diff options
author | Brecht Van Lommel <brechtvanlommel@pandora.be> | 2009-09-25 13:33:46 +0400 |
---|---|---|
committer | Brecht Van Lommel <brechtvanlommel@pandora.be> | 2009-09-25 13:33:46 +0400 |
commit | 5eecb2ab48547449cfd9d668b92cb257bbd8da86 (patch) | |
tree | 62600c1a0cf6c64266e324264c5d25dc80e5b188 /intern | |
parent | 7c9bb3c40aecbb6e8e8045637c501433eed251f0 (diff) |
Warning fixes for ITASC. Also, use <stdlib.h> instead of <malloc.h>,
it works everywhere.
Diffstat (limited to 'intern')
-rw-r--r-- | intern/itasc/Armature.cpp | 14 | ||||
-rw-r--r-- | intern/itasc/Cache.cpp | 4 | ||||
-rw-r--r-- | intern/itasc/ConstraintSet.cpp | 8 | ||||
-rw-r--r-- | intern/itasc/CopyPose.cpp | 4 | ||||
-rw-r--r-- | intern/itasc/WSDLSSolver.hpp | 2 | ||||
-rw-r--r-- | intern/itasc/kdl/jacobian.cpp | 4 | ||||
-rw-r--r-- | intern/itasc/kdl/treefksolverpos_recursive.cpp | 1 |
7 files changed, 20 insertions, 17 deletions
diff --git a/intern/itasc/Armature.cpp b/intern/itasc/Armature.cpp index 6ae60089cd8..7776b6aa3b6 100644 --- a/intern/itasc/Armature.cpp +++ b/intern/itasc/Armature.cpp @@ -8,9 +8,7 @@ #include "Armature.hpp" #include <algorithm> #include <string.h> -#ifndef __STDC__ -#include <malloc.h> -#endif +#include <stdlib.h> namespace iTaSC { @@ -37,9 +35,9 @@ Armature::Armature(): m_newqKdl(), m_qdotKdl(), m_jac(NULL), + m_armlength(0.0), m_jacsolver(NULL), - m_fksolver(NULL), - m_armlength(0.0) + m_fksolver(NULL) { } @@ -119,6 +117,8 @@ Armature::JointConstraint_struct::JointConstraint_struct(SegmentMap::const_itera values[1].id = value[1].id = ID_JOINT_RZ; v_nr = 2; break; + case Joint::None: + break; } } @@ -734,6 +734,8 @@ bool Armature::setControlParameter(unsigned int constraintId, unsigned int value case ACT_ALPHA: pConstraint->values[i].alpha = value; break; + default: + break; } } } else { @@ -755,6 +757,8 @@ bool Armature::setControlParameter(unsigned int constraintId, unsigned int value case ACT_ALPHA: pConstraint->values[i].alpha = value; break; + case ACT_NONE: + break; } } } diff --git a/intern/itasc/Cache.cpp b/intern/itasc/Cache.cpp index d61e5a9eab5..ccd9cef4655 100644 --- a/intern/itasc/Cache.cpp +++ b/intern/itasc/Cache.cpp @@ -7,9 +7,7 @@ #include <string.h> #include <assert.h> #include <math.h> -#ifndef __STDC__ -#include <malloc.h> -#endif +#include <stdlib.h> #include "Cache.hpp" namespace iTaSC { diff --git a/intern/itasc/ConstraintSet.cpp b/intern/itasc/ConstraintSet.cpp index eaffc2a52f9..a38db445ea2 100644 --- a/intern/itasc/ConstraintSet.cpp +++ b/intern/itasc/ConstraintSet.cpp @@ -12,13 +12,13 @@ namespace iTaSC { ConstraintSet::ConstraintSet(unsigned int _nc,double accuracy,unsigned int maximum_iterations): m_nc(_nc), - m_Jf(e_identity_matrix(6,6)), m_Cf(e_zero_matrix(m_nc,6)), - m_U(e_identity_matrix(6,6)),m_V(e_identity_matrix(6,6)),m_B(e_zero_matrix(6,6)), - m_Jf_inv(e_zero_matrix(6,6)), m_Wy(e_scalar_vector(m_nc,1.0)), - m_chi(e_zero_vector(6)),m_y(m_nc),m_ydot(e_zero_vector(m_nc)), + m_y(m_nc),m_ydot(e_zero_vector(m_nc)),m_chi(e_zero_vector(6)), m_S(6),m_temp(6),m_tdelta(6), + m_Jf(e_identity_matrix(6,6)), + m_U(e_identity_matrix(6,6)),m_V(e_identity_matrix(6,6)),m_B(e_zero_matrix(6,6)), + m_Jf_inv(e_zero_matrix(6,6)), m_internalPose(F_identity), m_externalPose(F_identity), m_constraintCallback(NULL), m_constraintParam(NULL), m_toggle(false),m_substep(false), diff --git a/intern/itasc/CopyPose.cpp b/intern/itasc/CopyPose.cpp index 7977089d280..69722909ed1 100644 --- a/intern/itasc/CopyPose.cpp +++ b/intern/itasc/CopyPose.cpp @@ -21,7 +21,7 @@ CopyPose::CopyPose(unsigned int control_output, unsigned int dynamic_output, dou { m_maxerror = armlength/2.0; m_outputControl = (control_output & CTL_ALL); - int _nc = nBitsOn(m_outputControl); + unsigned int _nc = nBitsOn(m_outputControl); if (!_nc) return; // reset the constraint set @@ -284,7 +284,7 @@ void CopyPose::updateJacobian() void CopyPose::updateState(ConstraintValues* _values, ControlState* _state, unsigned int mask, double timestep) { - int id = (mask == CTL_ROTATIONX) ? ID_ROTATIONX : ID_POSITIONX; + unsigned int id = (mask == CTL_ROTATIONX) ? ID_ROTATIONX : ID_POSITIONX; ControlState::ControlValue* _yval; ConstraintSingleValue* _data; int i, j, k; diff --git a/intern/itasc/WSDLSSolver.hpp b/intern/itasc/WSDLSSolver.hpp index 90f89f4e853..1341cf2af66 100644 --- a/intern/itasc/WSDLSSolver.hpp +++ b/intern/itasc/WSDLSSolver.hpp @@ -31,6 +31,8 @@ public: case DLS_QMAX: m_qmax = value; break; + default: + break; } } }; diff --git a/intern/itasc/kdl/jacobian.cpp b/intern/itasc/kdl/jacobian.cpp index 4166a341fe7..f8f46b32619 100644 --- a/intern/itasc/kdl/jacobian.cpp +++ b/intern/itasc/kdl/jacobian.cpp @@ -55,13 +55,13 @@ namespace KDL double Jacobian::operator()(int i,int j)const { - assert(i<6*nr_blocks&&j<size); + assert(i<6*(int)nr_blocks&&j<(int)size); return twists[j+6*(int)(floor((double)i/6))](i%6); } double& Jacobian::operator()(int i,int j) { - assert(i<6*nr_blocks&&j<size); + assert(i<6*(int)nr_blocks&&j<(int)size); return twists[j+6*(int)(floor((double)i/6))](i%6); } diff --git a/intern/itasc/kdl/treefksolverpos_recursive.cpp b/intern/itasc/kdl/treefksolverpos_recursive.cpp index 8c54906dcf4..f9dcb336d5d 100644 --- a/intern/itasc/kdl/treefksolverpos_recursive.cpp +++ b/intern/itasc/kdl/treefksolverpos_recursive.cpp @@ -42,7 +42,6 @@ namespace KDL { else if(baseit == tree.getSegments().end()) //if the base segment name is not found return -3; else{ - const TreeElement& currentElement = it->second; p_out = recursiveFk(q_in, it, baseit); return 0; } |