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Fix compilation warnings #469

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merged 6 commits into from
Jul 27, 2015
Merged

Fix compilation warnings #469

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b211877
Fix compilation warnings introduced by #441
jslee02 Jul 25, 2015
cc64e78
Fix sign-comare warning by removing positivity check for unsigned int…
jslee02 Jul 25, 2015
58c1107
Fix syntax errors
jslee02 Jul 25, 2015
ab3a2f3
Avoid to use deprecated API of FCL
jslee02 Jul 25, 2015
91b0956
Merge branch 'master' into fix_warnings
jslee02 Jul 25, 2015
f309fc3
Fix build error with FCL lower than version 0.3.0
jslee02 Jul 26, 2015
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8 changes: 4 additions & 4 deletions apps/atlasSimbicon/State.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
}
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2 changes: 1 addition & 1 deletion apps/operationalSpaceControl/Controller.cpp
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Expand Up @@ -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)
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10 changes: 10 additions & 0 deletions dart/collision/fcl/FCLCollisionDetector.cpp
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Expand Up @@ -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 {

Expand Down Expand Up @@ -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];
}
}
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12 changes: 11 additions & 1 deletion dart/collision/fcl/FCLCollisionNode.cpp
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Expand Up @@ -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 {

Expand Down Expand Up @@ -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);
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8 changes: 4 additions & 4 deletions unittests/testJoints.cpp
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Expand Up @@ -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);

Expand Down Expand Up @@ -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);
Expand Down