Rationalize usage of integers

  - Except at a few places, int have been replaced by dynamic_graph::size_type,
    also known as Eigen::Matrix::Index.
  - unsigned int have been replaced by std::size_t.

Author: florent-lamiraux

include/sot/core/abstract-sot-external-interface.hh

@@ -11,6 +11,7 @@
 
 #include <map>
 #include <sot/core/api.hh>
+#include <sot/core/fwd.hh>
 #include <string>
 #include <vector>
 
@@ -61,7 +62,7 @@ class SOT_CORE_EXPORT AbstractSotExternalInterface {
   virtual void setSecondOrderIntegration(void) = 0;
   virtual void setNoIntegration(void) = 0;
   // Set the number of joints that are controlled
-  virtual void setControlSize(const int &) = 0;
+  virtual void setControlSize(const size_type &) = 0;
 };
 }  // namespace sot
 }  // namespace dynamicgraph

include/sot/core/admittance-control-op-point.hh

@@ -108,7 +108,7 @@ class ADMITTANCECONTROLOPPOINT_EXPORT AdmittanceControlOpPoint
 
  protected:
   /// Dimension of the force signals and of the output
-  int m_n;
+  size_type m_n;
   /// True if the entity has been successfully initialized
   bool m_initSucceeded;
   /// Internal state

include/sot/core/causal-filter.hh

@@ -19,7 +19,7 @@
 /* --------------------------------------------------------------------- */
 /* --- INCLUDE --------------------------------------------------------- */
 /* --------------------------------------------------------------------- */
-#include <Eigen/Core>
+#include <sot/core/fwd.hh>
 
 /** \addtogroup Filters
     \section subsec_causalfilter CausalFilter
@@ -54,7 +54,7 @@ class CausalFilter {
 
       xSize is
   */
-  CausalFilter(const double &timestep, const int &xSize,
+  CausalFilter(const double &timestep, const size_type &xSize,
                const Eigen::VectorXd &filter_numerator,
                const Eigen::VectorXd &filter_denominator);
 
@@ -68,7 +68,7 @@ class CausalFilter {
   /// sampling timestep of the input signal
   double m_dt;
   /// Size
-  int m_x_size;
+  size_type m_x_size;
   /// Size of the numerator \f$m\f$
   Eigen::VectorXd::Index m_filter_order_m;
   /// Size of the denominator \f$n\f$
@@ -80,8 +80,8 @@ class CausalFilter {
   Eigen::VectorXd m_filter_denominator;
   bool m_first_sample;
   ///
-  int m_pt_numerator;
-  int m_pt_denominator;
+  size_type m_pt_numerator;
+  size_type m_pt_denominator;
   Eigen::MatrixXd m_input_buffer;
   Eigen::MatrixXd m_output_buffer;
 };  // class CausalFilter

include/sot/core/clamp-workspace.hh

@@ -89,7 +89,7 @@ class SOTCLAMPWORKSPACE_EXPORT ClampWorkspace : public dynamicgraph::Entity {
   double dm_max_yaw;
   double theta_min;
   double theta_max;
-  int mode;
+  size_type mode;
 
   enum { FRAME_POINT, FRAME_REF } frame;
 

include/sot/core/contiifstream.hh

@@ -36,7 +36,7 @@ class SOT_CORE_EXPORT Contiifstream {
  protected:
   std::string filename;
   std::streamoff cursor;
-  static const unsigned int BUFFER_SIZE = 256;
+  static const std::size_t BUFFER_SIZE = 256;
   char buffer[BUFFER_SIZE];
   std::list<std::string> reader;
   bool first;

include/sot/core/control-gr.hh

@@ -72,7 +72,7 @@ class ControlGR_EXPORT ControlGR : public Entity {
   SignalTimeDependent<dynamicgraph::Vector, sigtime_t> controlSOUT;
 
  protected:
-  double &setsize(int dimension);
+  double &setsize(size_type dimension);
   dynamicgraph::Vector &computeControl(dynamicgraph::Vector &tau, sigtime_t t);
 };
 

include/sot/core/debug.hh

@@ -15,6 +15,7 @@
 #include <sstream>
 
 #include "sot/core/api.hh"
+#include "sot/core/fwd.hh"
 
 #ifndef VP_DEBUG_MODE
 #define VP_DEBUG_MODE 0
@@ -37,17 +38,17 @@ namespace dynamicgraph {
 namespace sot {
 class SOT_CORE_EXPORT DebugTrace {
  public:
-  static const int SIZE = 512;
+  static const size_type SIZE = 512;
 
   std::stringstream tmpbuffer;
   std::ostream &outputbuffer;
   char charbuffer[SIZE + 1];
-  int traceLevel;
-  int traceLevelTemplate;
+  size_type traceLevel;
+  size_type traceLevelTemplate;
 
   DebugTrace(std::ostream &os) : outputbuffer(os) {}
 
-  inline void trace(const int level, const char *format, ...) {
+  inline void trace(const size_type level, const char *format, ...) {
     if (level <= traceLevel) SOT_COMMON_TRACES;
     tmpbuffer.str("");
   }
@@ -57,12 +58,12 @@ class SOT_CORE_EXPORT DebugTrace {
     tmpbuffer.str("");
   }
 
-  inline void trace(const int level = -1) {
+  inline void trace(const size_type level = -1) {
     if (level <= traceLevel) outputbuffer << tmpbuffer.str();
     tmpbuffer.str("");
   }
 
-  inline void traceTemplate(const int level, const char *format, ...) {
+  inline void traceTemplate(const size_type level, const char *format, ...) {
     if (level <= traceLevelTemplate) SOT_COMMON_TRACES;
     tmpbuffer.str("");
   }
@@ -74,7 +75,7 @@ class SOT_CORE_EXPORT DebugTrace {
 
   inline DebugTrace &pre(const std::ostream &) { return *this; }
 
-  inline DebugTrace &pre(const std::ostream &, int level) {
+  inline DebugTrace &pre(const std::ostream &, size_type level) {
     traceLevel = level;
     return *this;
   }
@@ -150,9 +151,11 @@ SOT_CORE_EXPORT extern DebugTrace sotERRORFLOW;
 
 namespace dynamicgraph {
 namespace sot {
-inline bool sotDEBUG_ENABLE(const int &level) { return level <= VP_DEBUG_MODE; }
+inline bool sotDEBUG_ENABLE(const size_type &level) {
+  return level <= VP_DEBUG_MODE;
+}
 
-inline bool sotTDEBUG_ENABLE(const int &level) {
+inline bool sotTDEBUG_ENABLE(const size_type &level) {
   return level <= VP_TEMPLATE_DEBUG_MODE;
 }
 }  // namespace sot
@@ -176,9 +179,9 @@ inline bool sotTDEBUG_ENABLE(const int &level) {
 
 namespace dynamicgraph {
 namespace sot {
-inline void sotDEBUGF(const int, const char *, ...) {}
+inline void sotDEBUGF(const size_type, const char *, ...) {}
 inline void sotDEBUGF(const char *, ...) {}
-inline void sotERRORF(const int, const char *, ...) {}
+inline void sotERRORF(const size_type, const char *, ...) {}
 inline void sotERRORF(const char *, ...) {}
 inline std::ostream &__null_stream() {
   // This function should never be called. With -O3,
@@ -198,7 +201,7 @@ inline std::ostream &__null_stream() {
 
 namespace dynamicgraph {
 namespace sot {
-inline void sotTDEBUGF(const int, const char *, ...) {}
+inline void sotTDEBUGF(const size_type, const char *, ...) {}
 inline void sotTDEBUGF(const char *, ...) {}
 }  // namespace sot
 }  // namespace dynamicgraph

include/sot/core/device.hh

@@ -80,13 +80,13 @@ class SOT_CORE_EXPORT Device : public Entity {
   /* --- DESTRUCTION --- */
   virtual ~Device();
 
-  virtual void setStateSize(const unsigned int &size);
+  virtual void setStateSize(const size_type &size);
   // Set number of joints that are controlled by the device.
-  void setControlSize(const int &size);
+  void setControlSize(const size_type &size);
   // Get the number of joints that are controlled by the device.
-  int getControlSize() const;
+  size_type getControlSize() const;
   virtual void setState(const dynamicgraph::Vector &st);
-  void setVelocitySize(const unsigned int &size);
+  void setVelocitySize(const size_type &size);
   virtual void setVelocity(const dynamicgraph::Vector &vel);
   virtual void setSecondOrderIntegration();
   virtual void setNoIntegration();
@@ -151,7 +151,7 @@ class SOT_CORE_EXPORT Device : public Entity {
 
  private:
   sigtime_t lastTimeControlWasRead_;
-  int controlSize_;
+  size_type controlSize_;
   // Intermediate variable to avoid dynamic allocation
   dynamicgraph::Vector forceZero6;
 };

include/sot/core/exception-abstract.hh

@@ -20,6 +20,7 @@
 #include <string>  /* Classe string.     */
 
 #include "sot/core/api.hh"
+#include <sot/core/fwd.hh>
 
 // Uncomment this macros to have lines parameter on the throw display
 // #define SOT_EXCEPTION_PASSING_PARAM
@@ -55,7 +56,7 @@ class SOT_CORE_EXPORT ExceptionAbstract : public std::exception {
  protected:
   /** Error code.
    * \sa ErrorCodeEnum */
-  int code;
+  size_type code;
 
   /**  Error message (can be empty). */
   std::string message;
@@ -65,11 +66,11 @@ class SOT_CORE_EXPORT ExceptionAbstract : public std::exception {
   ExceptionAbstract(void);
 
  public:
-  ExceptionAbstract(const int &code, const std::string &msg = "");
+  ExceptionAbstract(const size_type &code, const std::string &msg = "");
   virtual ~ExceptionAbstract(void) throw() {}
 
   /**  Access to the error code. */
-  int getCode(void);
+  size_type getCode(void);
 
   /** Reference access to the error message (can be empty). */
   const std::string &getStringMessage(void);
@@ -88,17 +89,17 @@ class SOT_CORE_EXPORT ExceptionAbstract : public std::exception {
  public:
   class Param {
    public:
-    static const int BUFFER_SIZE = 80;
+    static const size_type BUFFER_SIZE = 80;
 
     const char *functionPTR;
     char function[BUFFER_SIZE];
-    int line;
+    size_type line;
     const char *filePTR;
     char file[BUFFER_SIZE];
     bool pointersSet, set;
 
    public:
-    Param(const int &_line, const char *_function, const char *_file);
+    Param(const size_type &_line, const char *_function, const char *_file);
     Param(void) : pointersSet(false), set(false) {}
     Param &initCopy(const Param &p);
   };

include/sot/core/exp-moving-avg.hh

@@ -35,7 +35,7 @@ class SOT_CORE_DLLAPI ExpMovingAvg : public Entity {
 
  public:
   SignalPtr<dynamicgraph::Vector, sigtime_t> updateSIN;
-  SignalTimeDependent<int, sigtime_t> refresherSINTERN;
+  SignalTimeDependent<size_type, sigtime_t> refresherSINTERN;
   SignalTimeDependent<dynamicgraph::Vector, sigtime_t> averageSOUT;
 
  public: