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Mod/Robot: Removed -Wsign-compare warnings.

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This commit is contained in:
wmayer 2015-09-11 16:09:11 +02:00
parent 1f1660a860
commit df4c99f157
5 changed files with 9 additions and 9 deletions
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2
src/Mod/Robot/App/kdl_cp/chain.cpp
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@ -43,7 +43,7 @@ namespace KDL {
nrOfJoints=0; nrOfJoints=0;
nrOfSegments=0; nrOfSegments=0;
segments.resize(0); segments.resize(0);
for(unsigned int i=0;i<arg.nrOfSegments;i++) for(int i=0;i<arg.nrOfSegments;i++)
addSegment(arg.getSegment(i)); addSegment(arg.getSegment(i));
return *this; return *this;

4
src/Mod/Robot/App/kdl_cp/chainfksolverpos_recursive.cpp
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@ -39,11 +39,11 @@ namespace KDL {
if(q_in.rows()!=chain.getNrOfJoints()) if(q_in.rows()!=chain.getNrOfJoints())
return -1; return -1;
else if(segmentNr>chain.getNrOfSegments()) else if(segmentNr>static_cast<int>(chain.getNrOfSegments()))
return -1; return -1;
else{ else{
int j=0; int j=0;
for(unsigned int i=0;i<segmentNr;i++){ for(int i=0;i<segmentNr;i++){
if(chain.getSegment(i).getJoint().getType()!=Joint::None){ if(chain.getSegment(i).getJoint().getType()!=Joint::None){
p_out = p_out*chain.getSegment(i).pose(q_in(j)); p_out = p_out*chain.getSegment(i).pose(q_in(j));
j++; j++;

4
src/Mod/Robot/App/kdl_cp/chainfksolvervel_recursive.cpp
View File

@ -43,11 +43,11 @@ namespace KDL
if(!(in.q.rows()==chain.getNrOfJoints()&&in.qdot.rows()==chain.getNrOfJoints())) if(!(in.q.rows()==chain.getNrOfJoints()&&in.qdot.rows()==chain.getNrOfJoints()))
return -1; return -1;
else if(segmentNr>chain.getNrOfSegments()) else if(segmentNr>static_cast<int>(chain.getNrOfSegments()))
return -1; return -1;
else{ else{
int j=0; int j=0;
for (unsigned int i=0;i<segmentNr;i++) { for (int i=0;i<segmentNr;i++) {
//Calculate new Frame_base_ee //Calculate new Frame_base_ee
if(chain.getSegment(i).getJoint().getType()!=Joint::None){ if(chain.getSegment(i).getJoint().getType()!=Joint::None){
out=out*FrameVel(chain.getSegment(i).pose(in.q(j)), out=out*FrameVel(chain.getSegment(i).pose(in.q(j)),

6
src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_givens.cpp
View File

@ -57,8 +57,8 @@ namespace KDL
for(unsigned int i=0;i<6;i++) for(unsigned int i=0;i<6;i++)
v_in_eigen(i)=v_in(i); v_in_eigen(i)=v_in(i);
for(unsigned int i=0;i<m;i++){ for(int i=0;i<m;i++){
for(unsigned int j=0;j<n;j++) for(int j=0;j<n;j++)
if(transpose) if(transpose)
jac_eigen(i,j)=jac(j,i); jac_eigen(i,j)=jac(j,i);
else else
@ -72,7 +72,7 @@ namespace KDL
else else
UY = (U.transpose() * v_in_eigen).lazy(); UY = (U.transpose() * v_in_eigen).lazy();
for (unsigned int i = 0; i < n; i++){ for (int i = 0; i < n; i++){
double wi = UY(i); double wi = UY(i);
double alpha = S(i); double alpha = S(i);

2
src/Mod/Robot/App/kdl_cp/chainjnttojacsolver.cpp
View File

@ -48,7 +48,7 @@ namespace KDL
int ChainJntToJacSolver::JntToJac(const JntArray& q_in,Jacobian& jac) int ChainJntToJacSolver::JntToJac(const JntArray& q_in,Jacobian& jac)
{ {
if(q_in.rows()!=chain.getNrOfJoints()||nr_of_unlocked_joints_!=jac.columns()) if(q_in.rows()!=chain.getNrOfJoints()||nr_of_unlocked_joints_!=static_cast<int>(jac.columns()))
return -1; return -1;
T_tmp = Frame::Identity(); T_tmp = Frame::Identity();
SetToZero(t_tmp); SetToZero(t_tmp);