Commit 81ce16e0 authored by jcarpent's avatar jcarpent
Browse files

[C++] Remove warnings - either cast or not used typedef

parent 65d18bf4
......@@ -108,7 +108,7 @@ namespace se3
for( JointIndex j=1;int(j)<model.njoints;++j )
{
JointIndex c = data.lastChild[j];
JointIndex c = (JointIndex)data.lastChild[j];
CHECK_DATA((int)c<model.njoints);
int nv=model.joints[j].nv();
for( JointIndex d=j+1;d<=c;++d ) // explore all descendant
......@@ -122,11 +122,11 @@ namespace se3
CHECK_DATA( (model.parents[d]<j)||(model.parents[d]>c) );
int row = model.joints[j].idx_v();
CHECK_DATA(data.nvSubtree[j] == data.nvSubtree_fromRow[row]);
CHECK_DATA(data.nvSubtree[j] == data.nvSubtree_fromRow[(size_t)row]);
const JointModel & jparent = model.joints[model.parents[j]];
if(row==0) { CHECK_DATA(data.parents_fromRow[row]==-1); }
else { CHECK_DATA(jparent.idx_v()+jparent.nv()-1 == data.parents_fromRow[row]); }
if(row==0) { CHECK_DATA(data.parents_fromRow[(size_t)row]==-1); }
else { CHECK_DATA(jparent.idx_v()+jparent.nv()-1 == data.parents_fromRow[(size_t)row]); }
}
#undef CHECK_DATA
......
......@@ -18,11 +18,7 @@
#ifndef __se3_geometry_hxx__
#define __se3_geometry_hxx__
#include <iostream>
#include <map>
#include <list>
#include <utility>
......@@ -41,7 +37,7 @@ namespace se3
, collisionRequest (1, false, false, 1, false, true, fcl::GST_INDEP)
, collisionResults(modelGeom.collisionPairs.size())
, radius()
, collisionPairIndex(-1)
, collisionPairIndex(0)
, innerObjects()
, outerObjects()
{
......
......@@ -63,7 +63,6 @@ namespace se3
const std::string & joint_name
)
{
typedef JointModelDerived D;
assert( (njoints==(int)joints.size())&&(njoints==(int)inertias.size())
&&(njoints==(int)parents.size())&&(njoints==(int)jointPlacements.size()) );
assert((joint_model.nq()>=0) && (joint_model.nv()>=0));
......@@ -110,7 +109,6 @@ namespace se3
const std::string & joint_name
)
{
typedef JointModelDerived D;
Eigen::VectorXd max_effort, max_velocity, min_config, max_config;
max_effort = Eigen::VectorXd::Constant(joint_model.nv(), std::numeric_limits<double>::max());
......@@ -127,11 +125,11 @@ namespace se3
if (fidx < 0) {
// FIXED_JOINT is required because the parent can be the universe and its
// type is FIXED_JOINT
fidx = getFrameId(names[parents[jidx]], (FrameType)(JOINT | FIXED_JOINT));
fidx = (int)getFrameId(names[parents[jidx]], (FrameType)(JOINT | FIXED_JOINT));
}
assert(fidx < frames.size() && "Frame index out of bound");
assert((size_t)fidx < frames.size() && "Frame index out of bound");
// Add a the joint frame attached to itself to the frame vector - redundant information but useful.
return addFrame(Frame(names[jidx],jidx,fidx,SE3::Identity(),JOINT));
return addFrame(Frame(names[jidx],jidx,(FrameIndex)fidx,SE3::Identity(),JOINT));
}
......@@ -152,10 +150,10 @@ namespace se3
if (previousFrame < 0) {
// FIXED_JOINT is required because the parent can be the universe and its
// type is FIXED_JOINT
previousFrame = getFrameId(names[parentJoint], (FrameType)(JOINT | FIXED_JOINT));
previousFrame = (int)getFrameId(names[parentJoint], (FrameType)(JOINT | FIXED_JOINT));
}
assert(previousFrame < frames.size() && "Frame index out of bound");
return addFrame(Frame(body_name, parentJoint, previousFrame, body_placement, BODY));
assert((size_t)previousFrame < frames.size() && "Frame index out of bound");
return addFrame(Frame(body_name, parentJoint, (FrameIndex)previousFrame, body_placement, BODY));
}
inline Model::JointIndex Model::getBodyId (const std::string & name) const
......
......@@ -124,7 +124,6 @@ namespace se3
const boost::shared_ptr< ::urdf::Inertial> Y,
const std::string & body_name)
{
Model::JointIndex idx;
Frame& frame = model.frames[parentFrameId];
int fid = model.addFrame(
......
......@@ -42,7 +42,7 @@ BOOST_AUTO_TEST_CASE ( test_kinematics )
Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.njoints-1);
const std::string & frame_name = std::string( model.names[parent_idx]+ "_frame");
const SE3 & framePlacement = SE3::Random();
model.addFrame(Frame (frame_name, parent_idx, -1, framePlacement, OP_FRAME));
model.addFrame(Frame (frame_name, parent_idx, 0, framePlacement, OP_FRAME));
se3::Data data(model);
VectorXd q = VectorXd::Ones(model.nq);
......@@ -64,7 +64,7 @@ BOOST_AUTO_TEST_CASE ( test_jacobian )
Model::Index parent_idx = model.existJointName("rarm2_joint")?model.getJointId("rarm2_joint"):(Model::Index)(model.njoints-1);
const std::string & frame_name = std::string( model.names[parent_idx]+ "_frame");
const SE3 & framePlacement = SE3::Random();
model.addFrame(Frame (frame_name, parent_idx, -1, framePlacement, OP_FRAME));
model.addFrame(Frame (frame_name, parent_idx, 0, framePlacement, OP_FRAME));
se3::Data data(model);
VectorXd q = VectorXd::Ones(model.nq);
......
......@@ -207,7 +207,6 @@ struct TestDifferentiationJoint
init(jmodel);
typedef typename JointModel::ConfigVector_t CV;
typedef typename JointModel::TangentVector_t TV;
typedef typename JointModel::Transformation_t SE3;
jmodel.setIndexes(0,0,0);
......@@ -272,8 +271,6 @@ struct TestInterpolationJoint
{
init(jmodel);
typedef typename JointModel::ConfigVector_t CV;
typedef typename JointModel::TangentVector_t TV;
typedef typename JointModel::Transformation_t SE3;
jmodel.setIndexes(0,0,0);
......
......@@ -33,9 +33,9 @@ namespace se3
struct SimpleVisitor : public se3::fusion::JointVisitor<SimpleVisitor>
{
typedef boost::fusion::vector<const se3::Model &,
se3::Data &,
int
> ArgsType;
se3::Data &,
JointIndex
> ArgsType;
JOINT_VISITOR_INIT(SimpleVisitor);
......@@ -44,7 +44,7 @@ namespace se3
se3::JointDataBase<typename JointModel::JointDataDerived> & jdata,
const se3::Model & model,
se3::Data & data,
int jointId);
JointIndex jointId);
};
template<typename JointModel>
......@@ -52,7 +52,7 @@ namespace se3
se3::JointDataBase<typename JointModel::JointDataDerived> & /*jdata*/,
const se3::Model & /*model*/,
se3::Data & /*data*/,
int /*dummy*/)
JointIndex /*dummy*/)
{ /* --- do nothing --- */ }
template<>
......@@ -60,7 +60,7 @@ namespace se3
se3::JointDataBase<JointDataRevoluteUnaligned> & /*jdata*/,
const se3::Model & /*model*/,
se3::Data & /*data*/,
int /*dummy*/)
JointIndex /*dummy*/)
{
BOOST_CHECK( jmodel.shortname() == JointModelRevoluteUnaligned::classname() );
Eigen::Vector3d axis = jmodel.derived().axis;
......
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