Commit 714c594e authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Fix warnings.

parent dc525f14
Pipeline #4103 failed with stage
in 7 minutes and 42 seconds
......@@ -178,18 +178,18 @@ namespace dynamicgraph
<< m_com_accSOUT \
<< m_com_acc_desSOUT \
<< m_base_orientationSOUT \
<< m_right_foot_posSOUT \
<< m_left_foot_posSOUT \
<< m_right_hand_posSOUT \
<< m_right_foot_posSOUT \
<< m_left_hand_posSOUT \
<< m_right_foot_velSOUT \
<< m_right_hand_posSOUT \
<< m_left_foot_velSOUT \
<< m_right_hand_velSOUT \
<< m_right_foot_velSOUT \
<< m_left_hand_velSOUT \
<< m_right_foot_accSOUT \
<< m_right_hand_velSOUT \
<< m_left_foot_accSOUT \
<< m_right_hand_accSOUT \
<< m_right_foot_accSOUT \
<< m_left_hand_accSOUT \
<< m_right_hand_accSOUT \
<< m_right_foot_acc_desSOUT \
<< m_left_foot_acc_desSOUT
......@@ -300,18 +300,19 @@ namespace dynamicgraph
,CONSTRUCT_SIGNAL_OUT(com_acc, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(com_acc_des, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(base_orientation, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(left_foot_pos, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(right_foot_pos, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(left_hand_pos, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(left_foot_pos, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(right_hand_pos, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(left_foot_vel, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(left_hand_pos, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(right_foot_vel, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(left_hand_vel, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(left_foot_vel, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(right_hand_vel, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(left_foot_acc, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(left_hand_vel, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(right_foot_acc, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(left_hand_acc, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(left_foot_acc, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(right_hand_acc, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(left_hand_acc, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(right_foot_acc_des, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_OUT(left_foot_acc_des, dg::Vector, m_tau_desSOUT)
,CONSTRUCT_SIGNAL_INNER(active_joints_checked, dg::Vector, m_active_jointsSIN)
,m_t(0.0)
......@@ -319,9 +320,9 @@ namespace dynamicgraph
,m_enabled(false)
,m_firstTime(true)
,m_contactState(DOUBLE_SUPPORT)
,m_timeLast(0)
,m_rightHandState(TASK_RIGHT_HAND_OFF)
,m_leftHandState(TASK_LEFT_HAND_OFF)
,m_timeLast(0)
,m_robot_util(RefVoidRobotUtil())
{
RESETDEBUG5();
......@@ -428,7 +429,7 @@ namespace dynamicgraph
m_contactState = RIGHT_SUPPORT;
}
}
void InverseDynamicsBalanceController::addTaskRightHand(/*const double& transitionTime*/)
{
if(m_rightHandState == TASK_RIGHT_HAND_OFF)
......@@ -623,7 +624,7 @@ namespace dynamicgraph
m_taskPosture->Kp(kp_posture);
m_taskPosture->Kd(kd_posture);
m_invDyn->addMotionTask(*m_taskPosture, m_w_posture, 1);
m_taskRH = new TaskSE3Equality("task-rh", *m_robot, m_robot_util->m_hand_util.m_Right_Hand_Frame_Name);
m_taskRH->Kp(kp_hands);
m_taskRH->Kd(kd_hands);
......@@ -926,7 +927,7 @@ namespace dynamicgraph
m_contactRF->setReference(H_rf);
SEND_MSG("Setting right foot reference to "+toString(H_rf), MSG_TYPE_DEBUG);
}
else if(m_timeLast != static_cast<unsigned int>(iter-1))
else if(m_timeLast != static_cast<unsigned int>(iter-1))
{
SEND_MSG("Last time "+toString(m_timeLast)+" is not current time-1: "+toString(iter), MSG_TYPE_ERROR);
if(m_timeLast == static_cast<unsigned int>(iter))
......@@ -1455,7 +1456,9 @@ namespace dynamicgraph
{
if(!m_initSucceeded)
{
SEND_WARNING_STREAM_MSG("Cannot compute signal left_hand_vel before initialization!");
std::ostringstream oss("Cannot compute signal left_hand_vel before initialization!:");
oss << iter;
SEND_WARNING_STREAM_MSG(oss.str());
return s;
}
pinocchio::Motion v;
......@@ -1482,7 +1485,7 @@ namespace dynamicgraph
{
if(!m_initSucceeded)
{
SEND_WARNING_STREAM_MSG("Cannot compute signal right_hand_vel before initialization!");
SEND_WARNING_STREAM_MSG("Cannot compute signal right_hand_vel before initialization! "+toString(iter));
return s;
}
pinocchio::Motion v;
......@@ -1495,7 +1498,7 @@ namespace dynamicgraph
{
if(!m_initSucceeded)
{
SEND_WARNING_STREAM_MSG("Cannot compute signal left_foot_acc before initialization!");
SEND_WARNING_STREAM_MSG("Cannot compute signal left_foot_acc before initialization! "+toString(iter));
return s;
}
m_tau_desSOUT(iter);
......
......@@ -29,7 +29,6 @@ namespace dyn_sot_tc = dynamicgraph::sot::torque_control;
BOOST_AUTO_TEST_CASE(testControlManager)
{
RealTimeLogger& rtl = RealTimeLogger::instance();
dgADD_OSTREAM_TO_RTLOG (std::cout);
dyn_sot_tc::ControlManager &a_control_manager =
......
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