From b9f06c5c9422be99c42b19bcd750cc3659400b48 Mon Sep 17 00:00:00 2001 From: ccarigna Date: Wed, 23 Oct 2024 16:28:33 -0400 Subject: [PATCH] cast solver errors to int --- orocos_kdl/tests/solvertest.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/orocos_kdl/tests/solvertest.cpp b/orocos_kdl/tests/solvertest.cpp index df9984cc..a25b8dc9 100644 --- a/orocos_kdl/tests/solvertest.cpp +++ b/orocos_kdl/tests/solvertest.cpp @@ -729,7 +729,7 @@ void SolverTest::IkVelSolverPinvTest() q(5) = 0.0; q(6) = 0.0; - CPPUNIT_ASSERT_EQUAL(SolverI::E_NOERROR, ikvelsolver.CartToJnt(q, dx, dq)); // pinv mode + CPPUNIT_ASSERT_EQUAL((int)SolverI::E_NOERROR, ikvelsolver.CartToJnt(q, dx, dq)); // pinv mode CPPUNIT_ASSERT_EQUAL(1u, ikvelsolver.getNrZeroSigmas()); // 1 singular value std::cout << "Test singular value function" << std::endl; @@ -753,19 +753,19 @@ void SolverTest::IkVelSolverPinvTest() q(1) = 0.2; - CPPUNIT_ASSERT_EQUAL(ChainIkSolverVel_pinv::E_CONVERGE_PINV_SINGULAR, ikvelsolver.CartToJnt(q, dx, dq)); // pinv mode + CPPUNIT_ASSERT_EQUAL((int)ChainIkSolverVel_pinv::E_CONVERGE_PINV_SINGULAR, ikvelsolver.CartToJnt(q, dx, dq)); // pinv mode CPPUNIT_ASSERT_EQUAL(2u, ikvelsolver.getNrZeroSigmas()) ; // 2 singular values q(1) = 0.0; - CPPUNIT_ASSERT_EQUAL(ChainIkSolverVel_pinv::E_CONVERGE_PINV_SINGULAR, ikvelsolver.CartToJnt(q, dx, dq)); // pinv mode + CPPUNIT_ASSERT_EQUAL((int)ChainIkSolverVel_pinv::E_CONVERGE_PINV_SINGULAR, ikvelsolver.CartToJnt(q, dx, dq)); // pinv mode CPPUNIT_ASSERT_EQUAL(2u, ikvelsolver.getNrZeroSigmas()); // 2 singular values // Fully singular q(2) = 0.0; q(3) = 0.0; - CPPUNIT_ASSERT_EQUAL(ChainIkSolverVel_pinv::E_CONVERGE_PINV_SINGULAR, ikvelsolver.CartToJnt(q, dx, dq)); // pinv mode + CPPUNIT_ASSERT_EQUAL((int)ChainIkSolverVel_pinv::E_CONVERGE_PINV_SINGULAR, ikvelsolver.CartToJnt(q, dx, dq)); // pinv mode CPPUNIT_ASSERT_EQUAL(4u, ikvelsolver.getNrZeroSigmas()); }