Merge pull request #469 from dartsim/fix_warnings

Fix compilation warnings
dartsim · Jul 27, 2015 · dcc9252 · dcc9252
2 parents 9ed9855 + f309fc3
commit dcc9252
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Showing 5 changed files with 30 additions and 10 deletions.
diff --git a/apps/atlasSimbicon/State.cpp b/apps/atlasSimbicon/State.cpp
@@ -648,31 +648,31 @@ double State::getDerivativeGain(int _idx) const
 //==============================================================================
 void State::setFeedbackSagitalCOMDistance(size_t _index, double _val)
 {
-  assert(0 <= _index && _index <= mSagitalCd.size() && "Invalid index.");
+  assert(_index <= mSagitalCd.size() && "Invalid index.");
 
   mSagitalCd[_index] = _val;
 }
 
 //==============================================================================
 void State::setFeedbackSagitalCOMVelocity(size_t _index, double _val)
 {
-  assert(0 <= _index && _index <= mSagitalCv.size() && "Invalid index.");
+  assert(_index <= mSagitalCv.size() && "Invalid index.");
 
   mSagitalCv[_index] = _val;
 }
 
 //==============================================================================
 void State::setFeedbackCoronalCOMDistance(size_t _index, double _val)
 {
-  assert(0 <= _index && _index <= mCoronalCd.size() && "Invalid index.");
+  assert(_index <= mCoronalCd.size() && "Invalid index.");
 
   mCoronalCd[_index] = _val;
 }
 
 //==============================================================================
 void State::setFeedbackCoronalCOMVelocity(size_t _index, double _val)
 {
-  assert(0 <= _index && _index <= mCoronalCv.size() && "Invalid index.");
+  assert(_index <= mCoronalCv.size() && "Invalid index.");
 
   mCoronalCv[_index] = _val;
 }

diff --git a/apps/operationalSpaceControl/Controller.cpp b/apps/operationalSpaceControl/Controller.cpp
@@ -60,7 +60,7 @@ Controller::Controller(dart::dynamics::SkeletonPtr _robot,
 
   // Remove position limits
   for (int i = 0; i < dof; ++i)
-    _robot->getJoint(i)->setPositionLimited(false);
+    _robot->getJoint(i)->setPositionLimitEnforced(false);
 
   // Set joint damping
   for (int i = 0; i < dof; ++i)

diff --git a/dart/collision/fcl/FCLCollisionDetector.cpp b/dart/collision/fcl/FCLCollisionDetector.cpp
@@ -45,6 +45,11 @@
 #include "dart/collision/fcl/FCLCollisionNode.h"
 #include "dart/collision/fcl/FCLTypes.h"
 
+#define FCL_VERSION_AT_LEAST(x,y,z) \
+  (FCL_MAJOR_VERSION > x || (FCL_MAJOR_VERSION >= x && \
+  (FCL_MINOR_VERSION > y || (FCL_MINOR_VERSION >= y && \
+  FCL_PATCH_VERSION >= z))))
+
 namespace dart {
 namespace collision {
 
@@ -235,8 +240,13 @@ CollisionNode* FCLCollisionDetector::findCollisionNode(
         static_cast<FCLCollisionNode*>(mCollisionNodes[i]);
     for (size_t j = 0; j < collisionNode->getNumCollisionObjects(); j++)
     {
+#if FCL_VERSION_AT_LEAST(0,3,0)
+      if (collisionNode->getCollisionObject(j)->collisionGeometry().get()
+          == _fclCollGeom)
+#else
       if (collisionNode->getCollisionObject(j)->getCollisionGeometry()
           == _fclCollGeom)
+#endif
         return mCollisionNodes[i];
     }
   }

diff --git a/dart/collision/fcl/FCLCollisionNode.cpp b/dart/collision/fcl/FCLCollisionNode.cpp
@@ -50,6 +50,11 @@
 #include "dart/dynamics/SoftMeshShape.h"
 #include "dart/collision/fcl/FCLTypes.h"
 
+#define FCL_VERSION_AT_LEAST(x,y,z) \
+  (FCL_MAJOR_VERSION > x || (FCL_MAJOR_VERSION >= x && \
+  (FCL_MINOR_VERSION > y || (FCL_MINOR_VERSION >= y && \
+  FCL_PATCH_VERSION >= z))))
+
 namespace dart {
 namespace collision {
 
@@ -516,10 +521,15 @@ void FCLCollisionNode::updateFCLCollisionObjects()
 
       const aiMesh* mesh = softMeshShape->getAssimpMesh();
       softMeshShape->update();
-
+#if FCL_VERSION_AT_LEAST(0,3,0)
+      fcl::CollisionGeometry* collGeom
+          = const_cast<fcl::CollisionGeometry*>(
+              fclCollObj->collisionGeometry().get());
+#else
       fcl::CollisionGeometry* collGeom
           = const_cast<fcl::CollisionGeometry*>(
               fclCollObj->getCollisionGeometry());
+#endif
       assert(nullptr != dynamic_cast<fcl::BVHModel<fcl::OBBRSS>*>(collGeom));
       fcl::BVHModel<fcl::OBBRSS>* bvhModel
           = static_cast<fcl::BVHModel<fcl::OBBRSS>*>(collGeom);

diff --git a/unittests/testJoints.cpp b/unittests/testJoints.cpp
@@ -378,11 +378,11 @@ TEST_F(JOINTS, POSITION_LIMIT)
   double limit0 = DART_PI / 6.0;
   double limit1 = DART_PI / 6.0;
 
-  joint0->setPositionLimited(true);
+  joint0->setPositionLimitEnforced(true);
   joint0->setPositionLowerLimit(0, -limit0);
   joint0->setPositionUpperLimit(0, limit0);
 
-  joint1->setPositionLimited(true);
+  joint1->setPositionLimitEnforced(true);
   joint1->setPositionLowerLimit(0, -limit1);
   joint1->setPositionUpperLimit(0, limit1);
 
@@ -454,8 +454,8 @@ void testJointCoulombFrictionForce(double _timeStep)
 
   double frictionForce  = 5.0;
 
-  joint0->setPositionLimited(false);
-  joint1->setPositionLimited(false);
+  joint0->setPositionLimitEnforced(false);
+  joint1->setPositionLimitEnforced(false);
 
   joint0->setCoulombFriction(0, frictionForce);
   joint1->setCoulombFriction(0, frictionForce);