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Guilhem Saurel
hpp-fcl
Commits
8e9a14c7
Commit
8e9a14c7
authored
Dec 05, 2019
by
LucileRemigy
Committed by
Joseph Mirabel
Dec 05, 2019
Browse files
Fix compilation warning (#111)
parent
72cb42de
Changes
4
Hide whitespace changes
Inline
Side-by-side
include/hpp/fcl/collision_object.h
View file @
8e9a14c7
...
...
@@ -93,15 +93,15 @@ public:
}
/// @brief whether the object is completely occupied
inline
bool
isOccupied
()
const
HPP_FCL_DEPRECATED
inline
bool
isOccupied
()
const
{
return
cost_density
>=
threshold_occupied
;
}
/// @brief whether the object is completely free
inline
bool
isFree
()
const
HPP_FCL_DEPRECATED
inline
bool
isFree
()
const
{
return
cost_density
<=
threshold_free
;
}
/// @brief whether the object has some uncertainty
bool
isUncertain
()
const
HPP_FCL_DEPRECATED
;
bool
isUncertain
()
const
;
/// @brief AABB center in local coordinate
Vec3f
aabb_center
;
...
...
include/hpp/fcl/internal/traversal_node_octree.h
View file @
8e9a14c7
...
...
@@ -333,7 +333,7 @@ private:
if
(
solver
->
shapeIntersect
(
box
,
box_tf
,
s
,
tf2
,
NULL
,
NULL
,
NULL
))
{
if
(
cresult
->
numContacts
()
<
crequest
->
num_max_contacts
)
cresult
->
addContact
(
Contact
(
tree1
,
&
s
,
root1
-
tree1
->
getRoot
(),
Contact
::
NONE
));
cresult
->
addContact
(
Contact
(
tree1
,
&
s
,
static_cast
<
int
>
(
root1
-
tree1
->
getRoot
()
)
,
Contact
::
NONE
));
}
}
else
...
...
@@ -345,7 +345,7 @@ private:
if
(
solver
->
shapeIntersect
(
box
,
box_tf
,
s
,
tf2
,
&
contact
,
&
depth
,
&
normal
))
{
if
(
cresult
->
numContacts
()
<
crequest
->
num_max_contacts
)
cresult
->
addContact
(
Contact
(
tree1
,
&
s
,
root1
-
tree1
->
getRoot
(),
Contact
::
NONE
,
contact
,
normal
,
depth
));
cresult
->
addContact
(
Contact
(
tree1
,
&
s
,
static_cast
<
int
>
(
root1
-
tree1
->
getRoot
()
)
,
Contact
::
NONE
,
contact
,
normal
,
depth
));
}
}
...
...
@@ -808,7 +808,7 @@ private:
if
(
obb1
.
overlap
(
obb2
))
{
if
(
cresult
->
numContacts
()
<
crequest
->
num_max_contacts
)
cresult
->
addContact
(
Contact
(
tree1
,
tree2
,
root1
-
tree1
->
getRoot
(),
root2
-
tree2
->
getRoot
()));
cresult
->
addContact
(
Contact
(
tree1
,
tree2
,
static_cast
<
int
>
(
root1
-
tree1
->
getRoot
()
)
,
static_cast
<
int
>
(
root2
-
tree2
->
getRoot
()))
)
;
}
}
else
...
...
@@ -824,7 +824,7 @@ private:
if
(
solver
->
shapeIntersect
(
box1
,
box1_tf
,
box2
,
box2_tf
,
&
contact
,
&
depth
,
&
normal
))
{
if
(
cresult
->
numContacts
()
<
crequest
->
num_max_contacts
)
cresult
->
addContact
(
Contact
(
tree1
,
tree2
,
root1
-
tree1
->
getRoot
(),
root2
-
tree2
->
getRoot
(),
contact
,
normal
,
depth
));
cresult
->
addContact
(
Contact
(
tree1
,
tree2
,
static_cast
<
int
>
(
root1
-
tree1
->
getRoot
()
)
,
static_cast
<
int
>
(
root2
-
tree2
->
getRoot
()
)
,
contact
,
normal
,
depth
));
}
}
...
...
include/hpp/fcl/profile.h
View file @
8e9a14c7
...
...
@@ -86,8 +86,8 @@ inline point now(void)
/// @brief Return the time duration representing a given number of seconds
inline
duration
seconds
(
double
sec
)
{
long
s
=
(
long
)
sec
;
long
us
=
(
long
)(
(
sec
-
s
)
*
1000000
);
long
int
s
=
static_cast
<
long
int
>
(
sec
)
;
long
int
us
=
(
(
static_cast
<
long
int
>
(
sec
)
-
s
)
*
1000000
);
return
boost
::
posix_time
::
seconds
(
s
)
+
boost
::
posix_time
::
microseconds
(
us
);
}
...
...
src/narrowphase/details.h
View file @
8e9a14c7
...
...
@@ -151,6 +151,7 @@ namespace fcl {
Vec3f
S
(
tf1
.
getTranslation
());
// axis of the cylinder
Vec3f
u
(
tf2
.
getRotation
().
col
(
2
));
/// @todo a tiny performance improvement could be achieved using the abscissa with S as the origin
assert
((
B
-
A
-
(
s2
.
halfLength
*
2
)
*
u
).
norm
()
<
eps
);
Vec3f
AS
(
S
-
A
);
// abscissa of S on cylinder axis with A as the origin
...
...
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