diff options
Diffstat (limited to 'intern/itasc/kdl')
-rw-r--r-- | intern/itasc/kdl/jacobian.cpp | 4 | ||||
-rw-r--r-- | intern/itasc/kdl/treefksolverpos_recursive.cpp | 1 |
2 files changed, 2 insertions, 3 deletions
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; } |