Merge pull request #146 from robotology/reduce_warnings

robotology · Sep 13, 2024 · 6dd9e8e · 6dd9e8e
2 parents 95ed1a6 + 10ccce9
commit 6dd9e8e
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Showing 26 changed files with 92 additions and 101 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -42,7 +42,8 @@ jobs:
         # Compilation related dependencies
         conda install cmake compilers make ninja pkg-config
         # Actual dependencies
-        conda install yarp ycm-cmake-modules icub-main eigen idyntree bipedal-locomotion-framework human-dynamics-estimation wearables
+        conda install yarp ycm-cmake-modules icub-main eigen "idyntree>=10.0.0" human-dynamics-estimation wearables
+        conda install bipedal-locomotion-framework
 
     - name: Linux-only Dependencies [Linux]
       if: contains(matrix.os, 'ubuntu')

diff --git a/cmake/WalkingTeleoperationFindDependencies.cmake b/cmake/WalkingTeleoperationFindDependencies.cmake
@@ -117,7 +117,7 @@ find_package(YARP REQUIRED)
 find_package(YCM REQUIRED)
 find_package(ICUB REQUIRED)
 find_package(Eigen3 REQUIRED)
-find_package(iDynTree REQUIRED)
+find_package(iDynTree 10.0.0 REQUIRED)
 
 # Enable RPATH
 option(ENABLE_RPATH "Enable RPATH for this library" ON)

diff --git a/modules/HapticGlove_module/include/RobotInterface.hpp b/modules/HapticGlove_module/include/RobotInterface.hpp
@@ -61,7 +61,7 @@ class HapticGlove::RobotInterface
 
     bool m_rightHand; /**< if the right hand is used, the variable is true*/
 
-    int m_noActuatedAxis; /**< Number of the actuated axis of the robot hand */
+    size_t m_noActuatedAxis; /**< Number of the actuated axis of the robot hand */
     size_t
         m_noAnalogSensor; /**< Number of the analog joints ( associated with the analog sensors) */
     size_t m_noAllJoints; /**< Number of all the robot hand joints ( associated with the analog &
@@ -512,31 +512,31 @@ class HapticGlove::RobotInterface
      * Get the number of actuated axis/motors
      * @return the number of actuated axis/motors
      */
-    const int getNumberOfActuatedAxis() const;
+    size_t getNumberOfActuatedAxis() const;
 
     /**
      * Get the number of all axis/motors related to the used parts (robot hand)
      * @return the number of all axis/motors
      */
-    const int getNumberOfAllAxis() const;
+    size_t getNumberOfAllAxis() const;
 
     /**
      * Get the number of all the joints related to the robot used parts (robot hand)
      * @return the number of all the joints
      */
-    const int getNumberOfAllJoints() const;
+    size_t getNumberOfAllJoints() const;
 
     /**
      * Get the number of actuated joints of the used parts (robot hand)
      * @return the number of actuated joints
      */
-    const int getNumberOfActuatedJoints() const;
+    size_t getNumberOfActuatedJoints() const;
 
     /**
      * Get the number of iCub robot hand fingers
      * @return the number of icub robot hand fingers
      */
-    const int getNumberOfRobotFingers() const;
+    size_t getNumberOfRobotFingers() const;
 
     /**
      * Get the name of the robot fingers

diff --git a/modules/HapticGlove_module/include/RobotMotorsEstimation.hpp b/modules/HapticGlove_module/include/RobotMotorsEstimation.hpp
@@ -46,7 +46,7 @@ class HapticGlove::Estimators
      * constructor.
      * @param noMotors number of motors or joints
      */
-    Estimators(const int noMotors);
+    Estimators(size_t noMotors);
 
     /**
      * destructor.

diff --git a/modules/HapticGlove_module/src/LinearRegression.cpp b/modules/HapticGlove_module/src/LinearRegression.cpp
@@ -42,7 +42,7 @@ bool LinearRegression::LearnOneShotMatrix(const CtrlHelper::Eigen_Mat& inputData
 {
 
     tetha.resize(0, 0);
-    for (size_t i = 0; i < ouputData.cols(); i++)
+    for (size_t i = 0; i < static_cast<size_t>(ouputData.cols()); i++)
     {
         CtrlHelper::Eigen_Mat tetha_i;
         LearnOneShot(inputData, ouputData.col(i), tetha_i);

diff --git a/modules/HapticGlove_module/src/RobotInterface.cpp b/modules/HapticGlove_module/src/RobotInterface.cpp
@@ -6,7 +6,7 @@
 #include <limits>
 
 // iDynTree
-#include <iDynTree/Core/Utils.h>
+#include <iDynTree/Utils.h>
 
 // teleoperation
 #include <ControlHelper.hpp>
@@ -790,7 +790,7 @@ bool RobotInterface::getFeedback()
         return false;
     }
 
-    for (unsigned j = 0; j < m_noActuatedAxis; ++j)
+    for (size_t j = 0; j < m_noActuatedAxis; ++j)
         m_encoderPositionFeedbackInRadians(j)
             = iDynTree::deg2rad(m_encoderPositionFeedbackInDegrees(j));
 
@@ -801,7 +801,7 @@ bool RobotInterface::getFeedback()
         return false;
     }
 
-    for (unsigned j = 0; j < m_noActuatedAxis; ++j)
+    for (size_t j = 0; j < m_noActuatedAxis; ++j)
         m_encoderVelocityFeedbackInRadians(j)
             = iDynTree::deg2rad(m_encoderVelocityFeedbackInDegrees(j));
 
@@ -1052,27 +1052,27 @@ bool RobotInterface::close()
     return ok;
 }
 
-const int RobotInterface::getNumberOfActuatedAxis() const
+size_t RobotInterface::getNumberOfActuatedAxis() const
 {
     return m_noActuatedAxis;
 }
 
-const int RobotInterface::getNumberOfAllAxis() const
+size_t RobotInterface::getNumberOfAllAxis() const
 {
     return m_noAllAxis;
 }
 
-const int RobotInterface::getNumberOfAllJoints() const
+size_t RobotInterface::getNumberOfAllJoints() const
 {
     return m_noAllJoints;
 }
 
-const int RobotInterface::getNumberOfActuatedJoints() const
+size_t RobotInterface::getNumberOfActuatedJoints() const
 {
     return m_noActuatedJoints;
 }
 
-const int RobotInterface::getNumberOfRobotFingers() const
+size_t RobotInterface::getNumberOfRobotFingers() const
 {
     return m_noFingers;
 }

diff --git a/modules/HapticGlove_module/src/RobotMotorsEstimation.cpp b/modules/HapticGlove_module/src/RobotMotorsEstimation.cpp
@@ -8,7 +8,7 @@
 
 using namespace HapticGlove;
 
-Estimators::Estimators(const int noMotors)
+Estimators::Estimators(size_t noMotors)
 {
     m_numOfMotors = noMotors;
     m_isInitialized = false;
@@ -114,17 +114,20 @@ bool Estimators::getInfo(Eigen::VectorXd& estimatedValues,
 {
     if (estimatedValues.size() != m_numOfMotors)
     {
-        estimatedValues.resize(m_numOfMotors, 0.0);
+        estimatedValues.resize(m_numOfMotors);
+        estimatedValues.setZero();
     }
 
     if (estimatedVelocities.size() != m_numOfMotors)
     {
-        estimatedValues.resize(m_numOfMotors, 0.0);
+        estimatedVelocities.resize(m_numOfMotors);
+        estimatedVelocities.setZero();
     }
 
     if (estimatedAccelerations.size() != m_numOfMotors)
     {
-        estimatedValues.resize(m_numOfMotors, 0.0);
+        estimatedAccelerations.resize(m_numOfMotors);
+        estimatedAccelerations.setZero();
     }
 
     if (P.rows() != m_numOfMotors && P.cols() == m_n * m_n)

diff --git a/modules/HapticGlove_module/src/RobotSkin.cpp b/modules/HapticGlove_module/src/RobotSkin.cpp
@@ -47,7 +47,7 @@ bool RobotSkin::configure(const yarp::os::Searchable& config,
 
     m_areFingersInContact.resize(m_noFingers, false);
     m_fingersInContactTimer.resize(m_noFingers, 0.0);
-    m_fingersLastElementInContact.resize(m_noFingers, 0.0);
+    m_fingersLastElementInContact.resize(m_noFingers, 0);
     m_areFingersContactChanges.resize(m_noFingers, false);
     m_areTactileSensorsWorking.resize(m_noFingers, false);
 
@@ -162,8 +162,8 @@ bool RobotSkin::configure(const yarp::os::Searchable& config,
             return false;
         }
 
-        fingerdata.indexStart = std::round(tactileInfo[0]);
-        fingerdata.indexEnd = std::round(tactileInfo[1]);
+        fingerdata.indexStart = static_cast<size_t>(std::round(tactileInfo[0]));
+        fingerdata.indexEnd = static_cast<size_t>(std::round(tactileInfo[1]));
         fingerdata.noTactileSensors = fingerdata.indexEnd - fingerdata.indexStart + 1;
 
         fingerdata.contactThresholdValue = tactileInfo[2];
@@ -398,7 +398,7 @@ void RobotSkin::computeAreFingersInContact()
         }
 
         // Update last finger in contact element fi contact is detected
-        m_fingersLastElementInContact[i] = m_areFingersInContact[i] ? m_fingersTactileData[i].maxTactileFeedbackAbsoluteElement() : -1;
+        m_fingersLastElementInContact[i] = m_areFingersInContact[i] ? static_cast<int>(m_fingersTactileData[i].maxTactileFeedbackAbsoluteElement()) : -1;
 
         // Check if the finger has been diabled by the timer
         m_areFingersInContact[i] = m_areFingersInContact[i] && m_fingersTactileData[i].isFingerContactEnabled;

diff --git a/modules/Oculus_module/include/HandRetargeting.hpp b/modules/Oculus_module/include/HandRetargeting.hpp
@@ -12,7 +12,7 @@
 #include <yarp/sig/Vector.h>
 
 // iDynTree
-#include <iDynTree/Core/Transform.h>
+#include <iDynTree/Transform.h>
 
 /**
  * HandRetargeing manages the retargeting of the hand.

diff --git a/modules/Oculus_module/include/HeadRetargeting.hpp b/modules/Oculus_module/include/HeadRetargeting.hpp
@@ -14,7 +14,7 @@
 #include <iCub/ctrl/minJerkCtrl.h>
 
 // iDynTree
-#include <iDynTree/Core/Rotation.h>
+#include <iDynTree/Rotation.h>
 
 #include <RetargetingController.hpp>
 

diff --git a/modules/Oculus_module/include/RobotControlHelper.hpp b/modules/Oculus_module/include/RobotControlHelper.hpp
@@ -27,7 +27,7 @@ class RobotControlHelper
 {
     yarp::dev::PolyDriver m_robotDevice; /**< Main robot device. */
 
-    int m_actuatedDOFs; /**< Number of the actuated DoF */
+    size_t m_actuatedDOFs; /**< Number of the actuated DoF */
 
     std::vector<std::string>
         m_axesList; /**< Vector containing the name of the controlled joints. */
@@ -142,7 +142,7 @@ class RobotControlHelper
      * Get the number of degree of freedom
      * @return the number of actuated DoF
      */
-    int getDoFs();
+    size_t getDoFs();
 
     /**
      * Close the helper

diff --git a/modules/Oculus_module/src/FingersRetargeting.cpp b/modules/Oculus_module/src/FingersRetargeting.cpp
@@ -13,7 +13,7 @@ bool FingersRetargeting::configure(const yarp::os::Searchable& config, const std
         return false;
     }
 
-    int fingersJoints = m_controlHelper->getDoFs();
+    size_t fingersJoints = m_controlHelper->getDoFs();
 
     double samplingTime;
     if (!YarpHelper::getDoubleFromSearchable(config, "samplingTime", samplingTime))

diff --git a/modules/Oculus_module/src/HandRetargeting.cpp b/modules/Oculus_module/src/HandRetargeting.cpp
@@ -2,9 +2,9 @@
 // SPDX-License-Identifier: BSD-3-Clause
 
 // iDynTree
-#include <iDynTree/Core/EigenHelpers.h>
-#include <iDynTree/yarp/YARPConfigurationsLoader.h>
-#include <iDynTree/yarp/YARPConversions.h>
+#include <iDynTree/EigenHelpers.h>
+#include <iDynTree/YARPConfigurationsLoader.h>
+#include <iDynTree/YARPConversions.h>
 
 #include <HandRetargeting.hpp>
 #include <Utils.hpp>

diff --git a/modules/Oculus_module/src/HeadRetargeting.cpp b/modules/Oculus_module/src/HeadRetargeting.cpp
@@ -2,9 +2,9 @@
 // SPDX-License-Identifier: BSD-3-Clause
 
 // iDynTree
-#include <iDynTree/Core/EigenHelpers.h>
-#include <iDynTree/yarp/YARPConversions.h>
-#include <iDynTree/yarp/YARPEigenConversions.h>
+#include <iDynTree/EigenHelpers.h>
+#include <iDynTree/YARPConversions.h>
+#include <iDynTree/YARPEigenConversions.h>
 
 #include <HeadRetargeting.hpp>
 #include <Utils.hpp>
@@ -140,7 +140,7 @@ bool HeadRetargeting::configure(const yarp::os::Searchable& config, const std::s
         yError() << "[HeadRetargeting::configure] Unable to find the head smoothing time";
         return false;
     }
-    unsigned headDoFs = controlHelper()->getDoFs();
+    size_t headDoFs = controlHelper()->getDoFs();
 
     yarp::sig::Vector preparationJointReferenceValues;
     preparationJointReferenceValues.resize(headDoFs);
@@ -154,14 +154,14 @@ bool HeadRetargeting::configure(const yarp::os::Searchable& config, const std::s
     }
 
     m_headTrajectorySmoother
-        = std::make_unique<iCub::ctrl::minJerkTrajGen>(headDoFs, samplingTime, smoothingTime);
+        = std::make_unique<iCub::ctrl::minJerkTrajGen>(static_cast<unsigned int>(headDoFs), samplingTime, smoothingTime);
     yarp::sig::Vector buff(headDoFs, 0.0);
     m_headTrajectorySmoother->init(buff);
 
     yarp::sig::Vector neckJointsFbk;
     getNeckJointValues(neckJointsFbk);
     pImpl->initializeNeckJointsSmoother(
-        headDoFs, samplingTime, preparationSmoothingTime, neckJointsFbk);
+        static_cast<unsigned int>(headDoFs), samplingTime, preparationSmoothingTime, neckJointsFbk);
     pImpl->m_preparationJointReferenceValues = preparationJointReferenceValues;
 
     m_playerOrientation = 0;
@@ -213,7 +213,7 @@ void HeadRetargeting::setDesiredHeadOrientationFromOpenXr(const yarp::sig::Matri
     // desiredNeckJoint(0) = neckPitch, the angle around X, with X pointing right
     // desiredNeckJoint(1) = neckRoll, the angle around Z, with Z pointing backward
     // desiredNeckJoint(2) = neckYaw, the angle around Y, with Y pointing up
-    // The kinematic chain from the chest to the neck is composed of the pitch, roll, and yaw angles, in this order. 
+    // The kinematic chain from the chest to the neck is composed of the pitch, roll, and yaw angles, in this order.
     // The neck pitch axis is aligned with the x axis of the reference frame used by openxr, the roll with the z axis,
     // and the yaw with the y axis. Hence, we need to find the Euler angles corresponding to R_x * R_z * R_y.
     inverseKinematicsXZY(

diff --git a/modules/Oculus_module/src/OculusModule.cpp b/modules/Oculus_module/src/OculusModule.cpp
@@ -8,9 +8,9 @@
 #include <yarp/os/Property.h>
 #include <yarp/os/Stamp.h>
 
-#include <iDynTree/Core/EigenHelpers.h>
-#include <iDynTree/yarp/YARPConversions.h>
-#include <iDynTree/yarp/YARPEigenConversions.h>
+#include <iDynTree/EigenHelpers.h>
+#include <iDynTree/YARPConversions.h>
+#include <iDynTree/YARPEigenConversions.h>
 
 #include <OculusModule.hpp>
 #include <Utils.hpp>

diff --git a/modules/Oculus_module/src/RobotControlHelper.cpp b/modules/Oculus_module/src/RobotControlHelper.cpp
@@ -4,7 +4,7 @@
 #include <limits>
 
 // iDynTree
-#include <iDynTree/Core/Utils.h>
+#include <iDynTree/Utils.h>
 
 #include <RobotControlHelper.hpp>
 #include <Utils.hpp>
@@ -282,7 +282,7 @@ bool RobotControlHelper::getFeedback()
         return false;
     }
 
-    for (unsigned j = 0; j < m_actuatedDOFs; ++j)
+    for (size_t j = 0; j < m_actuatedDOFs; ++j)
         m_positionFeedbackInRadians(j) = iDynTree::deg2rad(m_positionFeedbackInDegrees(j));
 
     return true;
@@ -312,7 +312,7 @@ void RobotControlHelper::close()
         yError() << "[RobotControlHelper::close] Unable to close the device.";
 }
 
-int RobotControlHelper::getDoFs()
+size_t RobotControlHelper::getDoFs()
 {
     return m_actuatedDOFs;
 }