From 5eecb2ab48547449cfd9d668b92cb257bbd8da86 Mon Sep 17 00:00:00 2001
From: Brecht Van Lommel <brechtvanlommel@pandora.be>
Date: Fri, 25 Sep 2009 09:33:46 +0000
Subject: Warning fixes for ITASC. Also, use <stdlib.h> instead of <malloc.h>,
 it works everywhere.

---
 intern/itasc/Armature.cpp                      | 14 +++++++++-----
 intern/itasc/Cache.cpp                         |  4 +---
 intern/itasc/ConstraintSet.cpp                 |  8 ++++----
 intern/itasc/CopyPose.cpp                      |  4 ++--
 intern/itasc/WSDLSSolver.hpp                   |  2 ++
 intern/itasc/kdl/jacobian.cpp                  |  4 ++--
 intern/itasc/kdl/treefksolverpos_recursive.cpp |  1 -
 7 files changed, 20 insertions(+), 17 deletions(-)

(limited to 'intern/itasc')

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;        	
         }
-- 
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