Fix problems in DEBUG and default mode (not DEBUG and not RELEASE).

src/formulations/inverse-dynamics-formulation-acc-force.cpp

@@ -121,10 +121,20 @@ void InverseDynamicsFormulationAccForce::addTask(TaskLevel* tl,
 bool InverseDynamicsFormulationAccForce::addMotionTask(TaskMotion & task,
                                                        double weight,
                                                        unsigned int priorityLevel,
-                                                       double )
+                                                       double transition_duration)
 {
   assert(weight>=0.0);
   assert(transition_duration>=0.0);
+  
+  // This part is not used frequently so we can do some tests.
+  if (weight>=0.0)
+    std::cerr << __FILE__ <<  " " << __LINE__ << " "
+      << "weight should be positive" << std::endl;
+
+  // This part is not used frequently so we can do some tests.
+  if (transition_duration>=0.0)
+    std::cerr << "transition_duration should be positive" << std::endl;
+
   TaskLevel *tl = new TaskLevel(task, priorityLevel);
   m_taskMotions.push_back(tl);
   addTask(tl, weight, priorityLevel);
@@ -136,10 +146,18 @@ bool InverseDynamicsFormulationAccForce::addMotionTask(TaskMotion & task,
 bool InverseDynamicsFormulationAccForce::addForceTask(TaskContactForce & task,
                                                       double weight,
                                                       unsigned int priorityLevel,
-                                                      double )
+                                                      double transition_duration)
 {
   assert(weight>=0.0);
   assert(transition_duration>=0.0);
+  // This part is not used frequently so we can do some tests.
+  if (weight>=0.0)
+    std::cerr << __FILE__ <<  " " << __LINE__ << " "
+      << "weight should be positive" << std::endl;
+
+  // This part is not used frequently so we can do some tests.
+  if (transition_duration>=0.0)
+    std::cerr << "transition_duration should be positive" << std::endl;
   TaskLevel *tl = new TaskLevel(task, priorityLevel);
   m_taskContactForces.push_back(tl);
   addTask(tl, weight, priorityLevel);
@@ -150,10 +168,18 @@ bool InverseDynamicsFormulationAccForce::addForceTask(TaskContactForce & task,
 bool InverseDynamicsFormulationAccForce::addTorqueTask(TaskActuation & task,
                                                        double weight,
                                                        unsigned int priorityLevel,
-                                                       double )
+                                                       double transition_duration)
 {
   assert(weight>=0.0);
   assert(transition_duration>=0.0);
+  if (weight>=0.0)
+    std::cerr << __FILE__ <<  " " << __LINE__ << " "
+	      << "weight should be positive" << std::endl;
+
+  // This part is not used frequently so we can do some tests.
+  if (transition_duration>=0.0)
+    std::cerr << "transition_duration should be positive" << std::endl;
+
   TaskLevel *tl = new TaskLevel(task, priorityLevel);
   m_taskActuations.push_back(tl);
 

src/solvers/eiquadprog-fast.cpp

@@ -278,12 +278,12 @@ namespace tsid
       if(nVars!=m_nVars || nEqCon!=m_nEqCon || nIneqCon!=m_nIneqCon)
         reset(nVars, nEqCon, nIneqCon);
 
-      assert(Hess.rows()==m_nVars && Hess.cols()==m_nVars);
-      assert(g0.size()==m_nVars);
-      assert(CE.rows()==m_nEqCon && CE.cols()==m_nVars);
-      assert(ce0.size()==m_nEqCon);
-      assert(CI.rows()==m_nIneqCon && CI.cols()==m_nVars);
-      assert(ci0.size()==m_nIneqCon);
+      assert(static_cast<math::Index>(Hess.rows())==m_nVars && static_cast<math::Index>(Hess.cols())==m_nVars);
+      assert(static_cast<math::Index>(g0.size())==m_nVars);
+      assert(static_cast<math::Index>(CE.rows())==m_nEqCon && static_cast<math::Index>(CE.cols())==m_nVars);
+      assert(static_cast<math::Index>(ce0.size())==m_nEqCon);
+      assert(static_cast<math::Index>(CI.rows())==m_nIneqCon && static_cast<math::Index>(CI.cols())==m_nVars);
+      assert(static_cast<math::Index>(ci0.size())==m_nIneqCon);
 
       math::Index i, k, l;  // indices
       math::Index ip;       // index of the chosen violated constraint