diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 2c8f716b09572b4db7eef46a1b66564687e4b8db..0c8e90b5c2f1541cca4f3238fecbff9a7189704e 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -58,8 +58,6 @@ SET(SOURCES
ZMPRefTrajectoryGeneration/AnalyticalMorisawaCompact.cpp
ZMPRefTrajectoryGeneration/FilteringAnalyticalTrajectoryByPreviewControl.cpp
ZMPRefTrajectoryGeneration/qp-problem.cpp
- ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
- ZMPRefTrajectoryGeneration/mpc-trajectory-generation.cpp
MotionGeneration/StepOverPlanner.cpp
MotionGeneration/CollisionDetector.cpp
MotionGeneration/WaistHeightVariation.cpp
diff --git a/src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp b/src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
deleted file mode 100644
index 0b1ac7b5b6d69db7bbd62ad1fb7e5df62d51269f..0000000000000000000000000000000000000000
--- a/src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
+++ /dev/null
@@ -1,183 +0,0 @@
-/*
- * Copyright 2010,
- *
- * Andrei Herdt
- * 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)
- */
-/*! This object constructs a QP as proposed by Herdt IROS 2010.
- */
-
-
-#include <ZMPRefTrajectoryGeneration/generator-vel-ref.hh>
-
-using namespace PatternGeneratorJRL;
-
-
-GeneratorVelRef::GeneratorVelRef(SimplePluginManager *lSPM, std::string DataFile,
- CjrlHumanoidDynamicRobot *aHS) : MPCTrajectoryGeneration(lSPM)
-{
- //TODO:
-}
-
-
-GeneratorVelRef::~GeneratorVelRef()
-{
- //TODO:
-}
-
-
-void
-GeneratorVelRef::CallMethod(std::string &Method, std::istringstream &strm)
-{
- GeneratorVelRef::CallMethod(Method,strm);
-}
-
-
-void
-GeneratorVelRef::setPonderation(double alpha, double beta, double gamma, double delta)
-{
- //TODO:
-}
-
-
-void
-GeneratorVelRef::setReference(std::istringstream &strm)
-{
- //TODO:
-}
-
-
-void
-GeneratorVelRef::setReference(double dx, double dy, double dyaw)
-{
- //TODO:
-}
-
-
-void
-GeneratorVelRef::buildConstantPartOfObjective(QPProblem & Pb)
-{
- //TODO:
-}
-
-
-void
-GeneratorVelRef::addEqConstraint(std::deque<LinearConstraintInequalityFreeFeet_t> ConstraintsDeque,
- MAL_MATRIX (&DU, double), MAL_MATRIX (&DS, double))
-{
- //TODO:
-}
-
-
-void
-GeneratorVelRef::addIneqConstraint(std::deque<LinearConstraintInequalityFreeFeet_t> ConstraintsDeque,
- MAL_MATRIX (&DU, double), MAL_MATRIX (&DS, double))
-{
- //TODO:
-}
-
-
-void
-GeneratorVelRef::generateZMPConstraints (CjrlFoot & Foot,
- std::deque < double > & PreviewedSupportAngles,
- SupportFSM & FSM,
- SupportState_t & CurrentSupportState,
- QPProblem & Pb)
-{
- //TODO:
-}
-
-
-void
-GeneratorVelRef::generateFeetPosConstraints (CjrlFoot & Foot,
- std::deque < double > & PreviewedSupportAngles,
- SupportFSM & ,
- SupportState_t &,
- QPProblem & Pb)
-{
- //TODO:
-}
-
-
-void
-GeneratorVelRef::computeObjective(QPProblem & Pb, IntermedQPMat & QPMat, std::deque<SupportState_t> PrwSupStates)
-{
- //TODO:
-}
-
-
-int
-GeneratorVelRef::initConstants(QPProblem & Pb)
-{
- //TODO:
-}
-
-
-void
-GeneratorVelRef::setCoMPerturbationForce(double Fx, double Fy,
- LinearizedInvertedPendulum2D & CoM)
-{
- //TODO:
-}
-
-
-void
-GeneratorVelRef::setCoMPerturbationForce(std::istringstream &strm,
- LinearizedInvertedPendulum2D & CoM)
-{
- //TODO:
-}
-
-
-void
-GeneratorVelRef::addLeastSquaresTerm(ObjectiveTerm_t & type, QPProblem & Pb, int NbSt)
-{
- //TODO:
-}
-
-
-int
-GeneratorVelRef::buildConstantPartOfConstraintMatrices()
-{
- //TODO:
-}
-
-
-int
-GeneratorVelRef::buildConstantPartOfTheObjectiveFunction()
-{
- //TODO:
-}
-
-
-int
-GeneratorVelRef::initializeMatrixPbConstants()
-{
- //TODO:
-}
-
-
-int
-GeneratorVelRef::dumpProblem(MAL_VECTOR(& xk,double),
- double Time)
-{
- //TODO:
-}
diff --git a/src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh b/src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh
deleted file mode 100644
index 6c0ee86d9c2078b6baf566442c3cb3ed3f1a94f9..0000000000000000000000000000000000000000
--- a/src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh
+++ /dev/null
@@ -1,264 +0,0 @@
-/*
- * Copyright 2010,
- *
- * Andrei Herdt
- * 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)
- */
-/*! This object constructs a QP as proposed by Herdt IROS 2010.
- */
-
-#ifndef GENERATORVELREF_HH_
-#define GENERATORVELREF_HH_
-
-
-#include <ZMPRefTrajectoryGeneration/mpc-trajectory-generation.hh>
-
-#include <ZMPRefTrajectoryGeneration/qp-problem.hh>
-#include <abstract-robot-dynamics/humanoid-dynamic-robot.hh>
-#include <PreviewControl/SupportFSM.h>
-#include <privatepgtypes.h>
-#include <Mathematics/intermediate-qp-matrices.hh>
-#include <PreviewControl/LinearizedInvertedPendulum2D.h>
-
-namespace PatternGeneratorJRL
-{
-
- class GeneratorVelRef : public MPCTrajectoryGeneration
- {
-
- //
- //Public methods
- //
- public:
- /// \name Constructors and destructors.
- /// \{
- GeneratorVelRef(SimplePluginManager *lSPM, std::string DataFile,
- CjrlHumanoidDynamicRobot *aHS=0);
- ~GeneratorVelRef();
- /// \}
-
- /// \brief Call method to handle the plugins (SimplePlugin interface).
- void CallMethod(std::string &Method, std::istringstream &strm);
-
- /// \brief Set the weights on the objective terms
- ///
- /// \param alpha
- /// \param beta
- /// \param gamma
- /// \param delta
- void setPonderation(double alpha, double beta, double gamma, double delta);
-
- /// \brief Set the velocity reference from string
- ///
- /// \param strm velocity reference string
- void setReference(std::istringstream &strm);
-
- /// \brief Set the velocity reference from external reference
- ///
- /// \param dx
- /// \param dy
- /// \param dyaw
- void setReference(double dx, double dy, double dyaw);
-
- /// \brief Build constant parts of the objective
- void buildConstantPartOfObjective(QPProblem & Pb);
-
- /// \brief Add one equality constraint to the queue of constraints
- ///
- /// \param DU
- /// \param DS
- void addEqConstraint(std::deque<LinearConstraintInequalityFreeFeet_t> ConstraintsDeque,
- MAL_MATRIX (&DU, double), MAL_MATRIX (&DS, double));
-
- /// \brief Add one inequality constraint to the queue of constraints
- ///
- /// \param DU
- /// \param DS
- void addIneqConstraint(std::deque<LinearConstraintInequalityFreeFeet_t> ConstraintsDeque,
- MAL_MATRIX (&DU, double), MAL_MATRIX (&DS, double));
-
- /// \brief Generate a queue of inequality constraints on the ZMP for the whole preview window
- ///
- /// \param CjrlFoot
- /// \param PreviewedSupportAngles
- /// \param SupportFSM
- /// \param CurrentSupportState
- void generateZMPConstraints (CjrlFoot & Foot,
- std::deque < double > & PreviewedSupportAngles,
- SupportFSM & FSM,
- SupportState_t & CurrentSupportState,
- QPProblem & Pb);
-
- /// \brief Generate a queue of inequality constraints on the feet positions for the whole preview window
- ///
- /// \param Foot
- /// \param PreviewedSupportAngles
- /// \param SupportFSM
- /// \param CurrentSupportState
- void generateFeetPosConstraints (CjrlFoot & Foot,
- std::deque < double > & PreviewedSupportAngles,
- SupportFSM & ,
- SupportState_t &,
- QPProblem & Pb);
-
- /// \brief Compute the objective matrices of a quadratic optimization problem
- ///
- /// \param Pb
- void computeObjective(QPProblem & Pb, IntermedQPMat & QPMat, std::deque<SupportState_t> PrwSupStates);
-
- /// \brief Infitialize constant parts of the objective
- /// \return A negative value in case of a problem 0 otherwise.
- int initConstants(QPProblem & Pb);
-
- /// \brief Set the perturbation force on the CoM from external reference
- ///
- /// \param Fx
- /// \param Fy
- /// \param 2DLIPM
- void setCoMPerturbationForce(double Fx, double Fy, LinearizedInvertedPendulum2D & CoM);
-
- /// \brief Set the perturbation force on the CoM from string
- ///
- /// \param strm
- /// \param 2DLIPM
- void setCoMPerturbationForce(std::istringstream & strm,
- LinearizedInvertedPendulum2D & CoM);
-
-
- //
- //Private methods
- //
- private:
-
- /// \brief Compute the Least Squares objective term and add it to the optimization problem
- void addLeastSquaresTerm(ObjectiveTerm_t & type, QPProblem & Pb, int NbSt);
-
- /// \brief Build the constant part of the constraint matrices.
- int buildConstantPartOfConstraintMatrices();
-
- /// \brief This method does the same once the previous method has been called
- /// to compute the static part of the optimization function.
- /// Assuming that the optimization function is of the form
- /// \f$ min_{u_k} \frac{1}{2} u^{\top}_k Q u_k + p^{\top}_k u_k \f$
- /// this method computes \f$Q\f$, the constant part of $p^{\top}_k$.
- int buildConstantPartOfTheObjectiveFunction();
-
-
- /// \brief Compute constant matrices over all the instances of the problem, i.e.
- /// \f$P_{pu}, P_{px}, P_{vs}, P_{vu}\f$.
- /// The necessary parameters to build those matrices are extracted from the
- /// PreviewControl link.
- int initializeMatrixPbConstants();
-
-
- /// \name Debugging related methods
- /// @{
- /// \brief Dump the instance of the quadratic problem for one iteration. */
- int dumpProblem(MAL_VECTOR(& xk,double),
- double Time);
- /// @}
-
-
- //
- //Private members
- //
- private:
-
- /// \brief Current and previewed support states.
- SupportState_t m_CurrentSupport, m_PrwSupport;
-
- /// \brief Current state of the trunk and the trunk state after m_QP_T
- COMState m_TrunkState, m_TrunkStateT;
-
- /// Velocity reference (constant)
- ReferenceAbsoluteVelocity m_RefVel;
-
- std::deque<LinearConstraintInequalityFreeFeet_t> m_ConstraintInequalitiesDeque;
- std::deque<LinearConstraintInequalityFreeFeet_t> m_FeetPosInequalitiesDeque;
-
- /// \brief History of support states
- std::deque<SupportFeet_t> m_SupportFeetDeque;
-
- /// \brief Previewed trunk states
- std::deque<COMState> m_TrunkStatesDeque;
-
- /// \brief Additional term on the acceleration of the CoM
- MAL_VECTOR(m_PerturbationAcceleration,double);
-
- /// \brief Mass of the robot
- double m_RobotMass;
-
- /// \brief Perturbation
- bool m_PerturbationOccured;
-
- /// \brief Distance between the feet
- double m_FeetDistanceDS;
-
- /// \brief
- bool m_EndingPhase;
-
- /// \brief
- double m_TimeToStopOnLineMode;
-
- /// \brief Buffer to handle computational delay
- double m_TimeBuffer;
-
-
- /// \name Variables related to the QP
- /// @{
-
- /// \name Weights on objective functions
- /// @{
- /// \brief Weight on the instant-velocity term in the objective
- double m_Beta;
-
- /// \brief Weight on the jerk term in the objective.
- double m_Alpha;
-
- /// \brief Weight on the ZMP term in the objective.
- double m_Gamma;
-
- /// \brief Weight on the average-velocity term in the objective
- double m_Delta;
- /// @}
-
- /// \brief Sampling of the QP.
- double m_QP_T;
-
- /// \brief Number of previewed samples
- int m_QP_N;
-
-
- /// \brief Constant part of the constraint matrices.
- double * m_Pu;
- /// @}
-
-
- /// \brief Debugging variable
- int m_FullDebug;
-
- /// \brief Fast formulations mode.
- unsigned int m_FastFormulationMode;
-
- };
-}
-
-#endif /* GENERATORVELREF_HH_ */
diff --git a/src/ZMPRefTrajectoryGeneration/mpc-trajectory-generation.cpp b/src/ZMPRefTrajectoryGeneration/mpc-trajectory-generation.cpp
deleted file mode 100644
index 89943532f45fb45004c186929486a6dfa3ee80cf..0000000000000000000000000000000000000000
--- a/src/ZMPRefTrajectoryGeneration/mpc-trajectory-generation.cpp
+++ /dev/null
@@ -1,111 +0,0 @@
-/*
- * Copyright 2010,
- *
- * Andrei Herdt
- * 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 mpc-trajectory-generation.cpp
- \brief Abstract object for trajectory generation via model predictive control.*/
-
-#include <Debug.h>
-#include <ZMPRefTrajectoryGeneration/mpc-trajectory-generation.hh>
-
-
-using namespace PatternGeneratorJRL;
-
-MPCTrajectoryGeneration::MPCTrajectoryGeneration(SimplePluginManager *lSPM)
- : SimplePlugin(lSPM)
- , m_Tsingle(0.)
- , m_Tdble(0.)
- , m_SamplingPeriodControl(0.)
- , m_SamplingPeriodPreview(0.)
- , m_PreviewControlTime(0.)
- , m_StepHeight(0.)
- , m_CurrentTime(0.)
- , m_OnLineMode(false)
- , m_CoMHeight(0.)
- , m_SecurityMargin(0.)
- , m_ModulationSupportCoefficient(0.)
- , m_Omega(0.)
-{
-
- std::string aMethodName[6] =
- {":omega",
- ":stepheight",
- ":singlesupporttime",
- ":doublesupporttime",
- ":comheight",
- ":samplingperiod"};
-
- for(int i=0;i<6;i++)
- {
- if (!RegisterMethod(aMethodName[i]))
- {
- std::cerr << "Unable to register " << aMethodName << std::endl;
- }
- else
- {
- ODEBUG("Succeed in registering " << aMethodName[i]);
- }
-
- }
-}
-
-
-void MPCTrajectoryGeneration::CallMethod(std::string & Method, std::istringstream &strm)
-{
- ODEBUG("Calling me (" << this << ") with Method: " << Method);
- if (Method==":omega")
- {
- strm >> m_Omega;
- }
- else if (Method==":stepheight")
- {
- strm >> m_StepHeight;
- ODEBUG("Value of stepheight " << m_StepHeight << " this:" << this);
- }
- else if (Method==":singlesupporttime")
- {
- strm >> m_Tsingle;
- ODEBUG(":singlesupporttime " << m_Tsingle << " ID: " << this);
- }
- else if (Method==":doublesupporttime")
- {
- strm >> m_Tdble;
- ODEBUG(":doublesupporttime " << m_Tdble << " ID: " << this);
- }
- else if (Method==":comheight")
- {
- strm >> m_CoMHeight;
- ODEBUG(":comheight" << m_ComHeight << " ID: " << this);
- }
- else if (Method==":samplingperiod")
- {
- strm >> m_SamplingPeriodPreview;
- ODEBUG(":samplingperiod" << m_SamplingPeriodPreview << " ID: " << this);
- }
-
-}
-
-bool MPCTrajectoryGeneration::GetOnLineMode()
-{
- return m_OnLineMode;
-}
diff --git a/src/ZMPRefTrajectoryGeneration/mpc-trajectory-generation.hh b/src/ZMPRefTrajectoryGeneration/mpc-trajectory-generation.hh
deleted file mode 100644
index 1047a6bb219e4b4fdd24bece6dcbd6556ffcd6b3..0000000000000000000000000000000000000000
--- a/src/ZMPRefTrajectoryGeneration/mpc-trajectory-generation.hh
+++ /dev/null
@@ -1,216 +0,0 @@
-/*
- * Copyright 2010,
- *
- * Andrei Herdt
- * 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 mpc-trajectory-generation.cpp
- \brief Abstract object for trajectory generation via model predictive control.*/
-
-#ifndef _TRAJ_GEN_H_
-#define _TRAJ_GEN_H_
-
-#include <jrl/mal/matrixabstractlayer.hh>
-
-
-#include <deque>
-#include <string>
-
-#include <jrl/walkgen/pgtypes.hh>
-#include <SimplePlugin.h>
-
-namespace PatternGeneratorJRL
-{
-
- /*! This class defines an abstract interface to generate low-dimensional walking trajectories (CoM/CdP/Feet).
- */
- class MPCTrajectoryGeneration : public SimplePlugin
- {
-
- //
- // Protected members
- //
- protected:
-
- /* ! \brief Time for single support. */
- double m_Tsingle;
-
- /* ! \brief Time for double support. */
- double m_Tdble;
-
- /// \brief Sampling periods control and preview
- double m_SamplingPeriodControl, m_SamplingPeriodPreview;
-
- /* ! \brief Preview control window in second. */
- double m_PreviewControlTime;
-
- /* ! \brief Step height for the walking pattern. */
- double m_StepHeight;
-
- /* ! \brief Current time in the control loop (in seconds). */
- double m_CurrentTime;
-
- /*! \brief Specifies if we are or not in on line mode. */
- bool m_OnLineMode;
-
- /*! \brief Specifies Com Height. */
- double m_CoMHeight;
-
- /// \brief Security margins for the ZMP
- double m_SecurityMargin;
-
- /// \name Members related to the generation of feet trajectories.
- /// @{
- /// \brief ModulationSupportCoefficient coeeficient to wait a little before foot is of the ground
- double m_ModulationSupportCoefficient;
-
- /// \brief The foot orientation for the lift off and the landing
- double m_Omega;
- /// @}
-
-
- //
- // Public methods
- //
- public:
-
- /// \brief Default constructor
- MPCTrajectoryGeneration(SimplePluginManager * lSPM);
-
- /// \brief Default destructor.
- virtual ~MPCTrajectoryGeneration() {};
-
- /*! Set the current time. */
- void setCurrentTime(const double & aTime)
- { m_CurrentTime = aTime;}
-
- /*! Get the current time. */
- double getCurrentTime()
- { return m_CurrentTime;}
-
- /// \brief Set the length of the preview window.
- inline void setPreviewLength(const double & aPP)
- { m_PreviewControlTime = aPP;};
-
- /// \brief Get the preview control time window.
- inline const double & getPreviewLength( ) const
- { return m_PreviewControlTime; };
-
- /// \brief Returns the Com Height.
- inline const double & getComHeight() const
- { return m_CoMHeight; };
-
- /// \brief Returns the Com Height.
- inline void setComHeight(const double & aComHeight)
- { m_CoMHeight = aComHeight; };
-
- /// \brief Returns the single support time.
- inline const double & getTSingleSupport() const
- { return m_Tsingle; };
-
- /// \brief Set the single support time.
- inline void setTSingleSupport(const double & aTSingleSupport)
- { m_Tsingle = aTSingleSupport; };
-
- /// \brief Returns the double support time.
- inline const double & getTDoubleSupport() const
- {return m_Tdble;};
-
- /// \brief Set the double support time. */
- inline void setTDoubleSupport(const double & aTdble)
- { m_Tdble = aTdble;};
-
- /// \brief Get the sampling period for the control, set to 0.005 by default. */
- inline const double & getSamplingPeriodControl() const
- { return m_SamplingPeriodControl; };
-
- /// \brief Set the sampling period for the control. */
- inline void setSamplingPeriodControl(const double &aSamplingPeriod)
- { m_SamplingPeriodControl = aSamplingPeriod;};
-
- /// \brief Get the sampling period for the preview, set to 0.100 by default.
- inline const double & getSamplingPeriodPreview() const
- { return m_SamplingPeriodPreview; };
-
- /// \brief Set the sampling period for the preview. */
- inline void setSamplingPeriodPreview(const double &aSamplingPeriod)
- { m_SamplingPeriodPreview = aSamplingPeriod;};
-
- /// \brief Set the security margin for the zmp
- ///
- /// \param Margin
- inline void setSecurityMargin(const double & Margin)
- {m_SecurityMargin = Margin; };
-
-
- /// \name Methods related to the generation of feet trajectories.
- /// @{
- /// \brief Returns the step height.
- inline const double & getStepHeight() const
- { return m_StepHeight;};
-
- /// \brief Specify the step height.
- inline void setStepHeight(const double & aSSH)
- { m_StepHeight = aSSH;};
-
- /// \brief Returns the ModulationSupportCoefficient.
- inline const double &getModulationSupportCoefficient() const
- {
- return m_ModulationSupportCoefficient;
- }
-
- /// \brief Specify the modulation support coefficient.
- inline void setModulationSupportCoefficient(const double &af)
- {
- m_ModulationSupportCoefficient = af;
- }
-
- /// \brief Set the pitch angle of foot when landing and taking off.
- inline void setOmega(const double & anOmega)
- { m_Omega = anOmega;};
-
- /// \brief Get the pitch angle of foot when landing and taking off.
- inline const double & getOmega(void) const
- { return m_Omega;};
- /// @}
-
-
-
- /// \brief Handling methods for the plugin mecanism.
- virtual void CallMethod(std::string & Method, std::istringstream &strm);
-
- /*! \name Methods related to the on line status generation of the ZMP.
- @{
- */
- /*! \brief Returns the current status of the ZMP trajectory generator.
- The online mode is determines internally.
- A ZMP-generator can be still in on-line mode even the step-generator
- is not because the ZMP-generator is generating the ending phase.
- */
- bool GetOnLineMode();
- /// @} */
-
-
-
- };
-}
-
-#endif /* _TRAJ_GEN_H_ */