Unverified Commit dde5893b authored by Thomas PEYRUCAIN's avatar Thomas PEYRUCAIN Committed by GitHub
Browse files

Fix warnings

parent e30037f3
......@@ -168,21 +168,21 @@ namespace tsid
const SE3 & RobotWrapper::position(const Data & data,
const Model::JointIndex index) const
{
assert(index>=0 && index<data.oMi.size());
assert(index<data.oMi.size());
return data.oMi[index];
}
const Motion & RobotWrapper::velocity(const Data & data,
const Model::JointIndex index) const
{
assert(index>=0 && index<data.v.size());
assert(index<data.v.size());
return data.v[index];
}
const Motion & RobotWrapper::acceleration(const Data & data,
const Model::JointIndex index) const
{
assert(index>=0 && index<data.a.size());
assert(index<data.a.size());
return data.a[index];
}
......@@ -190,7 +190,7 @@ namespace tsid
const Model::JointIndex index,
Data::Matrix6x & J) const
{
assert(index>=0 && index<data.oMi.size());
assert(index<data.oMi.size());
return pinocchio::getJointJacobian(m_model, data, index, pinocchio::WORLD, J);
}
......@@ -198,14 +198,14 @@ namespace tsid
const Model::JointIndex index,
Data::Matrix6x & J) const
{
assert(index>=0 && index<data.oMi.size());
assert(index<data.oMi.size());
return pinocchio::getJointJacobian(m_model, data, index, pinocchio::LOCAL, J);
}
SE3 RobotWrapper::framePosition(const Data & data,
const Model::FrameIndex index) const
{
assert(index>=0 && index<m_model.frames.size());
assert(index<m_model.frames.size());
const Frame & f = m_model.frames[index];
return data.oMi[f.parent].act(f.placement);
}
......@@ -214,7 +214,7 @@ namespace tsid
const Model::FrameIndex index,
SE3 & framePosition) const
{
assert(index>=0 && index<m_model.frames.size());
assert(index<m_model.frames.size());
const Frame & f = m_model.frames[index];
framePosition = data.oMi[f.parent].act(f.placement);
}
......@@ -222,7 +222,7 @@ namespace tsid
Motion RobotWrapper::frameVelocity(const Data & data,
const Model::FrameIndex index) const
{
assert(index>=0 && index<m_model.frames.size());
assert(index<m_model.frames.size());
const Frame & f = m_model.frames[index];
return f.placement.actInv(data.v[f.parent]);
}
......@@ -231,7 +231,7 @@ namespace tsid
const Model::FrameIndex index,
Motion & frameVelocity) const
{
assert(index>=0 && index<m_model.frames.size());
assert(index<m_model.frames.size());
const Frame & f = m_model.frames[index];
frameVelocity = f.placement.actInv(data.v[f.parent]);
}
......@@ -251,7 +251,7 @@ namespace tsid
Motion RobotWrapper::frameAcceleration(const Data & data,
const Model::FrameIndex index) const
{
assert(index>=0 && index<m_model.frames.size());
assert(index<m_model.frames.size());
const Frame & f = m_model.frames[index];
return f.placement.actInv(data.a[f.parent]);
}
......@@ -260,7 +260,7 @@ namespace tsid
const Model::FrameIndex index,
Motion & frameAcceleration) const
{
assert(index>=0 && index<m_model.frames.size());
assert(index<m_model.frames.size());
const Frame & f = m_model.frames[index];
frameAcceleration = f.placement.actInv(data.a[f.parent]);
}
......@@ -280,7 +280,7 @@ namespace tsid
Motion RobotWrapper::frameClassicAcceleration(const Data & data,
const Model::FrameIndex index) const
{
assert(index>=0 && index<m_model.frames.size());
assert(index<m_model.frames.size());
const Frame & f = m_model.frames[index];
Motion a = f.placement.actInv(data.a[f.parent]);
Motion v = f.placement.actInv(data.v[f.parent]);
......@@ -292,7 +292,7 @@ namespace tsid
const Model::FrameIndex index,
Motion & frameAcceleration) const
{
assert(index>=0 && index<m_model.frames.size());
assert(index<m_model.frames.size());
const Frame & f = m_model.frames[index];
frameAcceleration = f.placement.actInv(data.a[f.parent]);
Motion v = f.placement.actInv(data.v[f.parent]);
......@@ -315,7 +315,7 @@ namespace tsid
const Model::FrameIndex index,
Data::Matrix6x & J) const
{
assert(index>=0 && index<m_model.frames.size());
assert(index<m_model.frames.size());
return pinocchio::getFrameJacobian(m_model, data, index, pinocchio::WORLD, J);
}
......@@ -323,7 +323,7 @@ namespace tsid
const Model::FrameIndex index,
Data::Matrix6x & J) const
{
assert(index>=0 && index<m_model.frames.size());
assert(index<m_model.frames.size());
return pinocchio::getFrameJacobian(m_model, data, index, pinocchio::LOCAL, J);
}
......
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