #include <utility>
@@ -41,7 +37,7 @@ namespace se3
     , collisionRequest (1, false, false, 1, false, true, fcl::GST_INDEP)
     , collisionResults(modelGeom.collisionPairs.size())
     , radius()
-    , collisionPairIndex(-1)
+    , collisionPairIndex(0)
     , innerObjects()
     , outerObjects()
   {

src/multibody/model.hxx

@@ -63,7 +63,6 @@ namespace se3
                                     const std::string & joint_name
                                     )
   {
-    typedef JointModelDerived D;
     assert( (njoints==(int)joints.size())&&(njoints==(int)inertias.size())
            &&(njoints==(int)parents.size())&&(njoints==(int)jointPlacements.size()) );
     assert((joint_model.nq()>=0) && (joint_model.nv()>=0));
@@ -110,7 +109,6 @@ namespace se3
                                     const std::string & joint_name
                                     )
   {
-    typedef JointModelDerived D;
     Eigen::VectorXd max_effort, max_velocity, min_config, max_config;
 
     max_effort = Eigen::VectorXd::Constant(joint_model.nv(), std::numeric_limits<double>::max());
@@ -127,11 +125,11 @@ namespace se3
     if (fidx < 0) {
       // FIXED_JOINT is required because the parent can be the universe and its
       // type is FIXED_JOINT
-      fidx = getFrameId(names[parents[jidx]], (FrameType)(JOINT | FIXED_JOINT));
+      fidx = (int)getFrameId(names[parents[jidx]], (FrameType)(JOINT | FIXED_JOINT));
     }
-    assert(fidx < frames.size() && "Frame index out of bound");
+    assert((size_t)fidx < frames.size() && "Frame index out of bound");
     // Add a the joint frame attached to itself to the frame vector - redundant information but useful.
-    return addFrame(Frame(names[jidx],jidx,fidx,SE3::Identity(),JOINT));
+    return addFrame(Frame(names[jidx],jidx,(FrameIndex)fidx,SE3::Identity(),JOINT));
   }
 
 
@@ -152,10 +150,10 @@ namespace se3
     if (previousFrame < 0) {
       // FIXED_JOINT is required because the parent can be the universe and its
       // type is FIXED_JOINT
-      previousFrame = getFrameId(names[parentJoint], (FrameType)(JOINT | FIXED_JOINT));
+      previousFrame = (int)getFrameId(names[parentJoint], (FrameType)(JOINT | FIXED_JOINT));
     }
-    assert(previousFrame < frames.size() && "Frame index out of bound");
-    return addFrame(Frame(body_name, parentJoint, previousFrame, body_placement, BODY));
+    assert((size_t)previousFrame < frames.size() && "Frame index out of bound");
+    return addFrame(Frame(body_name, parentJoint, (FrameIndex)previousFrame, body_placement, BODY));
   }
   
   inline Model::JointIndex Model::getBodyId (const std::string & name) const

src/parsers/urdf/model.cpp

@@ -124,7 +124,6 @@ namespace se3
                                 const boost::shared_ptr< ::urdf::Inertial> Y,
                                 const std::string & body_name)
       {
-        Model::JointIndex idx;
         Frame& frame = model.frames[parentFrameId];
 
         int fid = model.addFrame(

unittest/frames.cpp

@@ -42,7 +42,7 @@ BOOST_AUTO_TEST_CASE ( test_kinematics )
   Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.njoints-1);
   const std::string & frame_name = std::string( model.names[parent_idx]+ "_frame");
   const SE3 & framePlacement = SE3::Random();
-  model.addFrame(Frame (frame_name, parent_idx, -1, framePlacement, OP_FRAME));
+  model.addFrame(Frame (frame_name, parent_idx, 0, framePlacement, OP_FRAME));
   se3::Data data(model);
 
   VectorXd q = VectorXd::Ones(model.nq);
@@ -64,7 +64,7 @@ BOOST_AUTO_TEST_CASE ( test_jacobian )
   Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.njoints-1);
   const std::string & frame_name = std::string( model.names[parent_idx]+ "_frame");
   const SE3 & framePlacement = SE3::Random();
-  model.addFrame(Frame (frame_name, parent_idx, -1, framePlacement, OP_FRAME));
+  model.addFrame(Frame (frame_name, parent_idx, 0, framePlacement, OP_FRAME));
   se3::Data data(model);
 
   VectorXd q = VectorXd::Ones(model.nq);

unittest/joint-configurations.cpp

@@ -207,7 +207,6 @@ struct TestDifferentiationJoint
     init(jmodel);
     typedef typename JointModel::ConfigVector_t CV;
     typedef typename JointModel::TangentVector_t TV;
-    typedef typename JointModel::Transformation_t SE3;
     
     jmodel.setIndexes(0,0,0);
     
@@ -272,8 +271,6 @@ struct TestInterpolationJoint
   {
     init(jmodel);
     typedef typename JointModel::ConfigVector_t CV;
-    typedef typename JointModel::TangentVector_t TV;
-    typedef typename JointModel::Transformation_t SE3;
     
     jmodel.setIndexes(0,0,0);
     

unittest/visitor.cpp

@@ -33,9 +33,9 @@ namespace se3
   struct SimpleVisitor : public se3::fusion::JointVisitor<SimpleVisitor>
   {
     typedef boost::fusion::vector<const se3::Model &,
-                                    se3::Data &,
-                                    int
-                                    > ArgsType;
+                                  se3::Data &,
+                                  JointIndex
+                                  > ArgsType;
 
     JOINT_VISITOR_INIT(SimpleVisitor);
 
@@ -44,7 +44,7 @@ namespace se3
                      se3::JointDataBase<typename JointModel::JointDataDerived> & jdata,
                      const se3::Model & model,
                      se3::Data & data,
-                     int jointId);
+                     JointIndex jointId);
   };
 
   template<typename JointModel>
@@ -52,7 +52,7 @@ namespace se3
                            se3::JointDataBase<typename JointModel::JointDataDerived> & /*jdata*/,
                            const se3::Model & /*model*/,
                            se3::Data & /*data*/,
-                           int /*dummy*/)
+                           JointIndex /*dummy*/)
   { /* --- do nothing --- */ }
 
   template<>
@@ -60,7 +60,7 @@ namespace se3
                            se3::JointDataBase<JointDataRevoluteUnaligned> & /*jdata*/,
                            const se3::Model & /*model*/,
                            se3::Data & /*data*/,
-                           int /*dummy*/)
+                           JointIndex /*dummy*/)
   {
     BOOST_CHECK( jmodel.shortname() == JointModelRevoluteUnaligned::classname() );
     Eigen::Vector3d axis = jmodel.derived().axis;