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[Marginal] Removing warning signed vs unsigned
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@fvalenza
fvalenza committed Sep 10, 2015
1 parent 144d9c2 commit 6dc4913
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Showing 8 changed files with 34 additions and 34 deletions.
2 changes: 1 addition & 1 deletion benchmark/timings.cpp
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Expand Up @@ -27,7 +27,7 @@ int main(int argc, const char ** argv)
using namespace se3;

StackTicToc timer(StackTicToc::US);
const int NBT = 1000*100;
const size_t NBT = 1000*100;
se3::Model model;

std::string filename = PINOCCHIO_SOURCE_DIR"/models/simple_humanoid.urdf";
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2 changes: 1 addition & 1 deletion src/multibody/model.hpp
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Expand Up @@ -290,7 +290,7 @@ namespace se3

const std::string& Model::getBodyName( Model::Index index ) const
{
assert( (index>=0)&&(index < (Model::Index)nbody) );
assert( index < (Model::Index)nbody );
return names[index];
}

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18 changes: 9 additions & 9 deletions unittest/cholesky.cpp
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Expand Up @@ -124,12 +124,12 @@ BOOST_AUTO_TEST_CASE ( test_timings )
StackTicToc timer(StackTicToc::US);
#ifdef NDEBUG
#ifdef _INTENSE_TESTING_
const int NBT = 1000*1000;
const size_t NBT = 1000*1000;
#else
const int NBT = 10;
const size_t NBT = 10;
#endif
#else
const int NBT = 1;
const size_t NBT = 1;
std::cout << "(the time score in debug mode is not relevant) " ;
#endif

Expand Down Expand Up @@ -164,7 +164,7 @@ BOOST_AUTO_TEST_CASE ( test_timings )
if( flag >> 2 & 31 )
{
std::vector<Eigen::VectorXd> randvec(NBT);
for(int i=0;i<NBT;++i ) randvec[(std::size_t)i] = Eigen::VectorXd::Random(model.nv);
for(size_t i=0;i<NBT;++i ) randvec[i] = Eigen::VectorXd::Random(model.nv);
Eigen::VectorXd zero = Eigen::VectorXd(model.nv);
Eigen::VectorXd res (model.nv);

Expand All @@ -174,7 +174,7 @@ BOOST_AUTO_TEST_CASE ( test_timings )
timer.tic();
SMOOTH(NBT)
{
se3::cholesky::solve(model,data,randvec[(std::size_t)_smooth]);
se3::cholesky::solve(model,data,randvec[_smooth]);
}
if(verbose) std::cout << "solve =\t\t";
timer.toc(std::cout,NBT);
Expand All @@ -185,7 +185,7 @@ BOOST_AUTO_TEST_CASE ( test_timings )
timer.tic();
SMOOTH(NBT)
{
se3::cholesky::Uv(model,data,randvec[(std::size_t)_smooth]);
se3::cholesky::Uv(model,data,randvec[_smooth]);
}
if(verbose) std::cout << "Uv =\t\t";
timer.toc(std::cout,NBT);
Expand All @@ -196,7 +196,7 @@ BOOST_AUTO_TEST_CASE ( test_timings )
timer.tic();
SMOOTH(NBT)
{
se3::cholesky::Uiv(model,data,randvec[(std::size_t)_smooth]);
se3::cholesky::Uiv(model,data,randvec[_smooth]);
}
if(verbose) std::cout << "Uiv =\t\t";
timer.toc(std::cout,NBT);
Expand All @@ -207,7 +207,7 @@ BOOST_AUTO_TEST_CASE ( test_timings )
Eigen::VectorXd res;
SMOOTH(NBT)
{
res = se3::cholesky::Mv(model,data,randvec[(std::size_t)_smooth]);
res = se3::cholesky::Mv(model,data,randvec[_smooth]);
}
if(verbose) std::cout << "Mv =\t\t";
timer.toc(std::cout,NBT);
Expand All @@ -217,7 +217,7 @@ BOOST_AUTO_TEST_CASE ( test_timings )
timer.tic();
SMOOTH(NBT)
{
se3::cholesky::Mv(model,data,randvec[(std::size_t)_smooth],true);
se3::cholesky::Mv(model,data,randvec[_smooth],true);
}
if(verbose) std::cout << "UDUtv =\t\t";
timer.toc(std::cout,NBT);
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6 changes: 3 additions & 3 deletions unittest/com.cpp
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Expand Up @@ -92,12 +92,12 @@ BOOST_AUTO_TEST_CASE ( test_com )
// StackTicToc timer(StackTicToc::US);
// #ifdef NDEBUG
// #ifdef _INTENSE_TESTING_
// const int NBT = 1000*1000;
// const size_t NBT = 1000*1000;
// #else
// const int NBT = 10;
// const size_t NBT = 10;
// #endif
// #else
// const int NBT = 1;
// const size_t NBT = 1;
// std::cout << "(the time score in debug mode is not relevant) " ;
// #endif
//
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6 changes: 3 additions & 3 deletions unittest/crba.cpp
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Expand Up @@ -47,9 +47,9 @@ BOOST_AUTO_TEST_CASE ( test_crba )

#ifdef NDEBUG
#ifdef _INTENSE_TESTING_
const int NBT = 1000*1000;
const size_t NBT = 1000*1000;
#else
const int NBT = 10;
const size_t NBT = 10;
#endif

Eigen::VectorXd q = Eigen::VectorXd::Zero(model.nq);
Expand All @@ -62,7 +62,7 @@ BOOST_AUTO_TEST_CASE ( test_crba )
timer.toc(std::cout,NBT);

#else
int NBT = 1;
const size_t NBT = 1;
using namespace Eigen;
using namespace se3;

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10 changes: 5 additions & 5 deletions unittest/jacobian.cpp
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Expand Up @@ -52,15 +52,15 @@ BOOST_AUTO_TEST_CASE ( test_jacobian )
VectorXd qdot = VectorXd::Random(model.nv);
VectorXd qddot = VectorXd::Zero(model.nv);
rnea( model,data,q,qdot,qddot );
Motion v = data.oMi[(std::size_t)idx].act( data.v[(std::size_t)idx] );
Motion v = data.oMi[idx].act( data.v[idx] );
is_matrix_absolutely_closed(v.toVector(),Jrh*qdot,1e-12);


/* Test local jacobian: rhJrh == rhXo oJrh */
MatrixXd rhJrh(6,model.nv); rhJrh.fill(0);
getJacobian<true>(model,data,idx,rhJrh);
MatrixXd XJrh(6,model.nv);
motionSet::se3Action( data.oMi[(std::size_t)idx].inverse(), Jrh,XJrh );
motionSet::se3Action( data.oMi[idx].inverse(), Jrh,XJrh );
is_matrix_absolutely_closed(XJrh,rhJrh,1e-12);


Expand All @@ -84,12 +84,12 @@ BOOST_AUTO_TEST_CASE ( test_timings )
StackTicToc timer(StackTicToc::US);
#ifdef NDEBUG
#ifdef _INTENSE_TESTING_
const int NBT = 1000*1000;
const size_t NBT = 1000*1000;
#else
const int NBT = 10;
const size_t NBT = 10;
#endif
#else
const int NBT = 1;
const size_t NBT = 1;
std::cout << "(the time score in debug mode is not relevant) " ;
#endif

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4 changes: 2 additions & 2 deletions unittest/rnea.cpp
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Expand Up @@ -67,9 +67,9 @@ BOOST_AUTO_TEST_CASE ( test_rnea )
VectorXd a = VectorXd::Random(model.nv);

#ifdef NDEBUG
int NBT = 10000;
const size_t NBT = 10000;
#else
int NBT = 1;
const size_t NBT = 1;
std::cout << "(the time score in debug mode is not relevant) " ;
#endif

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20 changes: 10 additions & 10 deletions unittest/symmetric.cpp
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Expand Up @@ -209,19 +209,19 @@ BOOST_AUTO_TEST_CASE ( test_pinocchio_Sym3 )

// Time test
{
const int NBT = 100000;
const size_t NBT = 100000;
Symmetric3 S = Symmetric3::RandomPositive();

std::vector<Symmetric3> Sres (NBT);
std::vector<Matrix3> Rs (NBT);
for(int i=0;i<NBT;++i)
Rs[(std::size_t)i] = (Eigen::Quaterniond(Eigen::Matrix<double,4,1>::Random())).normalized().matrix();
for(size_t i=0;i<NBT;++i)
Rs[i] = (Eigen::Quaterniond(Eigen::Matrix<double,4,1>::Random())).normalized().matrix();

std::cout << "Pinocchio: ";
StackTicToc timer(StackTicToc::US); timer.tic();
SMOOTH(NBT)
{
timeSym3(S,Rs[(std::size_t)_smooth],Sres[(std::size_t)_smooth]);
timeSym3(S,Rs[_smooth],Sres[_smooth]);
}
timer.toc(std::cout,NBT);
}
Expand Down Expand Up @@ -249,10 +249,10 @@ BOOST_AUTO_TEST_CASE ( test_metapod_LTI )
timeLTI(S,R,S2);
is_matrix_absolutely_closed(S2.toMatrix(), R.toMatrix().transpose()*S.toMatrix()*R.toMatrix(), 1e-12);

const int NBT = 100000;
const size_t NBT = 100000;
std::vector<Sym3> Sres (NBT);
std::vector<R3> Rs (NBT);
for(int i=0;i<NBT;++i)
for(size_t i=0;i<NBT;++i)
Rs[i].randomInit();

std::cout << "Metapod: ";
Expand Down Expand Up @@ -297,17 +297,17 @@ BOOST_AUTO_TEST_CASE ( test_eigen_SelfAdj )
is_matrix_absolutely_closed(Masa1, Masa2, 1e-16);
}

const int NBT = 100000;
const size_t NBT = 100000;
std::vector<Eigen::Matrix3d> Sres (NBT);
std::vector<Eigen::Matrix3d> Rs (NBT);
for(int i=0;i<NBT;++i)
Rs[(std::size_t)i] = (Eigen::Quaterniond(Eigen::Matrix<double,4,1>::Random())).normalized().matrix();
for(size_t i=0;i<NBT;++i)
Rs[i] = (Eigen::Quaterniond(Eigen::Matrix<double,4,1>::Random())).normalized().matrix();

std::cout << "Eigen: ";
StackTicToc timer(StackTicToc::US); timer.tic();
SMOOTH(NBT)
{
timeSelfAdj(Rs[(std::size_t)_smooth],M,Sres[(std::size_t)_smooth]);
timeSelfAdj(Rs[_smooth],M,Sres[_smooth]);
}
timer.toc(std::cout,NBT);
}
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