From 14b1763a3502d41176d836258e8b08f7e81a92fb Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Fri, 23 Jun 2023 09:37:00 +0200
Subject: [PATCH] Use dynamicgraph::size_type instead of int.

---
 src/roscontrol-sot-controller.cpp | 4 ++--
 tests/sot-test-controller.cpp     | 2 +-
 tests/sot-test-controller.hh      | 3 ++-
 3 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/src/roscontrol-sot-controller.cpp b/src/roscontrol-sot-controller.cpp
index 561a241..5650bbd 100644
--- a/src/roscontrol-sot-controller.cpp
+++ b/src/roscontrol-sot-controller.cpp
@@ -61,7 +61,7 @@ using namespace rc_sot_system;
 namespace sot_controller {
 typedef std::map<std::string, std::string>::iterator it_map_rt_to_sot;
 typedef std::map<std::string, std::string>::iterator it_control_mode;
-
+typedef dynamicgraph::size_type size_type;
 ControlPDMotorControlData::ControlPDMotorControlData() {}
 
 void ControlPDMotorControlData::read_from_xmlrpc_value(
@@ -171,7 +171,7 @@ bool RCSotController::initRequest(lhi::RobotHW *robot_hw,
   ROS_WARN("initRequest 4");
   /// Create SoT
   SotLoaderBasic::Initialization();
-  sotController_->setControlSize((int)joints_name_.size());
+  sotController_->setControlSize((size_type)joints_name_.size());
   ROS_WARN("initRequest 5");
   return true;
 }
diff --git a/tests/sot-test-controller.cpp b/tests/sot-test-controller.cpp
index 54e44bb..19d7886 100644
--- a/tests/sot-test-controller.cpp
+++ b/tests/sot-test-controller.cpp
@@ -101,7 +101,7 @@ void SoTTestController::getControl(
   }
 }
 
-void SoTTestController::setControlSize(const int &size) {
+void SoTTestController::setControlSize(const size_type &size) {
   device_->setControlSize(size);
 }
 
diff --git a/tests/sot-test-controller.hh b/tests/sot-test-controller.hh
index 87efea0..8f11e94 100644
--- a/tests/sot-test-controller.hh
+++ b/tests/sot-test-controller.hh
@@ -25,6 +25,7 @@ namespace dgsot = dynamicgraph::sot;
 
 class SoTTestController : public dgsot::AbstractSotExternalInterface {
  public:
+  typedef dynamicgraph::size_type size_type;
   static const std::string LOG_PYTHON;
 
   SoTTestController();
@@ -41,7 +42,7 @@ class SoTTestController : public dgsot::AbstractSotExternalInterface {
   void getControl(std::map<std::string, dgsot::ControlValues> &anglesOut,
                   const double &period);
 
-  void setControlSize(const int &size);
+  void setControlSize(const size_type &size);
   void initialize();
   void setNoIntegration(void);
   void setSecondOrderIntegration(void);