diff --git a/python/centroidal_dynamics_python.cpp b/python/centroidal_dynamics_python.cpp
index 7043d52b0c782057595b12c8b869c0740145583a..3c299a7eae6ec198e34318e82e7b1a23ba60219f 100644
--- a/python/centroidal_dynamics_python.cpp
+++ b/python/centroidal_dynamics_python.cpp
@@ -55,10 +55,10 @@ BOOST_PYTHON_MODULE(hpp_centroidal_dynamics) {
/** BEGIN eigenpy init**/
eigenpy::enableEigenPy();
- eigenpy::enableEigenPySpecific<MatrixX3ColMajor, MatrixX3ColMajor>();
- eigenpy::enableEigenPySpecific<MatrixXXColMajor, MatrixXXColMajor>();
- eigenpy::enableEigenPySpecific<Vector3, Vector3>();
- eigenpy::enableEigenPySpecific<VectorX, VectorX>();
+ // eigenpy::enableEigenPySpecific<MatrixX3ColMajor, MatrixX3ColMajor>();
+ // eigenpy::enableEigenPySpecific<MatrixXXColMajor, MatrixXXColMajor>();
+ // eigenpy::enableEigenPySpecific<Vector3, Vector3>();
+ // eigenpy::enableEigenPySpecific<VectorX, VectorX>();
/*eigenpy::exposeAngleAxis();
eigenpy::exposeQuaternion();*/
diff --git a/src/centroidal_dynamics.cpp b/src/centroidal_dynamics.cpp
index 9f08107aab04b70884ed0b6a63cc26ef3e19b0c0..e5061bbe1d00cc1f5c86c177fc66679d0811adba 100644
--- a/src/centroidal_dynamics.cpp
+++ b/src/centroidal_dynamics.cpp
@@ -19,12 +19,12 @@ bool Equilibrium::m_is_cdd_initialized = false;
Equilibrium::Equilibrium(const Equilibrium& other)
: m_mass(other.m_mass),
m_gravity(other.m_gravity),
+ m_G_centr(other.m_G_centr),
m_name(other.m_name),
m_algorithm(other.m_algorithm),
m_solver_type(other.m_solver_type),
m_solver(Solver_LP_abstract::getNewSolver(other.m_solver_type)),
m_generatorsPerContact(other.m_generatorsPerContact),
- m_G_centr(other.m_G_centr),
m_H(other.m_H),
m_h(other.m_h),
m_is_cdd_stable(other.m_is_cdd_stable),
@@ -72,9 +72,7 @@ Equilibrium::Equilibrium(const string& name, const double mass, const unsigned i
m_D.block<3, 3>(3, 0) = crossMatrix(-m_mass * m_gravity);
}
-Equilibrium::~Equilibrium(){
- delete m_solver;
-}
+Equilibrium::~Equilibrium() { delete m_solver; }
bool Equilibrium::computeGenerators(Cref_matrixX3 contactPoints, Cref_matrixX3 contactNormals,
double frictionCoefficient, const bool perturbate) {
@@ -120,7 +118,7 @@ bool Equilibrium::computeGenerators(Cref_matrixX3 contactPoints, Cref_matrixX3 c
// compute generators
theta = pi_4;
- for (int j = 0; j < cg; j++) {
+ for (unsigned int j = 0; j < cg; j++) {
G.col(j) = frictionCoefficient * sin(theta) * T1 + frictionCoefficient * cos(theta) * T2 +
contactNormals.row(i).transpose();
G.col(j).normalize();
@@ -134,7 +132,7 @@ bool Equilibrium::computeGenerators(Cref_matrixX3 contactPoints, Cref_matrixX3 c
// Compute the coefficient to convert b0 to e_max
Vector3 f0 = Vector3::Zero();
- for (int j = 0; j < cg; j++) f0 += G.col(j); // sum of the contact generators
+ for (unsigned int j = 0; j < cg; j++) f0 += G.col(j); // sum of the contact generators
// Compute the distance between the friction cone boundaries and
// the sum of the contact generators, which is e_max when b0=1.
// When b0!=1 we just multiply b0 times this value.
@@ -186,7 +184,7 @@ bool Equilibrium::setNewContacts(const MatrixX3& contactPoints, const MatrixX3&
attempts--;
}
// resetting random because obviously libcdd always resets to 0
- srand(time(NULL));
+ srand((unsigned int)time(NULL));
if (!m_is_cdd_stable) {
return false;
}
@@ -503,7 +501,7 @@ LP_status Equilibrium::findExtremumOverLine(Cref_vector3 a, Cref_vector3 a0, dou
return LP_STATUS_ERROR;
}
-LP_status Equilibrium::findExtremumInDirection(Cref_vector3 direction, Ref_vector3 com, double e_max) {
+LP_status Equilibrium::findExtremumInDirection(Cref_vector3 /*direction*/, Ref_vector3 /*com*/, double /*e_max*/) {
if (m_G_centr.cols() == 0) return LP_STATUS_INFEASIBLE;
SEND_ERROR_MSG("findExtremumInDirection not implemented yet");
return LP_STATUS_ERROR;
diff --git a/src/stop-watch.cpp b/src/stop-watch.cpp
index ebeb47a0dc549e89004658eb298fc34ae653e8b0..946ec195719c0015fd6171b062aaf9ce4a870e89 100644
--- a/src/stop-watch.cpp
+++ b/src/stop-watch.cpp
@@ -213,9 +213,9 @@ void Stopwatch::report(string perf_name, int precision, std::ostream& output) {
PerformanceData& perf_info = records_of->find(perf_name)->second;
- const int MAX_NAME_LENGTH = 60;
+ const long unsigned int MAX_NAME_LENGTH = 60;
string pad = "";
- for (int i = perf_name.length(); i < MAX_NAME_LENGTH; i++) pad.append(" ");
+ for (long unsigned int i = perf_name.length(); i < MAX_NAME_LENGTH; i++) pad.append(" ");
output << perf_name << pad;
output << std::fixed << std::setprecision(precision) << (perf_info.min_time * 1e3) << "\t";
diff --git a/test/test_static_equilibrium.cpp b/test/test_static_equilibrium.cpp
index 36a6a9c58822568c463bb8ce0985c886b2803791..44ea68fe78ec38c0c652d1badfbe79504e0943e9 100644
--- a/test/test_static_equilibrium.cpp
+++ b/test/test_static_equilibrium.cpp
@@ -150,14 +150,14 @@ int test_computeEquilibriumRobustness(Equilibrium* solver_1, Equilibrium* solver
* @param verb Verbosity level, 0 print nothing, 1 print summary, 2 print everything
*/
int test_findExtremumOverLine(Equilibrium* solver_to_test, Equilibrium* solver_ground_truth, Cref_vector3 a0,
- int N_TESTS, double e_max, const string& PERF_STRING_TEST,
+ unsigned int N_TESTS, double e_max, const string& PERF_STRING_TEST,
const string& PERF_STRING_GROUND_TRUTH, int verb = 0) {
int error_counter = 0;
- Vector3 a, com;
+ centroidal_dynamics::Vector3 a, com;
LP_status status;
double desired_robustness, robustness;
for (unsigned int i = 0; i < N_TESTS; i++) {
- uniform3(-1.0 * Vector3::Ones(), Vector3::Ones(), a);
+ uniform3(-1.0 * centroidal_dynamics::Vector3::Ones(), centroidal_dynamics::Vector3::Ones(), a);
if (e_max >= 0.0)
desired_robustness = (rand() / value_type(RAND_MAX)) * e_max;
else
@@ -218,11 +218,11 @@ int test_findExtremumOverLine(Equilibrium* solver_to_test, Equilibrium* solver_g
void drawRobustnessGrid(int N_CONTACTS, int GRID_SIZE, Equilibrium* solver, Cref_matrixXX comPositions,
Cref_matrixXX p) {
MatrixXi contactPointCoord(4 * N_CONTACTS, 2);
- VectorX minDistContactPoint = 1e10 * VectorX::Ones(4 * N_CONTACTS);
+ centroidal_dynamics::VectorX minDistContactPoint = 1e10 * centroidal_dynamics::VectorX::Ones(4 * N_CONTACTS);
// create grid of com positions to test
- for (unsigned int i = 0; i < GRID_SIZE; i++) {
- for (unsigned int j = 0; j < GRID_SIZE; j++) {
+ for (int i = 0; i < GRID_SIZE; i++) {
+ for (int j = 0; j < GRID_SIZE; j++) {
// look for contact point positions on grid
for (long k = 0; k < 4 * N_CONTACTS; k++) {
double dist = (p.block<1, 2>(k, 0) - comPositions.block<1, 2>(i * GRID_SIZE + j, 0)).norm();
@@ -237,8 +237,8 @@ void drawRobustnessGrid(int N_CONTACTS, int GRID_SIZE, Equilibrium* solver, Cref
cout << "\nContact point positions\n";
bool contactPointDrawn;
- for (unsigned int i = 0; i < GRID_SIZE; i++) {
- for (unsigned int j = 0; j < GRID_SIZE; j++) {
+ for (int i = 0; i < GRID_SIZE; i++) {
+ for (int j = 0; j < GRID_SIZE; j++) {
contactPointDrawn = false;
for (long k = 0; k < 4 * N_CONTACTS; k++) {
if (contactPointCoord(k, 0) == i && contactPointCoord(k, 1) == j) {
@@ -256,7 +256,7 @@ void drawRobustnessGrid(int N_CONTACTS, int GRID_SIZE, Equilibrium* solver, Cref
int grid_size = (int)sqrt(comPositions.rows());
double rob;
LP_status status;
- for (unsigned int i = 0; i < comPositions.rows(); i++) {
+ for (int i = 0; i < comPositions.rows(); i++) {
status = solver->computeEquilibriumRobustness(comPositions.row(i).transpose(), rob);
if (status != LP_STATUS_OPTIMAL) {
SEND_ERROR_MSG("Faild to compute equilibrium robustness of com position " + toString(comPositions.row(i)) +
@@ -275,7 +275,8 @@ void drawRobustnessGrid(int N_CONTACTS, int GRID_SIZE, Equilibrium* solver, Cref
void generateContacts(unsigned int N_CONTACTS, double MIN_CONTACT_DISTANCE, double LX, double LY,
RVector3& CONTACT_POINT_LOWER_BOUNDS, RVector3& CONTACT_POINT_UPPER_BOUNDS,
- RVector3& RPY_LOWER_BOUNDS, RVector3& RPY_UPPER_BOUNDS, MatrixX3& p, MatrixX3& N) {
+ RVector3& RPY_LOWER_BOUNDS, RVector3& RPY_UPPER_BOUNDS, centroidal_dynamics::MatrixX3& p,
+ centroidal_dynamics::MatrixX3& N) {
MatrixXX contact_pos = MatrixXX::Zero(N_CONTACTS, 3);
MatrixXX contact_rpy = MatrixXX::Zero(N_CONTACTS, 3);
p.setZero(4 * N_CONTACTS, 3); // contact points
@@ -324,7 +325,7 @@ void testWithLoadedData() {
EquilibriumAlgorithm algorithms[] = {EQUILIBRIUM_ALGORITHM_LP, EQUILIBRIUM_ALGORITHM_LP2, EQUILIBRIUM_ALGORITHM_DLP};
MatrixXX contactPoints, contactNormals;
- Vector3 com;
+ centroidal_dynamics::Vector3 com;
if (!readMatrixFromFile(file_path + "positions.dat", contactPoints)) {
SEND_ERROR_MSG("Impossible to read positions from file");
return;
@@ -339,8 +340,8 @@ void testWithLoadedData() {
}
// this is a test to ensure that a matrixXX can be cast into a MatrixX3
- const MatrixX3& cp = contactPoints;
- const MatrixX3& cn = contactNormals;
+ const centroidal_dynamics::MatrixX3& cp = contactPoints;
+ const centroidal_dynamics::MatrixX3& cn = contactNormals;
Equilibrium* solvers[N_SOLVERS];
double robustness[N_SOLVERS];
for (int s = 0; s < N_SOLVERS; s++) {
@@ -391,7 +392,7 @@ int main() {
RPY_UPPER_BOUNDS << +2 * gamma, +2 * gamma, +M_PI;
double X_MARG = 0.07;
double Y_MARG = 0.07;
- const int GRID_SIZE = 10;
+ const unsigned int GRID_SIZE = 10;
bool DRAW_CONTACT_POINTS = false;
/************************************ END USER PARAMETERS *****************************/
@@ -418,11 +419,11 @@ int main() {
for (int s = 0; s < N_SOLVERS; s++)
solvers[s] = new Equilibrium(solverNames[s], mass, generatorsPerContact, lp_solver_types[s]);
- MatrixX3 p, N;
+ centroidal_dynamics::MatrixX3 p, N;
RVector2 com_LB, com_UB;
- VectorX x_range(GRID_SIZE), y_range(GRID_SIZE);
+ centroidal_dynamics::VectorX x_range(GRID_SIZE), y_range(GRID_SIZE);
MatrixXX comPositions(GRID_SIZE * GRID_SIZE, 3);
- for (unsigned n_test = 0; n_test < N_TESTS; n_test++) {
+ for (unsigned int n_test = 0; n_test < N_TESTS; n_test++) {
generateContacts(N_CONTACTS, MIN_CONTACT_DISTANCE, LX, LY, CONTACT_POINT_LOWER_BOUNDS, CONTACT_POINT_UPPER_BOUNDS,
RPY_LOWER_BOUNDS, RPY_UPPER_BOUNDS, p, N);
@@ -474,7 +475,7 @@ int main() {
}
const int N_TESTS_EXTREMUM = 100;
- Vector3 a0 = Vector3::Zero();
+ centroidal_dynamics::Vector3 a0 = centroidal_dynamics::Vector3::Zero();
a0.head<2>() = 0.5 * (com_LB + com_UB);
double e_max;
LP_status status = solvers[0]->computeEquilibriumRobustness(a0, e_max);