Commit 0ad42ea6 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Move SupportState_t to privatepgtypes.h

Reinforce policy to not externalize internal types.
This will help contributors by allowing internal
changes without impacting users.
parent 263173f1
......@@ -169,14 +169,5 @@ namespace PatternGeneratorJRL
};
typedef struct ReferenceAbsoluteVelocity_t ReferenceAbsoluteVelocity;
// State of the support
struct SupportState_s
{
int Phase, Foot, StepsLeft, StepNumber;
bool SSSS, StateChanged;
double TimeLimit;
};
typedef struct SupportState_s SupportState_t;
};
#endif
......@@ -43,12 +43,14 @@
#include <PGTypes.h>
#include <privatepgtypes.h>
#include <Mathematics/ConvexHull.h>
#include <SimplePlugin.h>
#include <PreviewControl/SupportFSM.h>
namespace PatternGeneratorJRL
{
/*! This class generates matrix representation of linear
constraint based on foot position.
It handles a stack of constraint on a sliding mode
......
......@@ -28,6 +28,7 @@
#define _SUPPORT_FSM_
#include <walkGenJrl/PGTypes.h>
#include <privatepgtypes.h>
namespace PatternGeneratorJRL
{
......
......@@ -45,6 +45,7 @@
namespace PatternGeneratorJRL
{
class ZMPDiscretization;
class ZMPVelocityReferencedQP : public ZMPRefTrajectoryGeneration
{
......
/*
* Copyright 2010,
*
* Olivier Stasse
*
* JRL, CNRS/AIST
*
* This file is part of walkGenJrl.
* walkGenJrl is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* walkGenJrl is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Lesser Public License for more details.
* You should have received a copy of the GNU Lesser General Public License
* along with walkGenJrl. If not, see <http://www.gnu.org/licenses/>.
*
* Research carried out within the scope of the
* Joint Japanese-French Robotics Laboratory (JRL)
*/
/*! \file PGTypes.h
\brief Defines basic types for the Humanoid Walking Pattern Generator.
*/
#ifndef _PATTERN_GENERATOR_INTERNAL_PRIVATE_H_
#define _PATTERN_GENERATOR_INTERNAL_PRIVATE_H_
// For Windows compatibility.
#if defined (WIN32)
# ifdef walkGenJrl_EXPORTS
# define WALK_GEN_JRL_EXPORT __declspec(dllexport)
# else
# define WALK_GEN_JRL_EXPORT __declspec(dllimport)
# endif
#else
# define WALK_GEN_JRL_EXPORT
#endif
namespace PatternGeneratorJRL
{
// State of the support
struct SupportState_s
{
int Phase, Foot, StepsLeft, StepNumber;
bool SSSS, StateChanged;
double TimeLimit;
};
typedef struct SupportState_s SupportState_t;
};
#endif /* _PATTERN_GENERATOR_INTERNAL_PRIVATE_H_ */
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