diff --git a/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.h b/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.h
index e87cb3ad1089fb35cfe7f42fb2ca32442778ad89..fb697a3d9eb82feb0eba3408fa861ab4d2336a88 100644
--- a/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.h
+++ b/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.h
@@ -45,7 +45,7 @@
#include <PGTypes.h>
#include <Mathematics/ConvexHull.h>
#include <SimplePlugin.h>
-#include <PreviewControl/SupportState.h>
+#include <PreviewControl/SupportFSM.h>
namespace PatternGeneratorJRL
{
diff --git a/src/PreviewControl/SupportState.cpp b/src/PreviewControl/SupportState.cpp
deleted file mode 100644
index a1dd15d2dd0401c96bd79f8ce81e83048070751b..0000000000000000000000000000000000000000
--- a/src/PreviewControl/SupportState.cpp
+++ /dev/null
@@ -1,157 +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)
- */
-/* TODO 3: Restructure the class
- * setSupportState.cpp
- */
-
-#include <iostream>
-#include <fstream>
-
-#include <PreviewControl/SupportState.h>
-#include <Debug.h>
-
-using namespace PatternGeneratorJRL;
-using namespace std;
-
-SupportState::SupportState(const double &SamplingPeriod)
-{
- SSPeriod = 0.8; //Duration of one step
- DSDuration = 1e9; //Duration of the DS phase
- DSSSDuration = 0.8;
- NbOfStepsSSDS = 200;
-
- m_T = SamplingPeriod;
- //Initial current state
- CurrentSupportPhase = 0;
- CurrentSupportFoot = 1;
- CurrentTimeLimit = 1000000000;
- CurrentStepsLeft = 1;
- StartSupportFoot = 1;
-
- eps = 0.00000001;
- m_StateChanged = false;
-
- m_FullDebug = 0;
-
-}
-
-
-SupportState::~SupportState()
-{
-}
-
-void SupportState::setSupportState(const double &Time, const int &pi, const ReferenceAbsoluteVelocity & RefVel)
-
-{
-
- m_StateChanged = false;
-
- if(pi==0) {
- m_SupportPhase = &CurrentSupportPhase;
- m_SupportFoot = &CurrentSupportFoot;
- m_SupportStepsLeft = &CurrentStepsLeft;
- m_SupportTimeLimit = &CurrentTimeLimit;
- StepNumber = 0;
- SSSS = 0;
- }
- else {
- m_SupportPhase = &PrwSupportPhase;
- m_SupportFoot = &PrwSupportFoot;
- m_SupportStepsLeft = &PrwStepsLeft;
- m_SupportTimeLimit = &PrwTimeLimit;
- }
-
-
- ReferenceGiven = -1;
- if(fabs(RefVel.x)>0||fabs(RefVel.y)>0)
- ReferenceGiven = 1;
-
- if(ReferenceGiven == 1 && *m_SupportPhase == 0 && (*m_SupportTimeLimit-Time-eps)>DSSSDuration)
- {
- *m_SupportTimeLimit = Time+DSSSDuration;
- }
-
-
- //FSM
- if(Time+eps+pi*m_T >= *m_SupportTimeLimit)
- {
- //SS->DS
- if(*m_SupportPhase == 1 && ReferenceGiven == -1 && *m_SupportStepsLeft==0)
- {
- *m_SupportPhase = 0;
- *m_SupportTimeLimit = Time+pi*m_T + DSDuration;
- m_StateChanged = true;
- }
- //DS->SS
- else if(*m_SupportPhase == 0 && ReferenceGiven == 1)
- {
- *m_SupportPhase = 1;
- *m_SupportTimeLimit = Time+pi*m_T + SSPeriod;
- *m_SupportStepsLeft = NbOfStepsSSDS;
- m_StateChanged = true;
- }
- //SS->SS
- else if(((*m_SupportPhase == 1) && (*m_SupportStepsLeft>0)) ||
- ((*m_SupportStepsLeft==0) && (ReferenceGiven == 1)))
- {
- *m_SupportFoot = -1**m_SupportFoot;
- m_StateChanged = true;
- *m_SupportTimeLimit = Time+pi*m_T + SSPeriod;
- StepNumber++;
- SSSS = 1;
- if (ReferenceGiven == -1)
- *m_SupportStepsLeft = *m_SupportStepsLeft-1;
- }
- }
-
-
- if(pi==0)
- initializePreviewedState();
-
-
- if(m_FullDebug>0)
- {
- ofstream aof;
- aof.open("SupportStates.dat", ios::app);
- aof << "Time: "<<Time<<" PrwTime: "<<Time+pi*m_T<<" CSP: "<<CurrentSupportPhase
- <<" CSF: "<<CurrentSupportFoot<<" CTL: "<<CurrentTimeLimit
- <<" CSL: "<<CurrentStepsLeft<<" PrwSP: "<<PrwSupportPhase
- <<" PrwSF: "<<PrwSupportFoot<<" PrwTL: "<<PrwTimeLimit
- <<" PrwSL: "<<PrwStepsLeft<<" *SF: "<<*m_SupportFoot
- <<" *SSL: "<<*m_SupportStepsLeft<<" SN: "<<StepNumber;
- aof << endl;
- aof.close();
- }
-
-}
-
-void SupportState::initializePreviewedState()
-{
- PrwSupportPhase = CurrentSupportPhase;
- PrwSupportFoot = CurrentSupportFoot;
- PrwStepsLeft = CurrentStepsLeft;
- PrwTimeLimit = CurrentTimeLimit;
- StepNumber = 0;
-}
diff --git a/src/PreviewControl/SupportState.h b/src/PreviewControl/SupportState.h
deleted file mode 100644
index 8c96671b61a47eff40eabbcdd9d22bc7692b08ad..0000000000000000000000000000000000000000
--- a/src/PreviewControl/SupportState.h
+++ /dev/null
@@ -1,99 +0,0 @@
-/*
- * Copyright 2010,
- *
- * Andrei Herdt
- *
- * 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 provides the finite state machine to determine the support parameters. */
-
-#ifndef _SUPPORT_STATE_
-#define _SUPPORT_STATE_
-
-#include <walkGenJrl/PGTypes.h>
-
-namespace PatternGeneratorJRL
-{
- class SupportState
- {
- public:
- /*! Constructor */
- SupportState(const double &SamplingPeriod);
-
- /*! Destructor */
- ~SupportState();
-
- /*! \brief Initialize the previewed state. */
- void setSupportState(const double &Time, const int &pi, const ReferenceAbsoluteVelocity & RefVel);
-
-
-
- ///*! \brief Numerical precision */
- double eps;
-
- /*! \brief constants for the durations in the support phases */
- double DSDuration, SSPeriod, DSSSDuration;
-
- /*! \brief First support foot */
- int StartSupportFoot;
-
- /*! \brief Current support state */
- int CurrentSupportPhase, CurrentSupportFoot, CurrentStepsLeft;
-
- int SSSS;
-
- double CurrentTimeLimit;
-
- /*! \brief Future support state */
- int PrwSupportPhase, PrwSupportFoot, PrwStepsLeft;
-
- double PrwTimeLimit;
-
- bool m_StateChanged;
-
- int StepNumber;
-
- //Number of steps done before DS
- unsigned int NbOfStepsSSDS;
-
-
- private:
-
- /*! \Brief Sampling duration */
- double m_T;
-
- /*! \Brief Support state */
- int *m_SupportPhase, *m_SupportFoot, *m_SupportStepsLeft;
-
- double *m_SupportTimeLimit;
- void initializePreviewedState();
-
- int ReferenceGiven;
-
- int m_FullDebug;
-
-
- ///*! Getter for the support state */
- //const void SupportState::getSupportState () const;
-
-
- };
-};
-
-#endif /* _SUPPORT_STATE_ */
diff --git a/src/ZMPRefTrajectoryGeneration/OrientationsPreview.h b/src/ZMPRefTrajectoryGeneration/OrientationsPreview.h
index b53469941a12712db6f15601d210364edb380d54..9a7823b830009ac67e5bfbc16b3bbd272f03255a 100644
--- a/src/ZMPRefTrajectoryGeneration/OrientationsPreview.h
+++ b/src/ZMPRefTrajectoryGeneration/OrientationsPreview.h
@@ -37,7 +37,7 @@
#include <deque>
/*! Framework includes */
-#include <PreviewControl/SupportState.h>
+#include <PreviewControl/SupportFSM.h>
/*! Framework includes */
#include <walkGenJrl/PGTypes.h>