Add static_cast to tf2_bullet

bullet uses floats, which causes narrowing warnings
ros2 · Apr 6, 2021 · 3278ca2 · 3278ca2
1 parent a336830
commit 3278ca2
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Showing 2 changed files with 15 additions and 7 deletions.
diff --git a/tf2/include/tf2/impl/convert.h b/tf2/include/tf2/impl/convert.h
@@ -508,8 +508,9 @@ struct StampedAttributesHelper<tf2::WithCovarianceStamped<T>>
  *
  * \tparam VectorType Datatype of the Vector.
  * \tparam Message Message type, like geometry_msgs::msg::Vector3.
+ * \tparam VectorMemberType Type of the <tt>x, y</tt> and \c z variables of the vector
  */
-template<class VectorType, class Message>
+template<class VectorType, class Message, typename VectorMemberType = double>
 struct DefaultVectorConversionImplementation
 {
   /** \brief Convert a vector type to a vector-like message.
@@ -529,16 +530,20 @@ struct DefaultVectorConversionImplementation
    */
   static void fromMsg(const Message & msg, VectorType & out)
   {
-    out = VectorType(msg.x, msg.y, msg.z);
+    // cast to suppress narrowing warning
+    out = VectorType(
+      static_cast<VectorMemberType>(msg.x), static_cast<VectorMemberType>(msg.y),
+      static_cast<VectorMemberType>(msg.z));
   }
 };
 
 /** \brief Generic conversion of a quaternion and
  * a geometry_msgs::msg::Quaternion message.
  *
  * \tparam QuaternionType Datatype of the Vector.
+ * \tparam QuaternionMemberType Type of the <tt>x, y, z</tt> and \c w variables of the quaternion
  */
-template<class QuaternionType>
+template<class QuaternionType, typename QuaternionMemberType = double>
 struct DefaultQuaternionConversionImplementation
 {
   /** \brief Convert a quaternion type to a Quaternion message.
@@ -559,7 +564,10 @@ struct DefaultQuaternionConversionImplementation
    */
   static void fromMsg(const geometry_msgs::msg::Quaternion & msg, QuaternionType & out)
   {
-    out = QuaternionType(msg.x, msg.y, msg.z, msg.w);
+    // cast to suppress narrowing warning
+    out = QuaternionType(
+      static_cast<QuaternionMemberType>(msg.x), static_cast<QuaternionMemberType>(msg.y),
+      static_cast<QuaternionMemberType>(msg.z), static_cast<QuaternionMemberType>(msg.w));
   }
 };
 

diff --git a/tf2_bullet/include/tf2_bullet/tf2_bullet.h b/tf2_bullet/include/tf2_bullet/tf2_bullet.h
@@ -79,21 +79,21 @@ struct DefaultMessageForDatatype<btTransform>
 /// \brief Conversion implementation for geometry_msgs::msg::Point and btVector3.
 template<>
 struct ConversionImplementation<btVector3, geometry_msgs::msg::Point>
-  : DefaultVectorConversionImplementation<btVector3, geometry_msgs::msg::Point>
+  : DefaultVectorConversionImplementation<btVector3, geometry_msgs::msg::Point, btScalar>
 {
 };
 
 /// \brief Conversion implementation for geometry_msgs::msg::Vector3 and btVector3.
 template<>
 struct ConversionImplementation<btVector3, geometry_msgs::msg::Vector3>
-  : DefaultVectorConversionImplementation<btVector3, geometry_msgs::msg::Vector3>
+  : DefaultVectorConversionImplementation<btVector3, geometry_msgs::msg::Vector3, btScalar>
 {
 };
 
 /// \brief Conversion implementation for geometry_msgs::msg::Quaternion and Eigen::Quaterniond.
 template<>
 struct ConversionImplementation<btQuaternion, geometry_msgs::msg::Quaternion>
-  : DefaultQuaternionConversionImplementation<btQuaternion> {};
+  : DefaultQuaternionConversionImplementation<btQuaternion, btScalar> {};
 
 /// \brief Conversion implementation for geometry_msgs::msg::Transform and btTransform.
 template<>