Commit 248cbf3e authored by NoelieRamuzat's avatar NoelieRamuzat Committed by Olivier Stasse
Browse files

[Phases] Change feet stepType for double support in ZMPDiscretization

Now = 10 to be coherent with the stepTypes used in the whole project
parent b1252866
...@@ -1111,7 +1111,7 @@ void ZMPDiscretization::EndPhaseOfTheWalking( ...@@ -1111,7 +1111,7 @@ void ZMPDiscretization::EndPhaseOfTheWalking(
LeftFootAbsolutePosition.time = RightFootAbsolutePosition.time = LeftFootAbsolutePosition.time = RightFootAbsolutePosition.time =
m_CurrentTime; m_CurrentTime;
LeftFootAbsolutePosition.stepType = RightFootAbsolutePosition.stepType = 0; LeftFootAbsolutePosition.stepType = RightFootAbsolutePosition.stepType = 10;
FinalLeftFootAbsolutePositions.push_back(LeftFootAbsolutePosition); FinalLeftFootAbsolutePositions.push_back(LeftFootAbsolutePosition);
FinalRightFootAbsolutePositions.push_back(RightFootAbsolutePosition); FinalRightFootAbsolutePositions.push_back(RightFootAbsolutePosition);
...@@ -1147,7 +1147,7 @@ void ZMPDiscretization::EndPhaseOfTheWalking( ...@@ -1147,7 +1147,7 @@ void ZMPDiscretization::EndPhaseOfTheWalking(
LeftFootAbsolutePosition.time = RightFootAbsolutePosition.time = LeftFootAbsolutePosition.time = RightFootAbsolutePosition.time =
m_CurrentTime; m_CurrentTime;
LeftFootAbsolutePosition.stepType = RightFootAbsolutePosition.stepType = 0; LeftFootAbsolutePosition.stepType = RightFootAbsolutePosition.stepType = 10;
FinalLeftFootAbsolutePositions.push_back(LeftFootAbsolutePosition); FinalLeftFootAbsolutePositions.push_back(LeftFootAbsolutePosition);
FinalRightFootAbsolutePositions.push_back(RightFootAbsolutePosition); FinalRightFootAbsolutePositions.push_back(RightFootAbsolutePosition);
...@@ -1194,7 +1194,7 @@ void ZMPDiscretization::EndPhaseOfTheWalking( ...@@ -1194,7 +1194,7 @@ void ZMPDiscretization::EndPhaseOfTheWalking(
LeftFootAbsolutePosition.time = RightFootAbsolutePosition.time = LeftFootAbsolutePosition.time = RightFootAbsolutePosition.time =
m_CurrentTime; m_CurrentTime;
LeftFootAbsolutePosition.stepType = RightFootAbsolutePosition.stepType = 0; LeftFootAbsolutePosition.stepType = RightFootAbsolutePosition.stepType = 10;
FinalLeftFootAbsolutePositions.push_back(LeftFootAbsolutePosition); FinalLeftFootAbsolutePositions.push_back(LeftFootAbsolutePosition);
FinalRightFootAbsolutePositions.push_back(RightFootAbsolutePosition); FinalRightFootAbsolutePositions.push_back(RightFootAbsolutePosition);
......
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