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37b5cd45

Commit 37b5cd45 authored 10 years ago by mnaveau

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Improve the way that the polynome are used for the computation of the feet trajectory in ZMPVRQP.

parent 18e790c1

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Changes 8

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src/FootTrajectoryGeneration/FootTrajectoryGenerationStandard.cpp 2 additions, 3 deletions

...TrajectoryGeneration/FootTrajectoryGenerationStandard.cpp
src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp 76 additions, 36 deletions

...otTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.h 1 addition, 1 deletion

...FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.h
src/Mathematics/PolynomeFoot.cpp 90 additions, 125 deletions

src/Mathematics/PolynomeFoot.cpp
src/Mathematics/PolynomeFoot.hh 44 additions, 21 deletions

src/Mathematics/PolynomeFoot.hh
src/PatternGeneratorInterfacePrivate.cpp 612 additions, 612 deletions

src/PatternGeneratorInterfacePrivate.cpp
src/PreviewControl/SupportFSM.cpp 4 additions, 4 deletions

src/PreviewControl/SupportFSM.cpp
src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp 2 additions, 1 deletion

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp

with 831 additions and 803 deletions

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