From 945e76d915cb640853db406f8d79a50ab49e18fc Mon Sep 17 00:00:00 2001
From: howetuft <howetuft@gmail.com>
Date: Thu, 15 Aug 2019 17:10:23 +0200
Subject: [PATCH] [Robot] treeiksolvervel_wdls.cpp: Fix compil warns

"Warning: comparison between signed and unsigned integer expressions [-Wsign-compare]"
Changed 'unsigned int' into 'Eigen::Index' type for several loop indexes...
---
 src/Mod/Robot/App/kdl_cp/treeiksolvervel_wdls.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/Mod/Robot/App/kdl_cp/treeiksolvervel_wdls.cpp b/src/Mod/Robot/App/kdl_cp/treeiksolvervel_wdls.cpp
index 924566ab86..52639edecd 100644
--- a/src/Mod/Robot/App/kdl_cp/treeiksolvervel_wdls.cpp
+++ b/src/Mod/Robot/App/kdl_cp/treeiksolvervel_wdls.cpp
@@ -89,9 +89,9 @@ namespace KDL {
         Wq_V.noalias() = Wq * V;
         
         // tmp = (Si*Wy*U'*y),
-        for (unsigned int i = 0; i < J.cols(); i++) {
+        for (Eigen::Index i = 0; i < J.cols(); i++) {
             double sum = 0.0;
-            for (unsigned int j = 0; j < J.rows(); j++) {
+            for (Eigen::Index j = 0; j < J.rows(); j++) {
                 if (i < Wy_t.rows())
                     sum += U(j, i) * Wy_t(j);
                 else