From 1c577af17c79f5472ba9b2b892b590b06fce41a5 Mon Sep 17 00:00:00 2001
From: olivier-stasse <olivier.stasse@aist.go.jp>
Date: Fri, 11 Mar 2011 05:07:22 +0900
Subject: [PATCH] Revert "Add member for the current support state and
accessors"
This reverts commit 3e5325ddea3029f0206345685cf47bcb95bab768.
---
src/Mathematics/intermediate-qp-matrices.hh | 22 +++++----------------
1 file changed, 5 insertions(+), 17 deletions(-)
diff --git a/src/Mathematics/intermediate-qp-matrices.hh b/src/Mathematics/intermediate-qp-matrices.hh
index ebf0851e..cb000fc7 100644
--- a/src/Mathematics/intermediate-qp-matrices.hh
+++ b/src/Mathematics/intermediate-qp-matrices.hh
@@ -102,9 +102,6 @@ namespace PatternGeneratorJRL
boost_ublas::matrix<double> V_f;
/// \}
- /// \brief Current support state
- support_state_t SupportState;
-
/// \brief Current support foot position
supportfoot_t SupportFoot;
@@ -177,22 +174,13 @@ namespace PatternGeneratorJRL
inline void Reference( const reference_t & Ref )
{ m_StateMatrices.Ref = Ref; };
- /// \brief Accessors to the support foot position
+ /// \brief Accessors to the Center of Mass
inline supportfoot_t const & SupportFoot() const
{ return m_StateMatrices.SupportFoot; };
inline void SupportFoot( const supportfoot_t & SupportFoot )
{ m_StateMatrices.SupportFoot = SupportFoot; };
/// \}
- /// \brief Accessors to the current support state
- inline support_state_t const & SupportState() const
- { return m_StateMatrices.SupportState; };
- inline support_state_t & SupportState()
- { return m_StateMatrices.SupportState; };
- inline void SupportState( const support_state_t & SupportState )
- { m_StateMatrices.SupportState = SupportState; };
- /// \}
-
/// \name Displaying
/// \{
/// \brief Dump objective matrices
@@ -208,23 +196,23 @@ namespace PatternGeneratorJRL
private:
objective_variant_t
- m_MeanVelocity,
+ m_MeanVelocity,
m_InstantVelocity,
m_COPCentering,
m_JerkMin;
state_variant_t
- m_StateMatrices;
+ m_StateMatrices;
dynamics_t
- m_Position,
+ m_Position,
m_Velocity,
m_Acceleration,
m_Jerk,
m_CoP;
linear_inequality_t
- m_IneqCoP,
+ m_IneqCoP,
m_IneqCoM,
m_IneqFeet;
--
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