diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc
index d4ac991f50596a57ba852357960a055c18165272..921a9a7870d936dcb5c5e0035bb7665c5de93d84 100755
--- a/src/rbprmbuilder.impl.cc
+++ b/src/rbprmbuilder.impl.cc
@@ -20,7 +20,7 @@
#include "rbprmbuilder.impl.hh"
#include "hpp/rbprm/rbprm-device.hh"
#include "hpp/rbprm/rbprm-validation.hh"
-#include "hpp/rbprm/rbprm-path-interpolation.hh"
+#include "hpp/rbprm/interpolation/rbprm-path-interpolation.hh"
#include "hpp/rbprm/stability/stability.hh"
#include "hpp/rbprm/sampling/sample-db.hh"
#include "hpp/model/urdf/util.hh"
@@ -200,7 +200,7 @@ namespace hpp {
std::string err("No limb " + std::string(limb) + "was defined for robot" + fullBody_->device_->name());
throw Error (err.c_str());
}
- return lit->second->sampleContainer_.samples_.size();
+ return (CORBA::UShort)(lit->second->sampleContainer_.samples_.size());
}
floatSeq *RbprmBuilder::getOctreeNodeIds(const char* limb) throw (hpp::Error)
@@ -214,11 +214,11 @@ namespace hpp {
}
const sampling::T_VoxelSampleId& ids = lit->second->sampleContainer_.samplesInVoxels_;
hpp::floatSeq* dofArray = new hpp::floatSeq();
- dofArray->length(ids.size());
+ dofArray->length((_CORBA_ULong)ids.size());
sampling::T_VoxelSampleId::const_iterator it = ids.begin();
for(std::size_t i=0; i< _CORBA_ULong(ids.size()); ++i, ++it)
{
- (*dofArray)[(_CORBA_ULong)i] = it->first;
+ (*dofArray)[(_CORBA_ULong)i] = (double)it->first;
}
return dofArray;
}
@@ -259,7 +259,7 @@ namespace hpp {
// Fill dof vector with dof array.
model::Configuration_t config; config.resize (configDim);
for (std::size_t iDof = 0; iDof < configDim; iDof++) {
- config [iDof] = dofArray[iDof];
+ config [iDof] = (_CORBA_ULong)dofArray[(_CORBA_ULong)iDof];
}
// fill the vector by zero
hppDout (info, "config dimension: " <<configDim
@@ -275,7 +275,7 @@ namespace hpp {
{
std::size_t configsDim = (std::size_t)doubleDofArray.length();
std::vector<model::Configuration_t> res;
- for (std::size_t iConfig = 0; iConfig < configsDim; iConfig++)
+ for (_CORBA_ULong iConfig = 0; iConfig < configsDim; iConfig++)
{
res.push_back(dofArrayToConfig(robot, doubleDofArray[iConfig]));
}
@@ -286,7 +286,7 @@ namespace hpp {
{
std::vector<std::string> res;
std::size_t dim = (std::size_t)dofArray.length();
- for (std::size_t iDof = 0; iDof < dim; iDof++)
+ for (_CORBA_ULong iDof = 0; iDof < dim; iDof++)
{
res.push_back(std::string(dofArray[iDof]));
}
@@ -297,7 +297,7 @@ namespace hpp {
{
std::vector<double> res;
std::size_t dim = (std::size_t)dofArray.length();
- for (std::size_t iDof = 0; iDof < dim; iDof++)
+ for (_CORBA_ULong iDof = 0; iDof < dim; iDof++)
{
res.push_back(dofArray[iDof]);
}
@@ -316,7 +316,7 @@ namespace hpp {
std::string name(romName);
bindShooter_.normalFilter_.erase(name);
fcl::Vec3f dir;
- for(std::size_t i =0; i <3; ++i)
+ for(_CORBA_ULong i =0; i <3; ++i)
{
dir[i] = normal[i];
}
@@ -344,7 +344,7 @@ namespace hpp {
fcl::Vec3f dir;
for(std::size_t i =0; i <3; ++i)
{
- dir[i] = direction[i];
+ dir[i] = direction[(_CORBA_ULong)i];
}
model::Configuration_t config = dofArrayToConfig (fullBody_->device_, configuration);
rbprm::State state = rbprm::ComputeContacts(fullBody_,config,
@@ -370,7 +370,7 @@ namespace hpp {
fcl::Vec3f dir;
for(std::size_t i =0; i <3; ++i)
{
- dir[i] = direction[i];
+ dir[i] = direction[(_CORBA_ULong)i];
}
model::Configuration_t config = dofArrayToConfig (fullBody_->device_, configuration);
model::Configuration_t save = fullBody_->device_->currentConfiguration();
@@ -399,11 +399,11 @@ namespace hpp {
finalSet.insert(cit->begin(), cit->end());
}
hpp::floatSeq* dofArray = new hpp::floatSeq();
- dofArray->length(finalSet.size());
+ dofArray->length((_CORBA_ULong)finalSet.size());
sampling::T_OctreeReport::const_iterator candCit = finalSet.begin();
for(std::size_t i=0; i< _CORBA_ULong(finalSet.size()); ++i, ++candCit)
{
- (*dofArray)[(_CORBA_ULong)i] = candCit->sample_->id_;
+ (*dofArray)[(_CORBA_ULong)i] = (double)candCit->sample_->id_;
}
fullBody_->device_->currentConfiguration(save);
return dofArray;
@@ -419,7 +419,7 @@ namespace hpp {
throw Error ("No full body robot was loaded");
try
{
- long ocId (octreeNodeId);
+ long ocId ((long)octreeNodeId);
const T_Limb& limbs = fullBody_->GetLimbs();
T_Limb::const_iterator lit = limbs.find(std::string(limb));
if(lit == limbs.end())
@@ -437,11 +437,11 @@ namespace hpp {
}
const sampling::VoxelSampleId& ids = cit->second;
hpp::floatSeq* dofArray = new hpp::floatSeq();
- dofArray->length(ids.second);
+ dofArray->length((_CORBA_ULong)ids.second);
std::size_t sampleId = ids.first;
for(std::size_t i=0; i< _CORBA_ULong(ids.second); ++i, ++sampleId)
{
- (*dofArray)[(_CORBA_ULong)i] = sampleId;
+ (*dofArray)[(_CORBA_ULong)i] = (double)sampleId;
}
return dofArray;
} catch (const std::exception& exc) {
@@ -459,8 +459,8 @@ namespace hpp {
fcl::Vec3f off, norm;
for(std::size_t i =0; i <3; ++i)
{
- off[i] = offset[i];
- norm[i] = normal[i];
+ off[i] = offset[(_CORBA_ULong)i];
+ norm[i] = normal[(_CORBA_ULong)i];
}
ContactType cType = hpp::rbprm::_6_DOF;
if(std::string(contactType) == "_3_DOF")
@@ -558,13 +558,13 @@ namespace hpp {
{
throw std::runtime_error ("End state not initialized, can not interpolate ");
}
- hpp::rbprm::RbPrmInterpolationPtr_t interpolator = rbprm::RbPrmInterpolation::create(fullBody_,startState_,endState_);
+ hpp::rbprm::interpolation::RbPrmInterpolationPtr_t interpolator = rbprm::interpolation::RbPrmInterpolation::create(fullBody_,startState_,endState_);
std::vector<model::Configuration_t> configurations = doubleDofArrayToConfig(fullBody_->device_, configs);
lastStatesComputed_ = interpolator->Interpolate(problemSolver_->collisionObstacles(),configurations,robustnessTreshold);
hpp::floatSeqSeq *res;
res = new hpp::floatSeqSeq ();
- res->length (lastStatesComputed_.size ());
+ res->length ((_CORBA_ULong)lastStatesComputed_.size ());
std::size_t i=0;
std::size_t id = 0;
for(std::vector<State>::const_iterator cit = lastStatesComputed_.begin(); cit != lastStatesComputed_.end(); ++cit, ++id)
@@ -579,7 +579,7 @@ namespace hpp {
for (model::size_type j=0 ; j < config.size() ; ++j) {
dofArray[j] = config [j];
}
- (*res) [i] = floats;
+ (*res) [(_CORBA_ULong)i] = floats;
++i;
}
return res;
@@ -594,7 +594,7 @@ namespace hpp {
{
try
{
- int pathId = int(path);
+ unsigned int pathId = int(path);
if(startState_.configuration_.rows() == 0)
{
throw std::runtime_error ("Start state not initialized, can not interpolate ");
@@ -609,13 +609,13 @@ namespace hpp {
throw std::runtime_error ("No path computed, cannot interpolate ");
}
- hpp::rbprm::RbPrmInterpolationPtr_t interpolator = rbprm::RbPrmInterpolation::create(fullBody_,startState_,endState_,problemSolver_->paths()[pathId]);
+ hpp::rbprm::interpolation::RbPrmInterpolationPtr_t interpolator = rbprm::interpolation::RbPrmInterpolation::create(fullBody_,startState_,endState_,problemSolver_->paths()[pathId]);
lastStatesComputed_ = interpolator->Interpolate(problemSolver_->collisionObstacles(),timestep,robustnessTreshold);
hpp::floatSeqSeq *res;
res = new hpp::floatSeqSeq ();
- res->length (lastStatesComputed_.size ());
+ res->length ((_CORBA_ULong)lastStatesComputed_.size ());
std::size_t i=0;
std::size_t id = 0;
for(std::vector<State>::const_iterator cit = lastStatesComputed_.begin(); cit != lastStatesComputed_.end(); ++cit, ++id)
@@ -630,7 +630,7 @@ namespace hpp {
for (model::size_type j=0 ; j < config.size() ; ++j) {
dofArray[j] = config [j];
}
- (*res) [i] = floats;
+ (*res) [(_CORBA_ULong)i] = floats;
++i;
}
return res;
@@ -701,7 +701,7 @@ namespace hpp {
std::size_t i =0;
hpp::floatSeqSeq *res;
res = new hpp::floatSeqSeq ();
- res->length (boxes.size ());
+ res->length ((_CORBA_ULong)boxes.size ());
for(std::map<std::size_t, fcl::CollisionObject*>::const_iterator cit = boxes.begin();
cit != boxes.end();++cit,++i)
{
@@ -714,7 +714,7 @@ namespace hpp {
dofArray[j] = position[j];
}
dofArray[3] = resolution;
- (*res) [i] = floats;
+ (*res) [(_CORBA_ULong)i] = floats;
}
fullBody_->device_->currentConfiguration(save);
fullBody_->device_->computeForwardKinematics();
@@ -732,7 +732,7 @@ namespace hpp {
{
if(!fullBodyLoaded_)
throw Error ("No full body robot was loaded");
- long ocId (octreeNodeId);
+ long ocId ((long)octreeNodeId);
const T_Limb& limbs = fullBody_->GetLimbs();
T_Limb::const_iterator lit = limbs.find(std::string(limbName));
if(lit == limbs.end())
@@ -927,9 +927,9 @@ namespace hpp {
//bind shooter creator to hide problem as a parameter and respect signature
// add rbprmshooter
- problemSolver->addConfigurationShooterType("RbprmShooter",
+ problemSolver->add<core::ConfigurationShooterBuilder_t>("RbprmShooter",
boost::bind(&BindShooter::create, boost::ref(bindShooter_), _1));
- problemSolver->addPathValidationType("RbprmPathValidation",
+ problemSolver->add<core::PathValidationBuilder_t>("RbprmPathValidation",
boost::bind(&BindShooter::createPathValidation, boost::ref(bindShooter_), _1, _2));
}