minor changes

include/jrl/walkgen/pgtypes.hh

@@ -156,16 +156,12 @@ namespace PatternGeneratorJRL
   typedef struct SupportFeet_s
     SupportFeet_t;
 
-  /// Structure to store the absolute reference.
+  /// \brief Velocity reference in absolute frame.
   struct ReferenceAbsoluteVelocity_t
   {
-    /*! m/sec or degrees/sec */
-    double x,y,z, dYaw;
+    /// m/sec or degrees/sec
+    double x,y,z,yaw;
 
-    /*! reference values for the whole preview window */
-    MAL_VECTOR(RefVectorX,double);
-    MAL_VECTOR(RefVectorY,double);
-    MAL_VECTOR(RefVectorTheta,double);
   };
   typedef struct ReferenceAbsoluteVelocity_t ReferenceAbsoluteVelocity;
 

src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp

@@ -323,9 +323,9 @@ void OrientationsPreview::verifyAccelerationOfHipJoint(const ReferenceAbsoluteVe
   if(CurrentSupport.Phase!=0)
     {
       //Verify change in velocity against the maximal acceleration
-      if(fabs(Ref.dYaw-TrunkState.yaw[1]) > 2.0/3.0*m_T*m_uaLimitHipYaw)
+      if(fabs(Ref.yaw-TrunkState.yaw[1]) > 2.0/3.0*m_T*m_uaLimitHipYaw)
 	{
-	  double signRotAccTrunk = (Ref.dYaw-TrunkState.yaw[1] < 0.0)?-1.0:1.0;
+	  double signRotAccTrunk = (Ref.yaw-TrunkState.yaw[1] < 0.0)?-1.0:1.0;
 	  TrunkStateT.yaw[1] = TrunkState.yaw[1] + signRotAccTrunk * 2.0/3.0*m_T* m_uaLimitHipYaw;
 
 
@@ -334,7 +334,7 @@ void OrientationsPreview::verifyAccelerationOfHipJoint(const ReferenceAbsoluteVe
 	      ofstream aof;
 	      aof.open("/tmp/verifyAccelerationOfHipJoint.dat",ofstream::app);
 	      aof<<" TrunkStateT.yaw[1]: "<<TrunkStateT.yaw[1] <<" "
-		 <<" Ref.dYaw: "<<Ref.dYaw <<" "
+		 <<" Ref.yaw: "<<Ref.yaw <<" "
 		 <<" m_signRotAccTrunk: "<<m_signRotAccTrunk <<" "
 		 <<" 2.0/3.0*m_T* m_uaLimitHipYaw: "<<2.0/3.0*m_T* m_uaLimitHipYaw <<" "
 		 <<endl;
@@ -342,7 +342,7 @@ void OrientationsPreview::verifyAccelerationOfHipJoint(const ReferenceAbsoluteVe
 	    }
 	}
       else
-	TrunkStateT.yaw[1] = Ref.dYaw;
+	TrunkStateT.yaw[1] = Ref.yaw;
 
     }
   else//No rotations in a double support phase

src/ZMPRefTrajectoryGeneration/qp-problem.cpp

@@ -99,16 +99,16 @@ void QPProblem_s::AllocateMemory()
   U = new double[mnn];
 
   DS = new double[(8*m_QP_N+1)*2*(m_QP_N+m_stepNumber)];
-
   DU = new double[(8*m_QP_N+1)*2*(m_QP_N+m_stepNumber)];
 
-
   Q=new double[4*(m_QP_N+m_stepNumber)*(m_QP_N+m_stepNumber)];  //Quadratic part of the objective function
   D=new double[2*(m_QP_N+m_stepNumber)];   // Linear part of the objective function
-  XL=new double[2*(m_QP_N+m_stepNumber)];  // Lower bound of the jerk.
-  XU=new double[2*(m_QP_N+m_stepNumber)];  // Upper bound of the jerk.
-  X=new double[2*(m_QP_N+m_stepNumber)];   // Solution of the system.
-  NewX=new double[2*(m_QP_N+m_stepNumber)];   // Solution of the system.
+
+  XL=new double[2*(m_QP_N+m_stepNumber)];  // Lower bound on the solution.
+  XU=new double[2*(m_QP_N+m_stepNumber)];  // Upper bound on the solution.
+
+  X=new double[2*(m_QP_N+m_stepNumber)];   // Solution of the problem.
+  NewX=new double[2*(m_QP_N+m_stepNumber)];   // Solution of the problem.
 
 
 }
@@ -205,7 +205,6 @@ void QPProblem_s::dumpVector(std::ostream & aos,
   double *aVector=0;
   switch(type)
     {
-
     case VECTOR_D:
       lsize=2*(m_QP_N+m_stepNumber) ;
       aVector = D;