sampleId in fullBody are now int instead of short (as already done in addLimb)

idl/hpp/corbaserver/rbprm/rbprmbuilder.idl

@@ -161,7 +161,7 @@ module hpp
     /// \param sampleId id of the desired samples
     /// \return dofArray Array of degrees of freedom corresponding to the current configuration of the robot
     /// , to which the desired limb configuration has been assigned.
-    floatSeq getSampleConfig(in string sampleName, in unsigned short sampleId) raises (Error);
+    floatSeq getSampleConfig(in string sampleName, in unsigned long sampleId) raises (Error);
 
 
     /// Get the end effector position of a given limb configuration
@@ -169,7 +169,7 @@ module hpp
     /// \param sampleId id of the desired samples
     /// \return world position of the limb end effector given the current robot configuration and the
     /// and the selected sample
-    floatSeq getSamplePosition(in string sampleName, in unsigned short sampleId) raises (Error);
+    floatSeq getSamplePosition(in string sampleName, in unsigned long sampleId) raises (Error);
 
     /// Get the end effector position for a given configuration, assuming z normal
     /// \param limbName name of the limb from which to retrieve a sample
@@ -193,7 +193,7 @@ module hpp
     /// \param valueName name of the analytic measure desired
     /// \param sampleId id of the considered sample
     /// \return the value computed for the given sample and analytics
-    double getSampleValue(in string limbName, in string valueName, in unsigned short sampleId) raises (Error);
+    double getSampleValue(in string limbName, in string valueName, in unsigned long sampleId) raises (Error);
 
     /// compute the distance between all effectors replaced between two states
     /// does not account for contact not present in both states

src/rbprmbuilder.impl.cc

@@ -217,7 +217,7 @@ namespace hpp {
         analysisFactory_ = new sampling::AnalysisFactory(fullBody());
     }
 
-    hpp::floatSeq* RbprmBuilder::getSampleConfig(const char* limb, unsigned short sampleId) throw (hpp::Error)
+    hpp::floatSeq* RbprmBuilder::getSampleConfig(const char* limb, unsigned int sampleId) throw (hpp::Error)
     {
         if(!fullBodyLoaded_)
             throw Error ("No full body robot was loaded");
@@ -246,7 +246,7 @@ namespace hpp {
     }
 
 
-    hpp::floatSeq* RbprmBuilder::getSamplePosition(const char* limb, unsigned short sampleId) throw (hpp::Error)
+    hpp::floatSeq* RbprmBuilder::getSamplePosition(const char* limb, unsigned int sampleId) throw (hpp::Error)
     {
         if(!fullBodyLoaded_)
             throw Error ("No full body robot was loaded");
@@ -553,7 +553,7 @@ namespace hpp {
         return dofArray;
     }
 
-    double RbprmBuilder::getSampleValue(const char* limb, const char* valueName, unsigned short sampleId) throw (hpp::Error)
+    double RbprmBuilder::getSampleValue(const char* limb, const char* valueName, unsigned int sampleId) throw (hpp::Error)
     {
         const T_Limb& limbs = fullBody()->GetLimbs();
         T_Limb::const_iterator lit = limbs.find(std::string(limb));

src/rbprmbuilder.impl.hh

@@ -213,12 +213,12 @@ namespace hpp {
         virtual void boundSO3(const hpp::floatSeq& limitszyx) throw (hpp::Error);
 
 
-        virtual hpp::floatSeq* getSampleConfig(const char* limb, unsigned short sampleId) throw (hpp::Error);
-        virtual hpp::floatSeq* getSamplePosition(const char* limb, unsigned short sampleId) throw (hpp::Error);
+        virtual hpp::floatSeq* getSampleConfig(const char* limb, unsigned int sampleId) throw (hpp::Error);
+        virtual hpp::floatSeq* getSamplePosition(const char* limb, unsigned int sampleId) throw (hpp::Error);
         virtual hpp::floatSeqSeq* getEffectorPosition(const char* limb, const hpp::floatSeq& configuration) throw (hpp::Error);
         virtual CORBA::UShort getNumSamples(const char* limb) throw (hpp::Error);
         virtual hpp::floatSeq* getOctreeNodeIds(const char* limb) throw (hpp::Error);
-        virtual double getSampleValue(const char* limb, const char* valueName, unsigned short sampleId) throw (hpp::Error);
+        virtual double getSampleValue(const char* limb, const char* valueName, unsigned int sampleId) throw (hpp::Error);
         virtual double getEffectorDistance(unsigned short  state1, unsigned short  state2) throw (hpp::Error);
 
         rbprm::State generateContacts_internal(const hpp::floatSeq& configuration,