From 8853d8ecf459e7092e594875d5d2b92f860f672d Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Fri, 16 Jun 2023 14:16:16 +0200
Subject: [PATCH 1/2] Use int64_t as type for signal time.

---
 src/device.cc |  2 +-
 src/device.hh | 12 +++++++-----
 2 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/src/device.cc b/src/device.cc
index 3facc49..84c41b4 100644
--- a/src/device.cc
+++ b/src/device.cc
@@ -90,7 +90,7 @@ void SoTRobotArmDevice::setSensors(map<string,SensorValues> &SensorsIn)
 {
   sotDEBUGIN(25) ;
   map<string,SensorValues>::iterator it;
-  int t = stateSOUT.getTime () + 1;
+  sigtime_t t = stateSOUT.getTime () + 1;
   bool setRobotState = false;
 
   it = SensorsIn.find("forces");
diff --git a/src/device.hh b/src/device.hh
index 2ee29eb..eeccb7a 100644
--- a/src/device.hh
+++ b/src/device.hh
@@ -39,6 +39,7 @@ using dynamicgraph::sot::SensorValues;
 class SoTRobotArmDevice : public dynamicgraph::sot::Device
 {
 public:
+  typedef dynamicgraph::sigtime_t sigtime_t;
   static const std::string CLASS_NAME;
   static const double TIMESTEP_DEFAULT;
 
@@ -79,9 +80,9 @@ protected:
   dynamicgraph::Vector previousState_;
 
   /// proportional and derivative position-control gains
-  dynamicgraph::Signal <dynamicgraph::Vector, int> p_gainsSOUT_;
+  dynamicgraph::Signal <dynamicgraph::Vector, sigtime_t> p_gainsSOUT_;
 
-  dynamicgraph::Signal <dynamicgraph::Vector, int> d_gainsSOUT_;
+  dynamicgraph::Signal <dynamicgraph::Vector, sigtime_t> d_gainsSOUT_;
 
   /// Intermediate variables to avoid allocation during control
   dynamicgraph::Vector dgforces_;
@@ -99,6 +100,7 @@ protected:
 class DeviceToDynamic : public dynamicgraph::Entity
 {
 public:
+  typedef dynamicgraph::sigtime_t sigtime_t;
   static const std::string CLASS_NAME;
   DeviceToDynamic(const std::string& name) :
     dynamicgraph::Entity(name), sinSIN(0x0, "DeviceToDynamic("+name+")::input(vector)::sin"),
@@ -112,14 +114,14 @@ public:
     inputSize_ = size;
   }
 private:
-  dynamicgraph::Vector& compute(dynamicgraph::Vector& res, int time)
+  dynamicgraph::Vector& compute(dynamicgraph::Vector& res, sigtime_t time)
   {
     res.head<7>() = sinSIN(time);
     res[7] = 0;
     return res;
   }
-  dynamicgraph::SignalPtr<dynamicgraph::Vector, int> sinSIN;
-  dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, int> soutSOUT;
+  dynamicgraph::SignalPtr<dynamicgraph::Vector, sigtime_t> sinSIN;
+  dynamicgraph::SignalTimeDependent<dynamicgraph::Vector, sigtime_t> soutSOUT;
   int inputSize_;
 };
 

From 5ace0624d014075567bcaa1c68dad64abc1bb9b5 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Fri, 23 Jun 2023 09:38:19 +0200
Subject: [PATCH 2/2] Use dynamicgraph::size_type instead of int.

---
 src/controller.cc | 2 +-
 src/controller.hh | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/controller.cc b/src/controller.cc
index 115b562..40e8eab 100644
--- a/src/controller.cc
+++ b/src/controller.cc
@@ -110,7 +110,7 @@ SoTRobotArmController::~SoTRobotArmController()
 {
 }
 
-void SoTRobotArmController::setControlSize(const int& size)
+void SoTRobotArmController::setControlSize(const size_type& size)
 {
   device_->setControlSize(size);
 }
diff --git a/src/controller.hh b/src/controller.hh
index c3dd627..7735deb 100644
--- a/src/controller.hh
+++ b/src/controller.hh
@@ -38,7 +38,7 @@ using dynamicgraph::sot::AbstractSotExternalInterface;
 using dynamicgraph::sot::Device;
 using dynamicgraph::sot::ControlValues;
 using dynamicgraph::sot::SensorValues;
-
+using dynamicgraph::size_type;
 
 class SoTRobotArmController: public AbstractSotExternalInterface
 {
@@ -63,7 +63,7 @@ class SoTRobotArmController: public AbstractSotExternalInterface
   void setSecondOrderIntegration(void);
 
   // Set the number of joints that are controlled
-  virtual void setControlSize(const int& size);
+  virtual void setControlSize(const size_type& size);
 
   // Run some python commands that cannot be run at construction
   virtual void initializePython();