Cosmetic : fix documentation and compilation warnings.

doc/Doxyfile.extra.in

@@ -45,22 +45,6 @@ INLINE_GROUPED_CLASSES = NO
 
 TYPEDEF_HIDES_STRUCT   = NO
 
-# The SYMBOL_CACHE_SIZE determines the size of the internal cache use to
-# determine which symbols to keep in memory and which to flush to disk.
-# When the cache is full, less often used symbols will be written to disk.
-# For small to medium size projects (<1000 input files) the default value is
-# probably good enough. For larger projects a too small cache size can cause
-# doxygen to be busy swapping symbols to and from disk most of the time
-# causing a significant performance penalty.
-# If the system has enough physical memory increasing the cache will improve the
-# performance by keeping more symbols in memory. Note that the value works on
-# a logarithmic scale so increasing the size by one will roughly double the
-# memory usage. The cache size is given by this formula:
-# 2^(16+SYMBOL_CACHE_SIZE). The valid range is 0..9, the default is 0,
-# corresponding to a cache size of 2^16 = 65536 symbols.
-
-SYMBOL_CACHE_SIZE      = 0
-
 # Similar to the SYMBOL_CACHE_SIZE the size of the symbol lookup cache can be
 # set using LOOKUP_CACHE_SIZE. This cache is used to resolve symbols given
 # their name and scope. Since this can be an expensive process and often the
@@ -238,12 +222,6 @@ SHOW_NAMESPACES        = YES
 
 SHOW_FILES             = YES
 
-# If the sources in your project are distributed over multiple directories 
-# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy 
-# in the documentation. The default is NO.
-
-SHOW_DIRECTORIES       = YES
-
 # The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
 # by doxygen. The layout file controls the global structure of the generated
 # output files in an output format independent way. To create the layout file
@@ -466,12 +444,6 @@ HTML_COLORSTYLE_SAT    = 100
 
 HTML_COLORSTYLE_GAMMA  = 80
 
-# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes,
-# files or namespaces will be aligned in HTML using tables. If set to
-# NO a bullet list will be used.
-
-HTML_ALIGN_MEMBERS     = YES
-
 # If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
 # documentation will contain sections that can be hidden and shown after the
 # page has loaded. For this to work a browser that supports
@@ -538,11 +510,6 @@ DISABLE_INDEX          = YES
 
 GENERATE_TREEVIEW      = YES
 
-# By enabling USE_INLINE_TREES, doxygen will generate the Groups, Directories,
-# and Class Hierarchy pages using a tree view instead of an ordered list.
-
-USE_INLINE_TREES       = YES
-
 # Use this tag to change the font size of Latex formulas included
 # as images in the HTML documentation. The default is 10. Note that
 # when you change the font size after a successful doxygen run you need
@@ -583,7 +550,7 @@ PREDEFINED             += WITH_HPP_FCL
 # contain include files that are not input files but should be processed by
 # the preprocessor.
 
-INCLUDE_PATH          += @PROJECT_SOURCE_DIR@/src  \
+INCLUDE_PATH          = @PROJECT_SOURCE_DIR@/src
 
 #---------------------------------------------------------------------------
 # Configuration::additions related to external references

src/algorithm/finite-differences.hxx

@@ -50,7 +50,7 @@ namespace se3
   {
     using namespace se3::details;
     Eigen::VectorXd fd_increment(model.nv);
-    for(int k = 1; k < model.joints.size(); ++k)
+    for(std::size_t k = 1; k < model.joints.size(); ++k)
     {
       const JointModel & jmodel = model.joints[k];
       FinitDiffEpsVisitor::run(jmodel,FinitDiffEpsVisitor::ArgsType(fd_increment));

src/multibody/liegroup/special-euclidean.hpp

@@ -201,6 +201,7 @@ namespace se3
     }
   }; // struct SpecialEuclideanOperation<2>
 
+  /// SE(3)
   template<>
   struct SpecialEuclideanOperation<3> : public LieGroupOperationBase <SpecialEuclideanOperation<3> >
   {