Merge pull request #506 from AngeloRendiniello/fixWin32Compilation

Fix compilation on Windows 32-bit
robotology · Jan 11, 2019 · 6f2fae2 · 6f2fae2
2 parents 1f3655b + c6a7e44
commit 6f2fae2
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Showing 3 changed files with 7 additions and 6 deletions.
diff --git a/doc/releases/v0_11_2.md b/doc/releases/v0_11_2.md
@@ -6,7 +6,7 @@ iDynTree 0.11.2 (UNRELEASED)                                              {#v0_1
 iDynTree 0.11.2 Release Notes
 =========================
 
-All the changes in this patch release were introduced in Pull Request https://github.com/robotology/idyntree/pull/482 .
+Unless noted otherwise, the changes in this patch release were introduced in Pull Request https://github.com/robotology/idyntree/pull/482 .
 
 Bug Fixes
 ---------
@@ -15,6 +15,7 @@ Bug Fixes
   getFrameBiasAcc method always returned the bias acceleration corresponding to the first call to setRobotState.
 * Fixed getBiasAcc method in KinDynComputations to take into account the effect of non-zero and non-parallel
   linear and angular base velocity, described in https://github.com/robotology/idyntree/issues/370 .
+* Fixed compilation on 32-bit Windows ( https://github.com/robotology/idyntree/pull/506 ).   
 
 New features
 ------------

diff --git a/src/inverse-kinematics/include/iDynTree/InverseKinematics.h b/src/inverse-kinematics/include/iDynTree/InverseKinematics.h
@@ -39,7 +39,7 @@ namespace iDynTree {
         InverseKinematicsRotationParametrizationRollPitchYaw, /*!< Roll Pitch Yaw parametrization */
     };
 
-    inline unsigned sizeOfRotationParametrization(enum InverseKinematicsRotationParametrization rotationParametrization)
+    inline int sizeOfRotationParametrization(enum InverseKinematicsRotationParametrization rotationParametrization)
     {
         switch (rotationParametrization) {
             case InverseKinematicsRotationParametrizationQuaternion:

diff --git a/src/inverse-kinematics/src/InverseKinematicsNLP.cpp b/src/inverse-kinematics/src/InverseKinematicsNLP.cpp
@@ -86,13 +86,13 @@ namespace kinematics {
 
     bool SparsityHelper::addConstraintSparsityPattern(const iDynTree::MatrixDynSize& newConstraint)
     {
-        return addConstraintSparsityPattern(newConstraint, {0, newConstraint.rows()});
+        return addConstraintSparsityPattern(newConstraint, {0, static_cast<ptrdiff_t>(newConstraint.rows())});
     }
 
     template<unsigned int nRows, unsigned int nCols>
     bool SparsityHelper::addConstraintSparsityPattern(const iDynTree::MatrixFixSize<nRows, nCols>& newConstraint)
     {
-        return addConstraintSparsityPattern(newConstraint, {0, newConstraint.rows()});
+        return addConstraintSparsityPattern(newConstraint, {0, static_cast<ptrdiff_t>(newConstraint.rows())});
     }
 
     bool SparsityHelper::addConstraintSparsityPattern(const iDynTree::MatrixDynSize& newConstraint,
@@ -1226,15 +1226,15 @@ void InverseKinematicsNLP::addSparsityInformationForConstraint(int constraintID,
                     iDynTree::toEigen(comInfo.projectedComJacobian) =
                             iDynTree::toEigen(m_data.m_comHullConstraint.A) * iDynTree::toEigen(m_data.m_comHullConstraint.Pdirection) * iDynTree::toEigen(comInfo.comJacobianAnalytical);
 
-                    m_jacobianSparsityHelper.assignActualMatrixValues({constraintIndex, comInfo.projectedComJacobian.rows()},
+                    m_jacobianSparsityHelper.assignActualMatrixValues({constraintIndex, static_cast<ptrdiff_t>(comInfo.projectedComJacobian.rows())},
                                                                       comInfo.projectedComJacobian, 0,
                                                                       values);
 
                     constraintIndex += comInfo.projectedComJacobian.rows();
                 }
 
                 if (m_data.isCoMTargetActive()) {
-                    m_jacobianSparsityHelper.assignActualMatrixValues({constraintIndex, comInfo.comJacobianAnalytical.rows()},
+                    m_jacobianSparsityHelper.assignActualMatrixValues({constraintIndex, static_cast<ptrdiff_t>(comInfo.comJacobianAnalytical.rows())},
                                                                       comInfo.comJacobianAnalytical, 0,
                                                                       values);
                     constraintIndex += 3;