Commit 813947c8 authored by jcarpent's avatar jcarpent
Browse files

[All] Remove useless warnings

parent 0b0335b1
......@@ -292,7 +292,6 @@ namespace se3
const Model::JointIndex & i = (Model::JointIndex) jmodel.id();
const Model::Index & parent = model.parents[i];
const Motion & v = data.v[i];
const Inertia & Y = data.oYo[i];
const Inertia::Matrix6 & doYo = data.doYo[i];
......
......@@ -126,9 +126,6 @@ namespace se3
{
const Model::JointIndex & i = jmodel.id();
const Model::JointIndex & parent = model.parents[i];
const SE3 & oMi = data.oMi[i];
const Motion & vi = data.v[i];
const Motion & ov = data.ov[i];
Motion & vtmp = data.ov[0]; // Temporary variable
typedef typename SizeDepType<JointModel::NV>::template ColsReturn<Data::Matrix6x>::Type ColsBlock;
......@@ -218,9 +215,6 @@ namespace se3
{
const Model::JointIndex & i = jmodel.id();
const Model::JointIndex & parent = model.parents[i];
const SE3 & oMi = data.oMi[i];
const Motion & vi = data.v[i];
const Motion & ov = data.ov[i];
Motion & vtmp = data.ov[0]; // Temporary variable
Motion & atmp = data.oa[0]; // Temporary variable
......
......@@ -346,17 +346,16 @@ namespace se3
};
struct CoriolisMatrixBackwardStep : public fusion::JointVisitor<CoriolisMatrixBackwardStep>
struct CoriolisMatrixBackwardStep : public fusion::JointModelVisitor<CoriolisMatrixBackwardStep>
{
typedef boost::fusion::vector<const Model &,
Data &
> ArgsType;
JOINT_VISITOR_INIT(CoriolisMatrixBackwardStep);
JOINT_MODEL_VISITOR_INIT(CoriolisMatrixBackwardStep);
template<typename JointModel>
static void algo(const JointModelBase<JointModel> & jmodel,
JointDataBase<typename JointModel::JointDataDerived> & jdata,
const Model & model,
Data & data)
{
......@@ -417,7 +416,7 @@ namespace se3
for(size_t i=(size_t) (model.njoints-1);i>0;--i)
{
CoriolisMatrixBackwardStep::run(model.joints[i],data.joints[i],
CoriolisMatrixBackwardStep::run(model.joints[i],
CoriolisMatrixBackwardStep::ArgsType(model,data));
}
......
......@@ -44,7 +44,7 @@ namespace se3
ForceSetTpl(const int & ncols ) : size(ncols),m_f(3,ncols), m_n(3,ncols)
{ m_f.fill(NAN); m_n.fill(NAN); }
ForceSetTpl(const Matrix3x & linear, const Matrix3x & angular)
: size(linear.cols()),m_f(linear), m_n(angular)
: size((int)linear.cols()),m_f(linear), m_n(angular)
{ assert( linear.cols() == angular.cols() ); }
Matrix6x matrix() const
......
......@@ -541,7 +541,7 @@ GeometryPositionsMap_t fillPinocchioGeometryPositions(const se3::GeometryModel &
GeometryPositionsMap_t result;
for (std::size_t i = 0; i < geomModel.ngeoms ; ++i)
{
result[geomModel.getGeometryName(i)] = geomData.oMg[i];
result[geomModel.geometryObjects[i].name] = geomData.oMg[i];
}
return result;
}
......
......@@ -130,9 +130,9 @@ void TestIntegrationJoint::operator()< JointModelComposite >(JointModelBase< Joi
se3::JointModelComposite::JointDataDerived jdata = jmodel.createData();
typedef typename JointModel::ConfigVector_t CV;
typedef typename JointModel::TangentVector_t TV;
typedef typename JointModel::Transformation_t SE3;
typedef JointModel::ConfigVector_t CV;
typedef JointModel::TangentVector_t TV;
typedef JointModel::Transformation_t SE3;
CV q0 = jmodel.random();
TV qdot(Eigen::VectorXd::Random(jmodel.nv()));
......
......@@ -32,7 +32,7 @@ BOOST_AUTO_TEST_CASE(test_model_subtree)
buildModels::humanoidSimple(model);
Model::JointIndex idx_larm1 = model.getJointId("larm1_joint");
BOOST_CHECK(idx_larm1<model.njoints);
BOOST_CHECK(idx_larm1<(Model::JointIndex)model.njoints);
Model::IndexVector subtree = model.subtrees[idx_larm1];
BOOST_CHECK(subtree.size()==6);
......
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