Commit 6dc4913e authored by Valenza Florian's avatar Valenza Florian
Browse files

[Marginal] Removing warning signed vs unsigned

parent 144d9c21
...@@ -27,7 +27,7 @@ int main(int argc, const char ** argv) ...@@ -27,7 +27,7 @@ int main(int argc, const char ** argv)
using namespace se3; using namespace se3;
StackTicToc timer(StackTicToc::US); StackTicToc timer(StackTicToc::US);
const int NBT = 1000*100; const size_t NBT = 1000*100;
se3::Model model; se3::Model model;
std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf"; std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
......
...@@ -290,7 +290,7 @@ namespace se3 ...@@ -290,7 +290,7 @@ namespace se3
const std::string& Model::getBodyName( Model::Index index ) const const std::string& Model::getBodyName( Model::Index index ) const
{ {
assert( (index>=0)&&(index < (Model::Index)nbody) ); assert( index < (Model::Index)nbody );
return names[index]; return names[index];
} }
......
...@@ -124,12 +124,12 @@ BOOST_AUTO_TEST_CASE ( test_timings ) ...@@ -124,12 +124,12 @@ BOOST_AUTO_TEST_CASE ( test_timings )
StackTicToc timer(StackTicToc::US); StackTicToc timer(StackTicToc::US);
#ifdef NDEBUG #ifdef NDEBUG
#ifdef _INTENSE_TESTING_ #ifdef _INTENSE_TESTING_
const int NBT = 1000*1000; const size_t NBT = 1000*1000;
#else #else
const int NBT = 10; const size_t NBT = 10;
#endif #endif
#else #else
const int NBT = 1; const size_t NBT = 1;
std::cout << "(the time score in debug mode is not relevant) " ; std::cout << "(the time score in debug mode is not relevant) " ;
#endif #endif
...@@ -164,7 +164,7 @@ BOOST_AUTO_TEST_CASE ( test_timings ) ...@@ -164,7 +164,7 @@ BOOST_AUTO_TEST_CASE ( test_timings )
if( flag >> 2 & 31 ) if( flag >> 2 & 31 )
{ {
std::vector<Eigen::VectorXd> randvec(NBT); std::vector<Eigen::VectorXd> randvec(NBT);
for(int i=0;i<NBT;++i ) randvec[(std::size_t)i] = Eigen::VectorXd::Random(model.nv); for(size_t i=0;i<NBT;++i ) randvec[i] = Eigen::VectorXd::Random(model.nv);
Eigen::VectorXd zero = Eigen::VectorXd(model.nv); Eigen::VectorXd zero = Eigen::VectorXd(model.nv);
Eigen::VectorXd res (model.nv); Eigen::VectorXd res (model.nv);
...@@ -174,7 +174,7 @@ BOOST_AUTO_TEST_CASE ( test_timings ) ...@@ -174,7 +174,7 @@ BOOST_AUTO_TEST_CASE ( test_timings )
timer.tic(); timer.tic();
SMOOTH(NBT) SMOOTH(NBT)
{ {
se3::cholesky::solve(model,data,randvec[(std::size_t)_smooth]); se3::cholesky::solve(model,data,randvec[_smooth]);
} }
if(verbose) std::cout << "solve =\t\t"; if(verbose) std::cout << "solve =\t\t";
timer.toc(std::cout,NBT); timer.toc(std::cout,NBT);
...@@ -185,7 +185,7 @@ BOOST_AUTO_TEST_CASE ( test_timings ) ...@@ -185,7 +185,7 @@ BOOST_AUTO_TEST_CASE ( test_timings )
timer.tic(); timer.tic();
SMOOTH(NBT) SMOOTH(NBT)
{ {
se3::cholesky::Uv(model,data,randvec[(std::size_t)_smooth]); se3::cholesky::Uv(model,data,randvec[_smooth]);
} }
if(verbose) std::cout << "Uv =\t\t"; if(verbose) std::cout << "Uv =\t\t";
timer.toc(std::cout,NBT); timer.toc(std::cout,NBT);
...@@ -196,7 +196,7 @@ BOOST_AUTO_TEST_CASE ( test_timings ) ...@@ -196,7 +196,7 @@ BOOST_AUTO_TEST_CASE ( test_timings )
timer.tic(); timer.tic();
SMOOTH(NBT) SMOOTH(NBT)
{ {
se3::cholesky::Uiv(model,data,randvec[(std::size_t)_smooth]); se3::cholesky::Uiv(model,data,randvec[_smooth]);
} }
if(verbose) std::cout << "Uiv =\t\t"; if(verbose) std::cout << "Uiv =\t\t";
timer.toc(std::cout,NBT); timer.toc(std::cout,NBT);
...@@ -207,7 +207,7 @@ BOOST_AUTO_TEST_CASE ( test_timings ) ...@@ -207,7 +207,7 @@ BOOST_AUTO_TEST_CASE ( test_timings )
Eigen::VectorXd res; Eigen::VectorXd res;
SMOOTH(NBT) SMOOTH(NBT)
{ {
res = se3::cholesky::Mv(model,data,randvec[(std::size_t)_smooth]); res = se3::cholesky::Mv(model,data,randvec[_smooth]);
} }
if(verbose) std::cout << "Mv =\t\t"; if(verbose) std::cout << "Mv =\t\t";
timer.toc(std::cout,NBT); timer.toc(std::cout,NBT);
...@@ -217,7 +217,7 @@ BOOST_AUTO_TEST_CASE ( test_timings ) ...@@ -217,7 +217,7 @@ BOOST_AUTO_TEST_CASE ( test_timings )
timer.tic(); timer.tic();
SMOOTH(NBT) SMOOTH(NBT)
{ {
se3::cholesky::Mv(model,data,randvec[(std::size_t)_smooth],true); se3::cholesky::Mv(model,data,randvec[_smooth],true);
} }
if(verbose) std::cout << "UDUtv =\t\t"; if(verbose) std::cout << "UDUtv =\t\t";
timer.toc(std::cout,NBT); timer.toc(std::cout,NBT);
......
...@@ -92,12 +92,12 @@ BOOST_AUTO_TEST_CASE ( test_com ) ...@@ -92,12 +92,12 @@ BOOST_AUTO_TEST_CASE ( test_com )
// StackTicToc timer(StackTicToc::US); // StackTicToc timer(StackTicToc::US);
// #ifdef NDEBUG // #ifdef NDEBUG
// #ifdef _INTENSE_TESTING_ // #ifdef _INTENSE_TESTING_
// const int NBT = 1000*1000; // const size_t NBT = 1000*1000;
// #else // #else
// const int NBT = 10; // const size_t NBT = 10;
// #endif // #endif
// #else // #else
// const int NBT = 1; // const size_t NBT = 1;
// std::cout << "(the time score in debug mode is not relevant) " ; // std::cout << "(the time score in debug mode is not relevant) " ;
// #endif // #endif
// //
......
...@@ -47,9 +47,9 @@ BOOST_AUTO_TEST_CASE ( test_crba ) ...@@ -47,9 +47,9 @@ BOOST_AUTO_TEST_CASE ( test_crba )
#ifdef NDEBUG #ifdef NDEBUG
#ifdef _INTENSE_TESTING_ #ifdef _INTENSE_TESTING_
const int NBT = 1000*1000; const size_t NBT = 1000*1000;
#else #else
const int NBT = 10; const size_t NBT = 10;
#endif #endif
Eigen::VectorXd q = Eigen::VectorXd::Zero(model.nq); Eigen::VectorXd q = Eigen::VectorXd::Zero(model.nq);
...@@ -62,7 +62,7 @@ BOOST_AUTO_TEST_CASE ( test_crba ) ...@@ -62,7 +62,7 @@ BOOST_AUTO_TEST_CASE ( test_crba )
timer.toc(std::cout,NBT); timer.toc(std::cout,NBT);
#else #else
int NBT = 1; const size_t NBT = 1;
using namespace Eigen; using namespace Eigen;
using namespace se3; using namespace se3;
......
...@@ -52,7 +52,7 @@ BOOST_AUTO_TEST_CASE ( test_jacobian ) ...@@ -52,7 +52,7 @@ BOOST_AUTO_TEST_CASE ( test_jacobian )
VectorXd qdot = VectorXd::Random(model.nv); VectorXd qdot = VectorXd::Random(model.nv);
VectorXd qddot = VectorXd::Zero(model.nv); VectorXd qddot = VectorXd::Zero(model.nv);
rnea( model,data,q,qdot,qddot ); rnea( model,data,q,qdot,qddot );
Motion v = data.oMi[(std::size_t)idx].act( data.v[(std::size_t)idx] ); Motion v = data.oMi[idx].act( data.v[idx] );
is_matrix_absolutely_closed(v.toVector(),Jrh*qdot,1e-12); is_matrix_absolutely_closed(v.toVector(),Jrh*qdot,1e-12);
...@@ -60,7 +60,7 @@ BOOST_AUTO_TEST_CASE ( test_jacobian ) ...@@ -60,7 +60,7 @@ BOOST_AUTO_TEST_CASE ( test_jacobian )
MatrixXd rhJrh(6,model.nv); rhJrh.fill(0); MatrixXd rhJrh(6,model.nv); rhJrh.fill(0);
getJacobian<true>(model,data,idx,rhJrh); getJacobian<true>(model,data,idx,rhJrh);
MatrixXd XJrh(6,model.nv); MatrixXd XJrh(6,model.nv);
motionSet::se3Action( data.oMi[(std::size_t)idx].inverse(), Jrh,XJrh ); motionSet::se3Action( data.oMi[idx].inverse(), Jrh,XJrh );
is_matrix_absolutely_closed(XJrh,rhJrh,1e-12); is_matrix_absolutely_closed(XJrh,rhJrh,1e-12);
...@@ -84,12 +84,12 @@ BOOST_AUTO_TEST_CASE ( test_timings ) ...@@ -84,12 +84,12 @@ BOOST_AUTO_TEST_CASE ( test_timings )
StackTicToc timer(StackTicToc::US); StackTicToc timer(StackTicToc::US);
#ifdef NDEBUG #ifdef NDEBUG
#ifdef _INTENSE_TESTING_ #ifdef _INTENSE_TESTING_
const int NBT = 1000*1000; const size_t NBT = 1000*1000;
#else #else
const int NBT = 10; const size_t NBT = 10;
#endif #endif
#else #else
const int NBT = 1; const size_t NBT = 1;
std::cout << "(the time score in debug mode is not relevant) " ; std::cout << "(the time score in debug mode is not relevant) " ;
#endif #endif
......
...@@ -67,9 +67,9 @@ BOOST_AUTO_TEST_CASE ( test_rnea ) ...@@ -67,9 +67,9 @@ BOOST_AUTO_TEST_CASE ( test_rnea )
VectorXd a = VectorXd::Random(model.nv); VectorXd a = VectorXd::Random(model.nv);
#ifdef NDEBUG #ifdef NDEBUG
int NBT = 10000; const size_t NBT = 10000;
#else #else
int NBT = 1; const size_t NBT = 1;
std::cout << "(the time score in debug mode is not relevant) " ; std::cout << "(the time score in debug mode is not relevant) " ;
#endif #endif
......
...@@ -209,19 +209,19 @@ BOOST_AUTO_TEST_CASE ( test_pinocchio_Sym3 ) ...@@ -209,19 +209,19 @@ BOOST_AUTO_TEST_CASE ( test_pinocchio_Sym3 )
// Time test // Time test
{ {
const int NBT = 100000; const size_t NBT = 100000;
Symmetric3 S = Symmetric3::RandomPositive(); Symmetric3 S = Symmetric3::RandomPositive();
std::vector<Symmetric3> Sres (NBT); std::vector<Symmetric3> Sres (NBT);
std::vector<Matrix3> Rs (NBT); std::vector<Matrix3> Rs (NBT);
for(int i=0;i<NBT;++i) for(size_t i=0;i<NBT;++i)
Rs[(std::size_t)i] = (Eigen::Quaterniond(Eigen::Matrix<double,4,1>::Random())).normalized().matrix(); Rs[i] = (Eigen::Quaterniond(Eigen::Matrix<double,4,1>::Random())).normalized().matrix();
std::cout << "Pinocchio: "; std::cout << "Pinocchio: ";
StackTicToc timer(StackTicToc::US); timer.tic(); StackTicToc timer(StackTicToc::US); timer.tic();
SMOOTH(NBT) SMOOTH(NBT)
{ {
timeSym3(S,Rs[(std::size_t)_smooth],Sres[(std::size_t)_smooth]); timeSym3(S,Rs[_smooth],Sres[_smooth]);
} }
timer.toc(std::cout,NBT); timer.toc(std::cout,NBT);
} }
...@@ -249,10 +249,10 @@ BOOST_AUTO_TEST_CASE ( test_metapod_LTI ) ...@@ -249,10 +249,10 @@ BOOST_AUTO_TEST_CASE ( test_metapod_LTI )
timeLTI(S,R,S2); timeLTI(S,R,S2);
is_matrix_absolutely_closed(S2.toMatrix(), R.toMatrix().transpose()*S.toMatrix()*R.toMatrix(), 1e-12); is_matrix_absolutely_closed(S2.toMatrix(), R.toMatrix().transpose()*S.toMatrix()*R.toMatrix(), 1e-12);
const int NBT = 100000; const size_t NBT = 100000;
std::vector<Sym3> Sres (NBT); std::vector<Sym3> Sres (NBT);
std::vector<R3> Rs (NBT); std::vector<R3> Rs (NBT);
for(int i=0;i<NBT;++i) for(size_t i=0;i<NBT;++i)
Rs[i].randomInit(); Rs[i].randomInit();
std::cout << "Metapod: "; std::cout << "Metapod: ";
...@@ -297,17 +297,17 @@ BOOST_AUTO_TEST_CASE ( test_eigen_SelfAdj ) ...@@ -297,17 +297,17 @@ BOOST_AUTO_TEST_CASE ( test_eigen_SelfAdj )
is_matrix_absolutely_closed(Masa1, Masa2, 1e-16); is_matrix_absolutely_closed(Masa1, Masa2, 1e-16);
} }
const int NBT = 100000; const size_t NBT = 100000;
std::vector<Eigen::Matrix3d> Sres (NBT); std::vector<Eigen::Matrix3d> Sres (NBT);
std::vector<Eigen::Matrix3d> Rs (NBT); std::vector<Eigen::Matrix3d> Rs (NBT);
for(int i=0;i<NBT;++i) for(size_t i=0;i<NBT;++i)
Rs[(std::size_t)i] = (Eigen::Quaterniond(Eigen::Matrix<double,4,1>::Random())).normalized().matrix(); Rs[i] = (Eigen::Quaterniond(Eigen::Matrix<double,4,1>::Random())).normalized().matrix();
std::cout << "Eigen: "; std::cout << "Eigen: ";
StackTicToc timer(StackTicToc::US); timer.tic(); StackTicToc timer(StackTicToc::US); timer.tic();
SMOOTH(NBT) SMOOTH(NBT)
{ {
timeSelfAdj(Rs[(std::size_t)_smooth],M,Sres[(std::size_t)_smooth]); timeSelfAdj(Rs[_smooth],M,Sres[_smooth]);
} }
timer.toc(std::cout,NBT); timer.toc(std::cout,NBT);
} }
......
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