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Use size_t instead of int to represent index type
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@jslee02
jslee02 committed Feb 17, 2015
1 parent 6c798e6 commit abcd0f9
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Showing 2 changed files with 41 additions and 40 deletions.
61 changes: 31 additions & 30 deletions dart/dynamics/BodyNode.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -71,7 +71,7 @@ static T getVectorObjectIfAvailable(size_t _index, const std::vector<T>& _vec)
}

//==============================================================================
int BodyNode::msBodyNodeCount = 0;
size_t BodyNode::msBodyNodeCount = 0;

//==============================================================================
BodyNode::BodyNode(const std::string& _name)
Expand Down Expand Up @@ -410,13 +410,13 @@ size_t BodyNode::getNumVisualizationShapes() const
}

//==============================================================================
Shape* BodyNode::getVisualizationShape(int _index)
Shape* BodyNode::getVisualizationShape(size_t _index)
{
return getVectorObjectIfAvailable<Shape*>(_index, mVizShapes);
}

//==============================================================================
const Shape* BodyNode::getVisualizationShape(int _index) const
const Shape* BodyNode::getVisualizationShape(size_t _index) const
{
return getVectorObjectIfAvailable<Shape*>(_index, mVizShapes);
}
Expand All @@ -434,13 +434,13 @@ size_t BodyNode::getNumCollisionShapes() const
}

//==============================================================================
Shape* BodyNode::getCollisionShape(int _index)
Shape* BodyNode::getCollisionShape(size_t _index)
{
return getVectorObjectIfAvailable<Shape*>(_index, mColShapes);
}

//==============================================================================
const Shape* BodyNode::getCollisionShape(int _index) const
const Shape* BodyNode::getCollisionShape(size_t _index) const
{
return getVectorObjectIfAvailable<Shape*>(_index, mColShapes);
}
Expand Down Expand Up @@ -570,7 +570,7 @@ const Marker* BodyNode::getMarker(size_t _index) const
}

//==============================================================================
bool BodyNode::dependsOn(int _genCoordIndex) const
bool BodyNode::dependsOn(size_t _genCoordIndex) const
{
return std::binary_search(mDependentGenCoordIndices.begin(),
mDependentGenCoordIndices.end(),
Expand Down Expand Up @@ -1185,10 +1185,10 @@ void BodyNode::init(Skeleton* _skeleton)

#ifndef NDEBUG
// Check whether there is duplicated indices.
int nDepGenCoordIndices = mDependentGenCoordIndices.size();
for (int i = 0; i < nDepGenCoordIndices - 1; i++)
size_t nDepGenCoordIndices = mDependentGenCoordIndices.size();
for (size_t i = 0; i < nDepGenCoordIndices - 1; i++)
{
for (int j = i + 1; j < nDepGenCoordIndices; j++)
for (size_t j = i + 1; j < nDepGenCoordIndices; j++)
{
assert(mDependentGenCoordIndices[i] !=
mDependentGenCoordIndices[j] &&
Expand All @@ -1200,7 +1200,7 @@ void BodyNode::init(Skeleton* _skeleton)
//--------------------------------------------------------------------------
// Set dimensions of dynamics matrices and vectors.
//--------------------------------------------------------------------------
int numDepGenCoords = getNumDependentGenCoords();
size_t numDepGenCoords = getNumDependentGenCoords();
mBodyJacobian.setZero(6, numDepGenCoords);
mWorldJacobian.setZero(6, numDepGenCoords);
mBodyJacobianSpatialDeriv.setZero(6, numDepGenCoords);
Expand Down Expand Up @@ -1260,10 +1260,10 @@ void BodyNode::drawMarkers(renderer::RenderInterface* _ri,
mParentJoint->applyGLTransform(_ri);

// render the corresponding mMarkerss
for (unsigned int i = 0; i < mMarkers.size(); i++)
for (size_t i = 0; i < mMarkers.size(); i++)
mMarkers[i]->draw(_ri, true, _color, _useDefaultColor);

for (unsigned int i = 0; i < mChildBodyNodes.size(); i++)
for (size_t i = 0; i < mChildBodyNodes.size(); i++)
mChildBodyNodes[i]->drawMarkers(_ri, _color, _useDefaultColor);

_ri->popMatrix();
Expand Down Expand Up @@ -1836,11 +1836,11 @@ void BodyNode::aggregateGravityForceVector(Eigen::VectorXd* _g,
(*it)->mG_F);
}

int nGenCoords = mParentJoint->getNumDofs();
size_t nGenCoords = mParentJoint->getNumDofs();
if (nGenCoords > 0)
{
Eigen::VectorXd g = -(mParentJoint->getLocalJacobian().transpose() * mG_F);
int iStart = mParentJoint->getIndexInSkeleton(0);
size_t iStart = mParentJoint->getIndexInSkeleton(0);
_g->segment(iStart, nGenCoords) = g;
}
}
Expand Down Expand Up @@ -1881,12 +1881,12 @@ void BodyNode::aggregateCombinedVector(Eigen::VectorXd* _Cg,
mCg_F += math::dAdInvT((*it)->getParentJoint()->mT, (*it)->mCg_F);
}

int nGenCoords = mParentJoint->getNumDofs();
size_t nGenCoords = mParentJoint->getNumDofs();
if (nGenCoords > 0)
{
Eigen::VectorXd Cg
= mParentJoint->getLocalJacobian().transpose() * mCg_F;
int iStart = mParentJoint->getIndexInSkeleton(0);
size_t iStart = mParentJoint->getIndexInSkeleton(0);
_Cg->segment(iStart, nGenCoords) = Cg;
}
}
Expand All @@ -1903,11 +1903,11 @@ void BodyNode::aggregateExternalForces(Eigen::VectorXd* _Fext)
(*it)->mFext_F);
}

int nGenCoords = mParentJoint->getNumDofs();
size_t nGenCoords = mParentJoint->getNumDofs();
if (nGenCoords > 0)
{
Eigen::VectorXd Fext = mParentJoint->getLocalJacobian().transpose()*mFext_F;
int iStart = mParentJoint->getIndexInSkeleton(0);
size_t iStart = mParentJoint->getIndexInSkeleton(0);
_Fext->segment(iStart, nGenCoords) = Fext;
}
}
Expand Down Expand Up @@ -1937,7 +1937,7 @@ void BodyNode::aggregateSpatialToGeneralized(Eigen::VectorXd* _generalized,
void BodyNode::updateMassMatrix()
{
mM_dV.setZero();
int dof = mParentJoint->getNumDofs();
size_t dof = mParentJoint->getNumDofs();
if (dof > 0)
{
mM_dV.noalias() += mParentJoint->getLocalJacobian()
Expand All @@ -1951,7 +1951,7 @@ void BodyNode::updateMassMatrix()
}

//==============================================================================
void BodyNode::aggregateMassMatrix(Eigen::MatrixXd* _MCol, int _col)
void BodyNode::aggregateMassMatrix(Eigen::MatrixXd* _MCol, size_t _col)
{
//
mM_F.noalias() = mI * mM_dV;
Expand All @@ -1971,17 +1971,17 @@ void BodyNode::aggregateMassMatrix(Eigen::MatrixXd* _MCol, int _col)
assert(!math::isNan(mM_F));

//
int dof = mParentJoint->getNumDofs();
size_t dof = mParentJoint->getNumDofs();
if (dof > 0)
{
int iStart = mParentJoint->getIndexInSkeleton(0);
size_t iStart = mParentJoint->getIndexInSkeleton(0);
_MCol->block(iStart, _col, dof, 1).noalias() =
mParentJoint->getLocalJacobian().transpose() * mM_F;
}
}

//==============================================================================
void BodyNode::aggregateAugMassMatrix(Eigen::MatrixXd* _MCol, int _col,
void BodyNode::aggregateAugMassMatrix(Eigen::MatrixXd* _MCol, size_t _col,
double _timeStep)
{
// TODO(JS): Need to be reimplemented
Expand All @@ -2004,18 +2004,18 @@ void BodyNode::aggregateAugMassMatrix(Eigen::MatrixXd* _MCol, int _col,
assert(!math::isNan(mM_F));

//
int dof = mParentJoint->getNumDofs();
size_t dof = mParentJoint->getNumDofs();
if (dof > 0)
{
Eigen::MatrixXd K = Eigen::MatrixXd::Zero(dof, dof);
Eigen::MatrixXd D = Eigen::MatrixXd::Zero(dof, dof);
for (int i = 0; i < dof; ++i)
for (size_t i = 0; i < dof; ++i)
{
K(i, i) = mParentJoint->getSpringStiffness(i);
D(i, i) = mParentJoint->getDampingCoefficient(i);
}

int iStart = mParentJoint->getIndexInSkeleton(0);
size_t iStart = mParentJoint->getIndexInSkeleton(0);

_MCol->block(iStart, _col, dof, 1).noalias()
= mParentJoint->getLocalJacobian().transpose() * mM_F
Expand Down Expand Up @@ -2067,7 +2067,7 @@ void BodyNode::updateInvAugMassMatrix()
}

//==============================================================================
void BodyNode::aggregateInvMassMatrix(Eigen::MatrixXd* _InvMCol, int _col)
void BodyNode::aggregateInvMassMatrix(Eigen::MatrixXd* _InvMCol, size_t _col)
{
if (mParentBodyNode)
{
Expand All @@ -2094,7 +2094,7 @@ void BodyNode::aggregateInvMassMatrix(Eigen::MatrixXd* _InvMCol, int _col)
}

//==============================================================================
void BodyNode::aggregateInvAugMassMatrix(Eigen::MatrixXd* _InvMCol, int _col,
void BodyNode::aggregateInvAugMassMatrix(Eigen::MatrixXd* _InvMCol, size_t _col,
double /*_timeStep*/)
{
if (mParentBodyNode)
Expand Down Expand Up @@ -2141,8 +2141,9 @@ void BodyNode::_updateBodyJacobian() const
if(NULL == mParentJoint)
return;

const int localDof = mParentJoint->getNumDofs();
const int ascendantDof = getNumDependentGenCoords() - localDof;
const size_t localDof = mParentJoint->getNumDofs();
assert(getNumDependentGenCoords() >= localDof);
const size_t ascendantDof = getNumDependentGenCoords() - localDof;

// Parent Jacobian
if (mParentBodyNode)
Expand Down
20 changes: 10 additions & 10 deletions dart/dynamics/BodyNode.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -214,10 +214,10 @@ class BodyNode : public Frame
size_t getNumVisualizationShapes() const;

/// Return _index-th visualization shape
Shape* getVisualizationShape(int _index);
Shape* getVisualizationShape(size_t _index);

/// Return (const) _index-th visualization shape
const Shape* getVisualizationShape(int _index) const;
const Shape* getVisualizationShape(size_t _index) const;

/// Add a collision shape into the bodynode
void addCollisionShape(Shape* _p);
Expand All @@ -226,10 +226,10 @@ class BodyNode : public Frame
size_t getNumCollisionShapes() const;

/// Return _index-th collision shape
Shape* getCollisionShape(int _index);
Shape* getCollisionShape(size_t _index);

/// Return (const) _index-th collision shape
const Shape* getCollisionShape(int _index) const;
const Shape* getCollisionShape(size_t _index) const;

/// Return the Skeleton this BodyNode belongs to
Skeleton* getSkeleton();
Expand Down Expand Up @@ -277,7 +277,7 @@ class BodyNode : public Frame
const Marker* getMarker(size_t _index) const;

/// Return true if _genCoordIndex-th generalized coordinate
bool dependsOn(int _genCoordIndex) const;
bool dependsOn(size_t _genCoordIndex) const;

/// The number of the generalized coordinates by which this node is affected
size_t getNumDependentGenCoords() const;
Expand Down Expand Up @@ -982,15 +982,15 @@ class BodyNode : public Frame

///
virtual void updateMassMatrix();
virtual void aggregateMassMatrix(Eigen::MatrixXd* _MCol, int _col);
virtual void aggregateAugMassMatrix(Eigen::MatrixXd* _MCol, int _col,
virtual void aggregateMassMatrix(Eigen::MatrixXd* _MCol, size_t _col);
virtual void aggregateAugMassMatrix(Eigen::MatrixXd* _MCol, size_t _col,
double _timeStep);

///
virtual void updateInvMassMatrix();
virtual void updateInvAugMassMatrix();
virtual void aggregateInvMassMatrix(Eigen::MatrixXd* _InvMCol, int _col);
virtual void aggregateInvAugMassMatrix(Eigen::MatrixXd* _InvMCol, int _col,
virtual void aggregateInvMassMatrix(Eigen::MatrixXd* _InvMCol, size_t _col);
virtual void aggregateInvAugMassMatrix(Eigen::MatrixXd* _InvMCol, size_t _col,
double _timeStep);

///
Expand Down Expand Up @@ -1023,7 +1023,7 @@ class BodyNode : public Frame
int mID;

/// Counts the number of nodes globally.
static int msBodyNodeCount;
static size_t msBodyNodeCount;

/// Name
std::string mName;
Expand Down

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