From 2c487b0fe0a41a06e35fc3d699626448a9a2701e Mon Sep 17 00:00:00 2001
From: Andrei <andrei@checkmoruk.(none)>
Date: Mon, 11 Jul 2011 18:29:28 +0200
Subject: [PATCH] Add precomputation of trajectory
- Add pointer member to finite state machine
- Add precomputation of the flying foot trajectory
- Replace vector in r_b_s_t through bounded_vector
---
.../ZMPVelocityReferencedQP.cpp | 18 +++++++++---------
1 file changed, 9 insertions(+), 9 deletions(-)
diff --git a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
index 00c5ff59..92cbb6f5 100644
--- a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
+++ b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
@@ -75,7 +75,7 @@ ZMPVelocityReferencedQP::ZMPVelocityReferencedQP(SimplePluginManager *SPM,
SupportFSM_->SamplingPeriod(QP_T_);
// Create and initialize preview of orientations
- OrientPrw_ = new OrientationsPreview(aHS->rootJoint());
+ OrientPrw_ = new OrientationsPreview( aHS->rootJoint() );
OrientPrw_->SamplingPeriod( QP_T_ );
OrientPrw_->NbSamplingsPreviewed( QP_N_ );
OrientPrw_->SSLength( SupportFSM_->StepPeriod() );
@@ -88,7 +88,7 @@ ZMPVelocityReferencedQP::ZMPVelocityReferencedQP(SimplePluginManager *SPM,
CoM_.InitializeSystem();
// Create and initialize simplified robot
- Robot_ = new RigidBodySystem( SPM, aHS );
+ Robot_ = new RigidBodySystem( SPM, aHS, SupportFSM_ );
Robot_->Mass( aHS->mass() );
Robot_->NbSamplingsPreviewed( QP_N_ );
Robot_->SamplingPeriodSim( QP_T_ );
@@ -351,9 +351,9 @@ ZMPVelocityReferencedQP::OnLine(double Time,
// UPDATE INTERNAL DATA:
// ---------------------
- VRQPGenerator_->CurrentTime(Time);
- IntermedData_->Reference(VelRef_);
- IntermedData_->CoM(CoM_());// TODO: still necessary?
+ VRQPGenerator_->CurrentTime( Time );
+ IntermedData_->Reference( VelRef_ );
+ IntermedData_->CoM( CoM_() );// TODO: still necessary?
// PREVIEW SUPPORT STATES FOR THE WHOLE PREVIEW WINDOW:
@@ -384,10 +384,10 @@ ZMPVelocityReferencedQP::OnLine(double Time,
// COMPUTE ORIENTATIONS OF FEET FOR WHOLE PREVIEW PERIOD:
// ------------------------------------------------------
deque<double> PreviewedSupportAngles_deq;
- OrientPrw_->preview_orientations(Time, VelRef_,
+ OrientPrw_->preview_orientations( Time, VelRef_,
SupportFSM_->StepPeriod(), CurrentSupport,
FinalLeftFootTraj_deq, FinalRightFootTraj_deq,
- PreviewedSupportAngles_deq);
+ PreviewedSupportAngles_deq );
// UPDATE THE DYNAMIC MATRICES:
@@ -441,9 +441,9 @@ ZMPVelocityReferencedQP::OnLine(double Time,
// COMPUTE ORIENTATION OF TRUNK:
// -----------------------------
- OrientPrw_->interpolate_trunk_orientation(Time, CurrentIndex,
+ OrientPrw_->interpolate_trunk_orientation( Time, CurrentIndex,
m_SamplingPeriod, CurrentSupport,
- FinalCOMTraj_deq);
+ FinalCOMTraj_deq );
// INTERPOLATE THE COMPUTED FEET POSITIONS:
--
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