From f4feb110f76a75895c04aab296cd500b66a4af02 Mon Sep 17 00:00:00 2001
From: Angelo <angelo.rendiniello@iit.it>
Date: Wed, 21 Nov 2018 07:36:08 +0100
Subject: [PATCH] Fix compilation on Windows 32-bit

---
 .../include/iDynTree/InverseKinematics.h                  | 2 +-
 src/inverse-kinematics/src/InverseKinematicsNLP.cpp       | 8 ++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/inverse-kinematics/include/iDynTree/InverseKinematics.h b/src/inverse-kinematics/include/iDynTree/InverseKinematics.h
index 1ef18c9ec11..46e32c393c5 100644
--- 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
index 6399753943b..95833d31e6c 100644
--- 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,
@@ -1226,7 +1226,7 @@ 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);
 
@@ -1234,7 +1234,7 @@ void InverseKinematicsNLP::addSparsityInformationForConstraint(int constraintID,
                 }
                 
                 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;