From 1e5db2d9d41cc9b99c4013b308cad492eaee09e5 Mon Sep 17 00:00:00 2001
From: olivier-stasse <olivier.stasse@aist.go.jp>
Date: Fri, 11 Mar 2011 05:07:19 +0900
Subject: [PATCH] Revert "Change call by value to call by reference"
This reverts commit 537deb2c61d46741406f8b81c7424733cff46c9e.
---
.../OnLineFootTrajectoryGeneration.cpp | 3 +--
src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.h | 2 +-
src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp | 2 +-
3 files changed, 3 insertions(+), 4 deletions(-)
diff --git a/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp b/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
index a9f85ad1..597381ab 100644
--- a/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
+++ b/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
@@ -229,7 +229,7 @@ OnLineFootTrajectoryGeneration::UpdateFootPosition(deque<FootAbsolutePosition> &
void
-OnLineFootTrajectoryGeneration::check_solution(double & X, double & Y,
+OnLineFootTrajectoryGeneration::check_solution(double X, double Y,
const support_state_t & CurrentSupport, double CurrentTime)
{
if(CurrentSupport.StepsLeft>0)
@@ -288,7 +288,6 @@ OnLineFootTrajectoryGeneration::interpolate_feet_positions(double time, int Curr
{
LastSwingFootPosition = FinalLeftFootTraj_deq[CurrentIndex];
}
-
//Set parameters for current polynomial
SetParametersWithInitPosInitSpeed(FootTrajectoryGenerationStandard::X_AXIS,
UnlockedSwingPeriod-InterpolationTimePassed,FPx,
diff --git a/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.h b/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.h
index 4c856a82..757d71a2 100644
--- a/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.h
+++ b/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.h
@@ -97,7 +97,7 @@ namespace PatternGeneratorJRL
/// \param[out] X Solution
/// \param[out] Y Solution
/// \param[in] CurrentSupport Support state
- virtual void check_solution(double & X, double & Y,
+ virtual void check_solution(double X, double Y,
const support_state_t & CurrentSupport, double CurrentTime);
diff --git a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
index aa6fa5af..6612f6d3 100644
--- a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
+++ b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
@@ -437,7 +437,7 @@ ZMPVelocityReferencedQP::OnLine(double time,
if (EndingPhase_==false)
{
// This should be done only during the transition EndingPhase=false -> EndingPhase=true
- TimeToStopOnLineMode_ = UpperTimeLimitToUpdate_ + QP_T_ * QP_N_;
+ TimeToStopOnLineMode_ = UpperTimeLimitToUpdate_+QP_T_ * QP_N_;
// Set the ZMP reference as very important.
// It suppose to work because Gamma appears only during the non-constant
}
--
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