fix warnings

include/multicontact-api/geometry/linear-cone.hpp

@@ -148,8 +148,12 @@ struct ForceConeTpl : public LinearCone<_Scalar, 3, _Options> {
   explicit ForceConeTpl(const Index size) : Base(size) {}
 
   /// \returns a linear cone built from a friction coefficient and the number of rays along the Z axis.
+  static ForceConeTpl RegularCone(const Scalar mu, const VectorD& direction, const int num_rays) {
+    return RegularCone(mu, direction, num_rays, 0.);
+  }
+
   static ForceConeTpl RegularCone(const Scalar mu, const VectorD& direction, const int num_rays,
-                                  const Scalar theta_offset = 0.) {
+                                  const Scalar theta_offset) {
     assert(mu >= 0. && "mu must be positive");
     assert(num_rays >= 1 && "The number of rays must be at least one");
 

include/multicontact-api/geometry/second-order-cone.hpp

@@ -72,7 +72,11 @@ struct SecondOrderCone : public serialization::Serializable<SecondOrderCone<_Sca
   Scalar rhsValue(const VectorD& point) const { return m_direction.dot(point); }
 
   /// \returns true if the point is inside the cone
-  bool check(const VectorD& point, const Scalar factor = 1.) const {
+  bool check(const VectorD& point) const {
+    return check(point, 1.);
+  }
+
+  bool check(const VectorD& point, const Scalar factor) const {
     return lhsValue(point) <= factor * rhsValue(point);
   }
 

unittest/scenario.cpp

@@ -144,8 +144,8 @@ curve_SE3_ptr_t buildPiecewiseSE3() {
 }
 
 quaternion_t randomQuaternion() {  // already included in newest eigen release
-  const double u1 = Eigen::internal::random<double>(0, 1), u2 = Eigen::internal::random<double>(0, 2 * EIGEN_PI),
-               u3 = Eigen::internal::random<double>(0, 2 * EIGEN_PI);
+  const double u1 = Eigen::internal::random<double>(0, 1), u2 = Eigen::internal::random<double>(0, 2 * static_cast<double>(EIGEN_PI)),
+               u3 = Eigen::internal::random<double>(0, 2 * static_cast<double>(EIGEN_PI));
   const double a = sqrt(1 - u1), b = sqrt(u1);
   return quaternion_t(a * sin(u2), a * cos(u2), b * sin(u3), b * cos(u3)).normalized();
 }