Use size_t for index variables

moveit_core/robot_model/include/moveit/robot_model/joint_model.h

@@ -83,7 +83,7 @@ class LinkModel;
 class JointModel;
 
 /** \brief Data type for holding mappings from variable names to their position in a state vector */
-typedef std::map<std::string, int> VariableIndexMap;
+typedef std::map<std::string, size_t> VariableIndexMap;
 
 /** \brief Data type for holding mappings from variable names to their bounds */
 using VariableBoundsMap = std::map<std::string, VariableBounds>;
@@ -200,31 +200,31 @@ class JointModel
   }
 
   /** \brief Get the index of this joint's first variable within the full robot state */
-  int getFirstVariableIndex() const
+  size_t getFirstVariableIndex() const
   {
     return first_variable_index_;
   }
 
   /** \brief Set the index of this joint's first variable within the full robot state */
-  void setFirstVariableIndex(int index)
+  void setFirstVariableIndex(size_t index)
   {
     first_variable_index_ = index;
   }
 
   /** \brief Get the index of this joint within the robot model */
-  int getJointIndex() const
+  size_t getJointIndex() const
   {
     return joint_index_;
   }
 
   /** \brief Set the index of this joint within the robot model */
-  void setJointIndex(int index)
+  void setJointIndex(size_t index)
   {
     joint_index_ = index;
   }
 
   /** \brief Get the index of the variable within this joint */
-  int getLocalVariableIndex(const std::string& variable) const;
+  size_t getLocalVariableIndex(const std::string& variable) const;
 
   /** @} */
 
@@ -514,10 +514,10 @@ class JointModel
   double distance_factor_;
 
   /** \brief The index of this joint's first variable, in the complete robot state */
-  int first_variable_index_;
+  size_t first_variable_index_;
 
   /** \brief Index for this joint in the array of joints of the complete model */
-  int joint_index_;
+  size_t joint_index_;
 };
 
 /** \brief Operator overload for printing variable bounds to a stream */

moveit_core/robot_model/include/moveit/robot_model/link_model.h

@@ -83,12 +83,12 @@ class LinkModel
   }
 
   /** \brief The index of this joint when traversing the kinematic tree in depth first fashion */
-  int getLinkIndex() const
+  size_t getLinkIndex() const
   {
     return link_index_;
   }
 
-  void setLinkIndex(int index)
+  void setLinkIndex(size_t index)
   {
     link_index_ = index;
   }
@@ -282,7 +282,7 @@ class LinkModel
   int first_collision_body_transform_index_;
 
   /** \brief Index of the transform for this link in the full robot frame */
-  int link_index_;
+  size_t link_index_;
 };
 }  // namespace core
 }  // namespace moveit

moveit_core/robot_model/include/moveit/robot_model/robot_model.h

@@ -444,7 +444,7 @@ class RobotModel
                                std::vector<std::string>& missing_variables) const;
 
   /** \brief Get the index of a variable in the robot state */
-  int getVariableIndex(const std::string& variable) const;
+  size_t getVariableIndex(const std::string& variable) const;
 
   /** \brief Get the deepest joint in the kinematic tree that is a common parent of both joints passed as argument */
   const JointModel* getCommonRoot(const JointModel* a, const JointModel* b) const

moveit_core/robot_model/src/joint_model.cpp

@@ -54,8 +54,8 @@ JointModel::JointModel(const std::string& name)
   , mimic_offset_(0.0)
   , passive_(false)
   , distance_factor_(1.0)
-  , first_variable_index_(-1)
-  , joint_index_(-1)
+  , first_variable_index_(0)
+  , joint_index_(0)
 {
 }
 
@@ -82,7 +82,7 @@ std::string JointModel::getTypeName() const
   }
 }
 
-int JointModel::getLocalVariableIndex(const std::string& variable) const
+size_t JointModel::getLocalVariableIndex(const std::string& variable) const
 {
   VariableIndexMap::const_iterator it = variable_index_map_.find(variable);
   if (it == variable_index_map_.end())

moveit_core/robot_model/src/link_model.cpp

@@ -51,7 +51,7 @@ LinkModel::LinkModel(const std::string& name)
   , is_parent_joint_fixed_(false)
   , joint_origin_transform_is_identity_(true)
   , first_collision_body_transform_index_(-1)
-  , link_index_(-1)
+  , link_index_(0)
 {
   joint_origin_transform_.setIdentity();
 }

moveit_core/robot_model/src/robot_model.cpp

@@ -1349,7 +1349,7 @@ void RobotModel::getMissingVariableNames(const std::vector<std::string>& variabl
         missing_variables.push_back(variable_name);
 }
 
-int RobotModel::getVariableIndex(const std::string& variable) const
+size_t RobotModel::getVariableIndex(const std::string& variable) const
 {
   VariableIndexMap::const_iterator it = joint_variables_index_map_.find(variable);
   if (it == joint_variables_index_map_.end())

moveit_core/robot_model/test/test.cpp

@@ -71,13 +71,13 @@ TEST_F(LoadPlanningModelsPr2, Model)
   const std::vector<const moveit::core::JointModel*>& joints = robot_model_->getJointModels();
   for (std::size_t i = 0; i < joints.size(); ++i)
   {
-    ASSERT_EQ(joints[i]->getJointIndex(), static_cast<int>(i));
+    ASSERT_EQ(joints[i]->getJointIndex(), i);
     ASSERT_EQ(robot_model_->getJointModel(joints[i]->getName()), joints[i]);
   }
   const std::vector<const moveit::core::LinkModel*>& links = robot_model_->getLinkModels();
   for (std::size_t i = 0; i < links.size(); ++i)
   {
-    ASSERT_EQ(links[i]->getLinkIndex(), static_cast<int>(i));
+    ASSERT_EQ(links[i]->getLinkIndex(), i);
   }
   moveit::tools::Profiler::Status();
 }