From d85733b4d425279b02be30e7eec8a4d658f98099 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Thu, 18 Apr 2019 11:35:09 +0200
Subject: [PATCH] Use static instead of c-cast
---
.../examples/GraspPlanner/GraspPlannerWindow.cpp | 16 ++++++++--------
1 file changed, 8 insertions(+), 8 deletions(-)
diff --git a/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp b/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp
index cd16bcd68..f978bf729 100644
--- a/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp
+++ b/GraspPlanning/examples/GraspPlanner/GraspPlannerWindow.cpp
@@ -367,7 +367,7 @@ void GraspPlannerWindow::plan()
float timeout = UI.spinBoxTimeOut->value() * 1000.0f;
bool forceClosure = UI.checkBoxFoceClosure->isChecked();
- float quality = (float)UI.doubleSpinBoxQuality->value();
+ float quality = static_cast<float>(UI.doubleSpinBoxQuality->value());
int nrGrasps = UI.spinBoxGraspNumber->value();
if (planner)
{
@@ -380,7 +380,7 @@ void GraspPlannerWindow::plan()
int nr = planner->plan(nrGrasps, timeout);
VR_INFO << " Grasp planned:" << nr << endl;
- int start = (int)grasps->getSize() - nrGrasps - 1;
+ int start = static_cast<int>(grasps->getSize()) - nrGrasps - 1;
if (start < 0)
{
@@ -389,7 +389,7 @@ void GraspPlannerWindow::plan()
grasps->setPreshape(preshape);
- for (int i = start; i < (int)grasps->getSize() - 1; i++)
+ for (int i = start; i < static_cast<int>(grasps->getSize()) - 1; i++)
{
Eigen::Matrix4f m = grasps->getGrasp(i)->getTcpPoseGlobal(object->getGlobalPose());
SoSeparator* sep1 = new SoSeparator();
@@ -609,8 +609,8 @@ void GraspPlannerWindow::planObjectBatch()
continue;
}
VR_INFO << "Grasp " << graspSum << "/" << planner->getPlannedGrasps().size() << std::endl;
- histogramFC.at(std::min<int>((int)(result.forceClosureRate * bins), bins - 1))++;
- histogramFCWithCollisions.at(std::min<int>((int)((double)(result.numForceClosurePoses) / result.numPosesTested * bins), bins - 1))++;
+ histogramFC.at(std::min<int>(static_cast<int>(result.forceClosureRate * bins), bins - 1))++;
+ histogramFCWithCollisions.at(std::min<int>(static_cast<int>(static_cast<double>(result.numForceClosurePoses) / result.numPosesTested * bins), bins - 1))++;
avgRate += result.avgQuality;
avgForceClosureRate += result.forceClosureRate;
avgRateCol += result.avgQualityCol;
@@ -630,13 +630,13 @@ void GraspPlannerWindow::planObjectBatch()
int i = 0;
for (auto bin : histogramFC)
{
- fs << ", " << (double)(bin) / graspSum;
- cout << i << ": " << bin << ", " << graspSum << ", " << (double)(bin) / graspSum << std::endl;
+ fs << ", " << static_cast<double>(bin) / graspSum;
+ cout << i << ": " << bin << ", " << graspSum << ", " << static_cast<double>(bin) / graspSum << std::endl;
i++;
}
for (auto bin : histogramFCWithCollisions)
{
- fs << ", " << (double)(bin) / graspSum;
+ fs << ", " << static_cast<double>(bin) / graspSum;
}
fs << std::endl;
}
--
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