From 0ad42ea6eeacf693a766ac1a3d76f10ffa8346e1 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <Olivier.stasse@aist.go.jp>
Date: Thu, 28 Oct 2010 08:09:15 +0900
Subject: [PATCH] Move SupportState_t to privatepgtypes.h
Reinforce policy to not externalize internal types.
This will help contributors by allowing internal
changes without impacting users.
---
include/walkGenJrl/PGTypes.h | 9 ----
.../FootConstraintsAsLinearSystemForVelRef.h | 2 +
src/PreviewControl/SupportFSM.h | 1 +
.../ZMPVelocityReferencedQP.h | 1 +
src/privatepgtypes.h | 54 +++++++++++++++++++
5 files changed, 58 insertions(+), 9 deletions(-)
create mode 100644 src/privatepgtypes.h
diff --git a/include/walkGenJrl/PGTypes.h b/include/walkGenJrl/PGTypes.h
index f35cb63f..ca8e01e3 100644
--- a/include/walkGenJrl/PGTypes.h
+++ b/include/walkGenJrl/PGTypes.h
@@ -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
diff --git a/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.h b/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.h
index e7e5f2a3..95239f1c 100644
--- a/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.h
+++ b/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.h
@@ -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
diff --git a/src/PreviewControl/SupportFSM.h b/src/PreviewControl/SupportFSM.h
index 2ed9e458..afad1c20 100644
--- a/src/PreviewControl/SupportFSM.h
+++ b/src/PreviewControl/SupportFSM.h
@@ -28,6 +28,7 @@
#define _SUPPORT_FSM_
#include <walkGenJrl/PGTypes.h>
+#include <privatepgtypes.h>
namespace PatternGeneratorJRL
{
diff --git a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.h b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.h
index e496cded..af61c664 100644
--- a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.h
+++ b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.h
@@ -45,6 +45,7 @@
namespace PatternGeneratorJRL
{
+
class ZMPDiscretization;
class ZMPVelocityReferencedQP : public ZMPRefTrajectoryGeneration
{
diff --git a/src/privatepgtypes.h b/src/privatepgtypes.h
new file mode 100644
index 00000000..269d82b1
--- /dev/null
+++ b/src/privatepgtypes.h
@@ -0,0 +1,54 @@
+/*
+ * 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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