From f09d9ed044f0c241856a922756d69f28b10f025d Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Mon, 18 Jan 2016 18:20:05 +0100
Subject: [PATCH] Fix warnings + missing library.
---
CMakeLists.txt | 2 +-
include/dynamic_graph_bridge/ros_interpreter.hh | 2 --
src/robot_model.cpp | 2 +-
src/ros_interpreter.cpp | 7 -------
src/sot_loader.cpp | 14 ++++++++------
src/sot_loader.hh | 5 +++--
6 files changed, 13 insertions(+), 19 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b0f781d..ac768ed 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -150,7 +150,7 @@ pkg_config_use_dependency(interpreter dynamic_graph_bridge_msgs)
# Stand alone embedded intepreter with a robot controller.
add_executable(geometric_simu src/geometric_simu.cpp src/sot_loader.cpp)
pkg_config_use_dependency(geometric_simu roscpp)
-target_link_libraries(geometric_simu ${Boost_LIBRARIES} dl)
+target_link_libraries(geometric_simu ros_bridge ${Boost_LIBRARIES} dl)
add_subdirectory(src)
diff --git a/include/dynamic_graph_bridge/ros_interpreter.hh b/include/dynamic_graph_bridge/ros_interpreter.hh
index df1047a..1c8dec1 100644
--- a/include/dynamic_graph_bridge/ros_interpreter.hh
+++ b/include/dynamic_graph_bridge/ros_interpreter.hh
@@ -28,8 +28,6 @@ namespace dynamicgraph
explicit Interpreter (ros::NodeHandle& nodeHandle);
- /// \brief Run a command and return result.
- std::string runCommand (const std::string& command) __attribute__ ((deprecated));
/// \brief Method to start python interpreter and deal with messages.
/// \param Command string to execute, result, stdout, stderr strings.
void runCommand(const std::string & command, std::string &result,
diff --git a/src/robot_model.cpp b/src/robot_model.cpp
index f27cdf6..44911ea 100644
--- a/src/robot_model.cpp
+++ b/src/robot_model.cpp
@@ -112,7 +112,7 @@ vectorN convertVector(const ml::Vector& v)
ml::Vector convertVector(const vectorN& v)
{
ml::Vector res;
- res.resize(v.size());
+ res.resize((unsigned int)v.size());
for (unsigned i = 0; i < v.size(); ++i)
res(i) = v[i];
return res;
diff --git a/src/ros_interpreter.cpp b/src/ros_interpreter.cpp
index e4f572f..c4d58fd 100644
--- a/src/ros_interpreter.cpp
+++ b/src/ros_interpreter.cpp
@@ -43,13 +43,6 @@ namespace dynamicgraph
return true;
}
- std::string
- Interpreter::runCommand
- (const std::string& command)
- {
- return interpreter_.python(command);
- }
-
void Interpreter::runCommand
(const std::string & command,
std::string &result,
diff --git a/src/sot_loader.cpp b/src/sot_loader.cpp
index 375977a..d347064 100644
--- a/src/sot_loader.cpp
+++ b/src/sot_loader.cpp
@@ -176,8 +176,10 @@ void SotLoader::Initialization()
// Load the symbols.
createSotExternalInterface_t * createSot =
- (createSotExternalInterface_t *) dlsym(SotRobotControllerLibrary,
- "createSotExternalInterface");
+ reinterpret_cast<createSotExternalInterface_t *>
+ (reinterpret_cast<long>
+ (dlsym(SotRobotControllerLibrary,
+ "createSotExternalInterface")));
const char* dlsym_error = dlerror();
if (dlsym_error) {
std::cerr << "Cannot load symbol create: " << dlsym_error << '\n';
@@ -256,15 +258,15 @@ void SotLoader::oneIteration()
}
-bool SotLoader::start_dg(std_srvs::Empty::Request& request,
- std_srvs::Empty::Response& response)
+bool SotLoader::start_dg(std_srvs::Empty::Request& ,
+ std_srvs::Empty::Response& )
{
dynamic_graph_stopped_=false;
return true;
}
-bool SotLoader::stop_dg(std_srvs::Empty::Request& request,
- std_srvs::Empty::Response& response)
+bool SotLoader::stop_dg(std_srvs::Empty::Request& ,
+ std_srvs::Empty::Response& )
{
dynamic_graph_stopped_ = true;
return true;
diff --git a/src/sot_loader.hh b/src/sot_loader.hh
index 2d02679..64d5ed3 100644
--- a/src/sot_loader.hh
+++ b/src/sot_loader.hh
@@ -85,7 +85,8 @@ protected:
XmlRpc::XmlRpcValue stateVectorMap_;
/// \brief List of parallel joints from the state vector.
- std::vector<int> parallel_joints_to_state_vector_;
+ typedef std::vector<int> parallel_joints_to_state_vector_t;
+ parallel_joints_to_state_vector_t parallel_joints_to_state_vector_;
/// \brief Coefficient between parallel joints and the state vector.
std::vector<double> coefficient_parallel_joints_;
@@ -98,7 +99,7 @@ protected:
// Number of DOFs according to KDL.
int nbOfJoints_;
- int nbOfParallelJoints_;
+ parallel_joints_to_state_vector_t::size_type nbOfParallelJoints_;
public:
--
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