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Guilhem Saurel
ndcurves
Commits
aec381c3
Commit
aec381c3
authored
Nov 26, 2019
by
Pierre Fernbach
Browse files
[cleaning] fix compilation warnings
parent
8fae3fa4
Changes
3
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Inline
Side-by-side
include/curves/helpers/effector_spline_rotation.h
View file @
aec381c3
...
...
@@ -89,9 +89,9 @@ class rotation_spline : public curve_abc_quat_t {
virtual
time_t
max
()
const
{
return
max_
;
}
/*Attributes*/
std
::
size_t
dim_
;
// const
Eigen
::
Quaterniond
quat_from_
;
// const
Eigen
::
Quaterniond
quat_to_
;
// const
std
::
size_t
dim_
;
// const
double
min_
;
// const
double
max_
;
// const
exact_cubic_constraint_one_dim
time_reparam_
;
// const
...
...
include/curves/optimization/definitions.h
View file @
aec381c3
...
...
@@ -49,7 +49,7 @@ struct problem_definition : public curve_constraints<Point> {
typedef
typename
T_matrix_x_t
::
const_iterator
CIT_matrix_x_t
;
typedef
typename
T_vector_x_t
::
const_iterator
CIT_vector_x_t
;
problem_definition
(
const
in
t
dim
)
problem_definition
(
const
std
::
size_
t
dim
)
:
curve_constraints_t
(
dim
),
flag
(
NONE
),
init_pos
(
point_t
::
Zero
(
dim
)),
...
...
@@ -77,7 +77,7 @@ struct problem_definition : public curve_constraints<Point> {
vector_x_t
splitTimes_
;
T_matrix_x_t
inequalityMatrices_
;
// must be of size (splitTimes_ + 1)
T_vector_x_t
inequalityVectors_
;
// must be of size (splitTimes_ + 1)
const
in
t
dim_
;
const
std
::
size_
t
dim_
;
};
}
// namespace optimization
...
...
include/curves/optimization/details.h
View file @
aec381c3
...
...
@@ -19,7 +19,7 @@ namespace curves {
namespace
optimization
{
template
<
typename
Point
,
typename
Numeric
,
bool
Safe
=
true
>
struct
problem_data
{
problem_data
(
const
in
t
dim
)
:
bezier
(
0
),
dim_
(
dim
)
{}
problem_data
(
const
std
::
size_
t
dim
)
:
bezier
(
0
),
dim_
(
dim
)
{}
~
problem_data
()
{
if
(
bezier
)
delete
bezier
;
}
...
...
@@ -34,7 +34,7 @@ struct problem_data {
std
::
size_t
startVariableIndex
;
// before that index, variables are constant
std
::
size_t
numStateConstraints
;
bezier_t
*
bezier
;
const
in
t
dim_
;
const
std
::
size_
t
dim_
;
problem_data
(
const
problem_data
&
other
)
:
variables_
(
other
.
variables_
),
...
...
@@ -60,7 +60,7 @@ inline std::size_t num_active_constraints(const constraint_flag& flag) {
template
<
typename
Numeric
,
typename
LinearVar
>
LinearVar
fill_with_zeros
(
const
LinearVar
&
var
,
const
std
::
size_t
i
,
const
std
::
size_t
startVariableIndex
,
const
std
::
size_t
numVariables
,
const
in
t
Dim
)
{
const
std
::
size_t
numVariables
,
const
std
::
size_
t
Dim
)
{
typedef
Eigen
::
Matrix
<
Numeric
,
Eigen
::
Dynamic
,
Eigen
::
Dynamic
>
matrix_t
;
typename
LinearVar
::
matrix_x_t
B
;
B
=
matrix_t
::
Zero
(
Dim
,
numVariables
*
Dim
);
...
...
@@ -226,7 +226,7 @@ std::vector<bezier_curve<Numeric, Numeric, true, linear_variable<Numeric> > > sp
template
<
typename
Point
,
typename
Numeric
>
void
initInequalityMatrix
(
const
problem_definition
<
Point
,
Numeric
>&
pDef
,
problem_data
<
Point
,
Numeric
>&
pData
,
quadratic_problem
<
Point
,
Numeric
>&
prob
)
{
const
in
t
&
Dim
=
pData
.
dim_
;
const
std
::
size_
t
&
Dim
=
pData
.
dim_
;
typedef
problem_definition
<
Point
,
Numeric
>
problem_definition_t
;
typedef
typename
problem_definition_t
::
matrix_x_t
matrix_x_t
;
typedef
typename
problem_definition_t
::
vector_x_t
vector_x_t
;
...
...
@@ -269,7 +269,7 @@ void initInequalityMatrix(const problem_definition<Point, Numeric>& pDef, proble
template
<
typename
Point
,
typename
Numeric
,
typename
In
>
quadratic_variable
<
Numeric
>
bezier_product
(
In
PointsBegin1
,
In
PointsEnd1
,
In
PointsBegin2
,
In
PointsEnd2
,
const
in
t
/*Dim*/
)
{
const
std
::
size_
t
/*Dim*/
)
{
typedef
Eigen
::
Matrix
<
Numeric
,
Eigen
::
Dynamic
,
1
>
vector_x_t
;
unsigned
int
nPoints1
=
(
unsigned
int
)(
std
::
distance
(
PointsBegin1
,
PointsEnd1
)),
nPoints2
=
(
unsigned
int
)(
std
::
distance
(
PointsBegin2
,
PointsEnd2
));
...
...
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