Commit aafa0766 authored by Olivier Stasse's avatar Olivier Stasse Committed by Guilhem Saurel
Browse files

Fix warnings

parent 407e6514
......@@ -42,6 +42,14 @@ struct PinocchioRobotFoot_t {
double soleHeight; // x axis
Eigen::Vector3d anklePosition;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
inline PinocchioRobotFoot_t():
associatedAnkle(0),
soleDepth(0.0),
soleWidth(0.0),
soleHeight(0.0),
anklePosition(0.0,0.0,0.0) {}
};
typedef PinocchioRobotFoot_t PRFoot;
......
......@@ -46,7 +46,7 @@ Clock::Clock() {
struct timeval startingtime;
gettimeofday(&startingtime, 0);
m_StartingTime = startingtime.tv_sec + 0.000001 * startingtime.tv_usec;
m_StartingTime = (double)startingtime.tv_sec + 0.000001 * (double)startingtime.tv_usec;
}
Clock::~Clock() {}
......@@ -58,22 +58,23 @@ void Clock::Reset() {
struct timeval startingtime;
gettimeofday(&startingtime, 0);
m_StartingTime = startingtime.tv_sec + 0.000001 * startingtime.tv_usec;
m_StartingTime = (double)startingtime.tv_sec + 0.000001 * (double)startingtime.tv_usec;
}
void Clock::StartTiming() { gettimeofday(&m_BeginTimeStamp, 0); }
void Clock::StopTiming() {
gettimeofday(&m_EndTimeStamp, 0);
double ltime = m_EndTimeStamp.tv_sec - m_BeginTimeStamp.tv_sec +
0.000001 * (m_EndTimeStamp.tv_usec - m_BeginTimeStamp.tv_usec);
double ltime = (double)m_EndTimeStamp.tv_sec - (double)m_BeginTimeStamp.tv_sec +
0.000001 * (double)(m_EndTimeStamp.tv_usec - m_BeginTimeStamp.tv_usec);
m_MaximumTime = m_MaximumTime < ltime ? ltime : m_MaximumTime;
m_TotalTime += ltime;
m_DataBuffer[(m_NbOfIterations * 2) % 3000000] =
m_BeginTimeStamp.tv_sec + 0.000001 * m_BeginTimeStamp.tv_usec -
m_StartingTime;
(double)m_BeginTimeStamp.tv_sec +
0.000001 * (double)m_BeginTimeStamp.tv_usec -
m_StartingTime;
m_DataBuffer[(m_NbOfIterations * 2 + 1) % 3000000] = ltime;
}
......
......@@ -339,16 +339,17 @@ int PLDPSolver::BackwardSubstitution() {
// LL^t v2 = v1 <-> L y = v1 with L^t v2 = y
// y solved with first phase.
// So now we are looking for v2.
unsigned int SizeOfL = m_ActivatedConstraints.size();
auto SizeOfL = m_ActivatedConstraints.size();
if (SizeOfL == 0)
return 0;
ODEBUG("BackwardSubstitution " << m_ItNb);
for (int i = SizeOfL - 1; i >= 0; i--) {
for(auto i = SizeOfL - 1;; i--) {
double tmp = 0.0;
m_v2[i] = m_y[i];
for (int k = i + 1; k < (int)SizeOfL; k++) {
if (k == (int)SizeOfL - 1)
for (auto k = i + 1; k < SizeOfL; k++) {
if (k == SizeOfL - 1)
tmp = m_v2[i];
m_v2[i] -= m_L[k * m_NbMaxOfConstraints + i] * m_v2[k];
......@@ -359,6 +360,7 @@ int PLDPSolver::BackwardSubstitution() {
ODEBUG("BS: m_L[i*m_NbMaxOfConstraints+i]:"
<< m_L[i * m_NbMaxOfConstraints + i] << " " << m_y[i]);
ODEBUG("m_v2[" << i << " ] = " << m_v2[i] << " " << tmp);
if (i==0) break;
}
return 0;
}
......@@ -789,7 +791,7 @@ int PLDPSolver::SolveProblem(
struct timeval current;
gettimeofday(&current, 0);
double r = (double)(current.tv_sec - begin.tv_sec) +
0.000001 * (current.tv_usec - begin.tv_usec);
0.000001 * (double)(current.tv_usec - begin.tv_usec);
if (r > m_AmountOfLimitedComputationTime) {
ContinueAlgo = false;
}
......
......@@ -394,18 +394,14 @@ doublereal *eps1;
/* System generated locals */
integer c_dim1, c_offset, a_dim1, a_offset, i__1;
/* Builtin functions */
/* integer s_wsfe(), do_fio(), e_wsfe(); */
/* Local variables */
static doublereal diag;
/* extern int ql0002_(); */
static integer nact, info;
static doublereal zero;
static integer i, j, idiag, maxit;
static integer i, j, maxit;
static doublereal qpeps;
static integer in, mn, lw;
static doublereal ten;
static logical lql;
static integer inw1, inw2;
......@@ -450,7 +446,6 @@ doublereal *eps1;
lql = TRUE_;
}
zero = 0.;
ten = 10.;
maxit = (*m + *n) * 40;
qpeps = cmache_1.eps;
inw1 = 1;
......@@ -496,18 +491,6 @@ L20:
if (info == 2) {
goto L90;
}
idiag = 0;
if (diag > zero && diag < 1e3) {
idiag = (integer)diag;
}
/*
if (*iprint > 0 && idiag > 0) {
io___16.ciunit = *iout;
s_wsfe(&io___16);
do_fio(&c__1, (char *)&idiag, (ftnlen)sizeof(integer));
e_wsfe();
}
*/
if (info < 0) {
goto L70;
}
......@@ -658,14 +641,14 @@ integer *lw;
static doublereal ga, gb;
static integer ia, id;
static doublereal fdiffa;
static integer ii, il, kk, jl, ip, ir, nm, is, iu, iw, ju, ix, iz, nu, iy;
static integer ii, il, kk, jl, ir, nm, is, iu, iw, ju, ix, iz, nu, iy;
static doublereal parinc, parnew;
static integer ira, irb, iwa;
static doublereal one;
static integer iwd, iza;
static doublereal res;
static integer ipp, iwr, iws;
static integer iwr, iws;
static doublereal sum;
static integer iww, iwx, iwy;
static doublereal two;
......@@ -1082,8 +1065,6 @@ L250:
L280:
ir = iwr;
ip = iww + 1;
ipp = iww + *n;
il = iws + 1;
iu = iws + *nact;
i__2 = iu;
......@@ -1829,8 +1810,6 @@ L770:
/* CALCULATE THE NEXT CONSTRAINT TO DROP. */
L775:
ip = iww + 1;
ipp = iww + *nact;
kdrop = 0;
if (*nact == 0) {
goto L791;
......
......@@ -290,7 +290,7 @@ void GenerateMotionFromKineoWorks::ComputeUpperBodyPosition(
//! For each way-point of the path
for (unsigned int IdWayPoint = 1; IdWayPoint < m_Path.size(); IdWayPoint++) {
int CountTarget = -1;
double lX = 0.0, lY = 0.0, lZ = 0.0, dist = 1000000.0;
double lX = 0.0, lY=0.0, lZ=0.0, dist = 1000000.0;
//! The references are specific to the current hybrid model.
lX = m_Path[IdWayPoint].Joints[6];
......@@ -300,12 +300,10 @@ void GenerateMotionFromKineoWorks::ComputeUpperBodyPosition(
//! Find the closest (X,Y,Z) position in the remaining
// part of the CoM buffer.
for (unsigned int i = count; i < m_COMBuffer.size(); i++) {
double ldist = (lX - m_COMBuffer[i].x[0]) * (lX - m_COMBuffer[i].x[0])
/*+
(lY - m_COMBuffer[i].y[0])*(lY-m_COMBuffer[i].y[0]) +
(lZ - m_COMBuffer[i].z[0])*(lZ-m_COMBuffer[i].z[0]) */
;
double ldist = (lX - m_COMBuffer[i].x[0]) * (lX - m_COMBuffer[i].x[0]) +
(lY - m_COMBuffer[i].y[0])*(lY-m_COMBuffer[i].y[0]) +
(lZ - m_COMBuffer[i].z[0])*(lZ-m_COMBuffer[i].z[0]);
if (ldist < dist) {
dist = ldist;
CountTarget = i;
......
......@@ -362,7 +362,8 @@ void StepOverPlanner::DoubleSupportFeasibility() {
Eigen::Vector3d ToTheHip;
Eigen::Matrix<double, 6, 1> LeftLegAngles;
Eigen::Matrix<double, 6, 1> RightLegAngles;
LeftLegAngles.Zero();
RightLegAngles.Zero();
Eigen::Vector3d AnkleBeforeObst;
Eigen::Vector3d AnkleAfterObst;
Eigen::Vector3d TempCOMState;
......@@ -778,8 +779,8 @@ void StepOverPlanner::PolyPlannerFirstStep(
double StepLenght;
double Omega1, Omega2, OmegaImpact;
double xOffset;
double Point1X, Point1Y = 0.0, Point1Z;
double Point2X, Point2Y = 0.0, Point2Z;
double Point1X, Point1Z;
double Point2X, Point2Z;
double Point3Z;
StepTime = aStepOverFootBuffer[m_StartDoubleSupp].time -
......@@ -801,12 +802,10 @@ void StepOverPlanner::PolyPlannerFirstStep(
Point1X = StepLenght - m_heelToAnkle - m_ObstacleParameters.d - xOffset -
m_tipToAnkle * cos(Omega1 * M_PI / 180.0);
Point1Y = 0.00;
Point1Z = m_ObstacleParameters.h - m_tipToAnkle * sin(Omega1 * M_PI / 180.0);
Point2X = StepLenght - m_heelToAnkle + xOffset +
m_heelToAnkle * cos(Omega2 * M_PI / 180.0);
Point2Y = 0.00;
Point2Z = m_ObstacleParameters.h - m_tipToAnkle * sin(Omega2 * M_PI / 180.0);
Point3Z = Point1Z + 0.04;
......@@ -842,12 +841,11 @@ void StepOverPlanner::PolyPlannerFirstStep(
ZfootSpeedBound(0) = 0.0;
ZfootSpeedBound(1) = 0.0;
int NumberIntermediate = 0, NumberIntermediate2 = 0, Counter = 0,
int NumberIntermediate = 0, Counter = 0,
CounterTemp = 0;
double IntermediateTimeStep;
NumberIntermediate = 10;
NumberIntermediate2 = 20;
ZfootPos.resize(2 + 3 * NumberIntermediate);
TimeIntervalsZ.resize(2 + 3 * NumberIntermediate);
......@@ -1101,8 +1099,8 @@ void StepOverPlanner::PolyPlannerSecondStep(
double StepLenght;
double Omega1, Omega2, OmegaImpact;
double xOffset;
double Point1X, Point1Y, Point1Z;
double Point2X, Point2Y, Point2Z;
double Point1X, Point1Z;
double Point2X, Point2Z;
double Point3Z;
StepTime = aStepOverFootBuffer[m_EndStepOver].time -
......@@ -1118,12 +1116,10 @@ void StepOverPlanner::PolyPlannerSecondStep(
Point1X = m_StepOverStepLenght - m_heelToAnkle - m_ObstacleParameters.d -
xOffset - m_tipToAnkle * cos(Omega1 * M_PI / 180.0);
Point1Y = 0.0;
Point1Z = m_ObstacleParameters.h + m_tipToAnkle * sin(Omega1 * M_PI / 180.0);
Point2X = m_StepOverStepLenght - m_heelToAnkle + xOffset +
m_heelToAnkle * cos(Omega2 * M_PI / 180.0);
Point2Y = 0.0;
Point2Z = Point1Z;
// m_ObstacleParameters.h+0.04;//-m_tipToAnkle*sin(Omega2*M_PI/180.0);
......@@ -1687,8 +1683,6 @@ void StepOverPlanner::CreateBufferFirstPreview(
void StepOverPlanner::m_SetObstacleParameters(istringstream &strm) {
bool ReadObstacleParameters = false;
ODEBUG("I am reading the obstacle parameters"
<< " ");
......@@ -1738,7 +1732,6 @@ void StepOverPlanner::m_SetObstacleParameters(istringstream &strm) {
if (!strm.eof()) {
bool lObstacleDetected;
strm >> lObstacleDetected;
ReadObstacleParameters = true;
break;
} else {
cout << "Not enough inputs for completion of "
......
......@@ -93,10 +93,8 @@ void UpperBodyMotion::ReadDataFile(string aFileName,
std::ifstream aif;
unsigned int NumberRows, NumberColumns;
NumberRows = UpperBodyAngles.rows();
NumberColumns = UpperBodyAngles.cols();
auto NumberRows = UpperBodyAngles.rows();
auto NumberColumns = UpperBodyAngles.cols();
double r;
......@@ -116,9 +114,8 @@ void UpperBodyMotion::ReadDataFile(string aFileName,
void UpperBodyMotion::WriteDataFile(string aFileName,
Eigen::MatrixXd &UpperBodyAngles) {
ofstream aof;
unsigned int NumberRows, NumberColumns;
NumberRows = UpperBodyAngles.rows();
NumberColumns = UpperBodyAngles.cols();
auto NumberRows = UpperBodyAngles.rows();
auto NumberColumns = UpperBodyAngles.cols();
aof.open(aFileName.c_str(), ofstream::out);
if (aof.is_open()) {
......
......@@ -277,7 +277,6 @@ COMState ZMPPreviewControlWithMultiBodyZMP::GetLastCOMFromFirstStage() {
int ZMPPreviewControlWithMultiBodyZMP::SecondStageOfControl(
COMState &finalCOMState) {
double Deltazmpx2, Deltazmpy2;
// Inverse Kinematics variables.
COMState aCOMState = m_FIFOCOMStates[0];
......@@ -286,7 +285,8 @@ int ZMPPreviewControlWithMultiBodyZMP::SecondStageOfControl(
LeftFootPosition = m_FIFOLeftFootPosition[0];
RightFootPosition = m_FIFORightFootPosition[0];
#if 0
double Deltazmpx2, Deltazmpy2;
// Preview control on delta ZMP.
if ((m_StageStrategy == ZMPCOM_TRAJECTORY_SECOND_STAGE_ONLY) ||
(m_StageStrategy == ZMPCOM_TRAJECTORY_FULL)) {
......@@ -309,7 +309,6 @@ int ZMPPreviewControlWithMultiBodyZMP::SecondStageOfControl(
aCOMState.y[i] += m_Deltay(i, 0);
}
}
#endif
ODEBUG2("Delta :" << m_Deltax(0, 0) << " " << m_Deltay(0, 0) << " "
<< aCOMState.x[0] << " " << aCOMState.y[0]);
......@@ -452,7 +451,7 @@ int ZMPPreviewControlWithMultiBodyZMP::Setup(
}
int ZMPPreviewControlWithMultiBodyZMP::SetupFirstPhase(
deque<ZMPPosition> &ZMPRefPositions, deque<COMState> &COMStates,
deque<ZMPPosition> &ZMPRefPositions, deque<COMState> &,
deque<FootAbsolutePosition> &LeftFootPositions,
deque<FootAbsolutePosition> &RightFootPositions) {
ODEBUG6("Beginning of Setup 0 ", "DebugData.txt");
......
......@@ -114,7 +114,7 @@ bool SimplePluginManager::CallMethod(string &MethodName, istringstream &istrm) {
stringbuf *pbuf;
pbuf = istrm.rdbuf();
int size = pbuf->in_avail();
auto size = pbuf->in_avail();
char aBuffer[65636];
assert(size < 65635);
......
......@@ -1237,7 +1237,7 @@ int ZMPConstrainedQPFastFormulation::BuildZMPTrajectoryFromFootTrajectory(
// Compute CPU consumption time.
gettimeofday(&end, 0);
CurrentCPUTime = end.tv_sec - start.tv_sec +
CurrentCPUTime = (double)(end.tv_sec - start.tv_sec) +
0.000001 * (double)(end.tv_usec - start.tv_usec);
TotalAmountOfCPUTime += CurrentCPUTime;
ODEBUG("Current Time : "
......
......@@ -198,7 +198,6 @@ void GeneratorVelRef::initialize_matrices() {
initialize_matrices(IneqCoM);
IntermedQPMat::state_variant_t &State = IntermedData_->State();
bool Preserve = true;
State.VcshiftX.resize(N_);
State.VcshiftX.setZero();
State.VcshiftY.resize(N_);
......
......@@ -221,7 +221,7 @@ void linear_inequality_t::clear() {
Dc_vec.setZero();
}
void linear_inequality_t::resize(int NbRows, int NbCols, bool Preserve) {
void linear_inequality_t::resize(int NbRows, int NbCols, bool ) {
D.X_mat.resize(NbRows, NbCols);
D.Y_mat.resize(NbRows, NbCols);
......
......@@ -396,7 +396,7 @@ void DumpReferencesObjects::fillInTestsFormat2(
prepareFile(aof, prefix, anOneStep);
Eigen::VectorXd &aTauVec = anOneStep.m_DebugPR->currentTau();
vec_db.resize(aTauVec.size());
if (m_prevTorquesF2.size() != aTauVec.size())
if (m_prevTorquesF2.size() != (std::vector<double>::size_type)aTauVec.size())
m_prevTorquesF2.resize(aTauVec.size());
for (Eigen::VectorXd::Index i = 0; i < aTauVec.size(); i++)
......
......@@ -145,25 +145,6 @@ protected:
aPGI.ParseCmd(strm2);
}
// {
// istringstream strm2(":stepseq 0.0 -0.09 0.0 0.0 \
// 0.15 0.18 0.0 0.0 \
// 0.15 -0.18 0.0 0.0 \
// 0.15 0.18 0.0 0.0 \
// 0.15 -0.18 0.0 0.0 \
// 0.15 0.18 0.0 0.0 \
// 0.15 -0.18 0.0 0.0 \
// 0.15 0.18 0.0 0.0 \
// 0.15 -0.18 0.0 0.0 \
// 0.15 0.18 0.0 0.0 \
// 0.15 -0.18 0.0 0.0 \
// 0.15 0.18 0.0 0.0 \
// 0.15 -0.18 0.0 0.0 \
// 0.15 0.18 0.0 0.0 \
// 0.15 -0.18 0.0 0.0 \
// 0.0 0.18 0.0 0.0");
// aPGI.ParseCmd(strm2);
// }
{
istringstream strm2(":singlesupporttime 0.9");
aPGI.ParseCmd(strm2);
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment