Commit e3cb95f4 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Remove inclusion to allow c++-11 less compiling.

All the work (using boost::assign) was already done.
This commit is just making sure that it compiles in 16.04 LTS.
parent 42d7e759
......@@ -31,7 +31,7 @@ SET(CUSTOM_HEADER_DIR "sot/torque-control")
# Disable -Werror on Unix for now.
SET(CXX_DISABLE_WERROR True)
#add_compile_options(-std=c++11) # CMake 2.8.12 or newer
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
SET(PKG_CONFIG_ADDITIONAL_VARIABLES
${PKG_CONFIG_ADDITIONAL_VARIABLES}
......
......@@ -41,7 +41,6 @@
#include <sot/torque_control/utils/vector-conversions.hh>
#include <sot/torque_control/utils/logger.hh>
#include <map>
#include <initializer_list>
#include "boost/assign.hpp"
//#include <boost/random/normal_distribution.hpp>
#include <boost/math/distributions/normal.hpp> // for normal_distribution
......@@ -237,9 +236,9 @@ namespace dynamicgraph {
SE3 m_sole_M_ftSens; /// foot sole to F/T sensor transformation
unsigned int m_right_foot_id;
unsigned int m_left_foot_id;
unsigned int m_IMU_body_id;
se3::FrameIndex m_right_foot_id;
se3::FrameIndex m_left_foot_id;
se3::FrameIndex m_IMU_body_id;
Eigen::VectorXd m_q_pin; /// robot configuration according to pinocchio convention
Eigen::VectorXd m_q_sot; /// robot configuration according to SoT convention
......
......@@ -40,7 +40,6 @@
#include <sot/torque_control/signal-helper.hh>
#include <sot/torque_control/utils/vector-conversions.hh>
#include <map>
#include <initializer_list>
#include "boost/assign.hpp"
#include <sot/torque_control/utils/logger.hh>
namespace dg = ::dynamicgraph;
......
......@@ -41,7 +41,6 @@
#include <sot/torque_control/utils/logger.hh>
#include <sot/torque_control/common.hh>
#include <map>
#include <initializer_list>
#include "boost/assign.hpp"
......
......@@ -42,7 +42,6 @@
#include <sot/torque_control/utils/vector-conversions.hh>
#include <sot/torque_control/utils/logger.hh>
#include <map>
#include <initializer_list>
#include "boost/assign.hpp"
/* Pinocchio */
......
......@@ -40,7 +40,6 @@
#include <sot/torque_control/utils/vector-conversions.hh>
#include <sot/torque_control/utils/logger.hh>
#include <map>
#include <initializer_list>
#include "boost/assign.hpp"
namespace dynamicgraph {
......
......@@ -41,7 +41,6 @@
#include <sot/torque_control/utils/logger.hh>
#include <sot/torque_control/common.hh>
#include <map>
#include <initializer_list>
#include "boost/assign.hpp"
/* Pinocchio */
......
......@@ -42,7 +42,6 @@
#include <sot/torque_control/utils/logger.hh>
#include <sot/torque_control/utils/trajectory-generators.hh>
#include <map>
#include <initializer_list>
#include "boost/assign.hpp"
......
......@@ -52,7 +52,6 @@
#include <sot/torque_control/utils/vector-conversions.hh>
#include <sot/torque_control/utils/logger.hh>
#include <map>
#include <initializer_list>
#include "boost/assign.hpp"
#define betaDef 0.01f // 2 * proportional g
......
......@@ -50,7 +50,6 @@
#include <parametric-curves/infinite-const-acc.hpp>
#include <map>
#include <initializer_list>
#include "boost/assign.hpp"
......
......@@ -41,7 +41,6 @@
#include <sot/torque_control/utils/logger.hh>
#include <sot/torque_control/common.hh>
#include <map>
#include <initializer_list>
#include "boost/assign.hpp"
namespace dynamicgraph {
......
......@@ -42,7 +42,6 @@
#include <sot/torque_control/utils/trajectory-generators.hh>
#include <parametric-curves/spline.hpp>
#include <map>
#include <initializer_list>
#include "boost/assign.hpp"
......
......@@ -41,7 +41,6 @@
#include <sot/torque_control/utils/vector-conversions.hh>
#include <sot/torque_control/utils/logger.hh>
#include <map>
#include <initializer_list>
#include "boost/assign.hpp"
......
......@@ -39,7 +39,6 @@
#include <sot/torque_control/signal-helper.hh>
#include <sot/torque_control/utils/vector-conversions.hh>
#include <map>
#include <initializer_list>
#include <iomanip> // std::setprecision
#include "boost/assign.hpp"
......
......@@ -41,7 +41,6 @@
#include <sot/torque_control/utils/logger.hh>
#include <map>
#include <fstream> /// to read text file
#include <initializer_list>
#include "boost/assign.hpp"
......
......@@ -169,10 +169,10 @@ namespace dynamicgraph
,m_initSucceeded(false)
,m_reset_foot_pos(true)
,m_w_imu(0.0)
,m_zmp_std_dev_lf(1.0)
,m_zmp_std_dev_rf(1.0)
,m_fz_std_dev_lf(1.0)
,m_zmp_std_dev_lf(1.0)
,m_fz_std_dev_rf(1.0)
,m_fz_std_dev_lf(1.0)
,m_zmp_margin_lf(0.0)
,m_zmp_margin_rf(0.0)
{
......
......@@ -277,8 +277,8 @@ namespace dynamicgraph
bool RobotUtil::
joints_sot_to_urdf(Eigen::ConstRefVector q_sot, Eigen::RefVector q_urdf)
{
assert(q_urdf.size()==m_nbJoints);
assert(q_sot.size()==m_nbJoints);
assert(q_urdf.size()==static_cast<Eigen::Index>(m_nbJoints));
assert(q_sot.size()==static_cast<Eigen::Index>(m_nbJoints));
if (m_nbJoints==0)
{
......
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