From 3e994c89228ded0d946055156a2fc2f46a4c4a16 Mon Sep 17 00:00:00 2001
From: Andrei <andrei.herdt@inrialpes.fr>
Date: Tue, 14 Dec 2010 20:11:48 +0100
Subject: [PATCH] minor changes
---
include/jrl/walkgen/pgtypes.hh | 10 +++-------
.../OrientationsPreview.cpp | 8 ++++----
src/ZMPRefTrajectoryGeneration/qp-problem.cpp | 13 ++++++-------
3 files changed, 13 insertions(+), 18 deletions(-)
diff --git a/include/jrl/walkgen/pgtypes.hh b/include/jrl/walkgen/pgtypes.hh
index 42830e7b..25e8edec 100644
--- a/include/jrl/walkgen/pgtypes.hh
+++ b/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;
diff --git a/src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp b/src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
index 85b7a5d3..dd8c5220 100644
--- a/src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
+++ b/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
diff --git a/src/ZMPRefTrajectoryGeneration/qp-problem.cpp b/src/ZMPRefTrajectoryGeneration/qp-problem.cpp
index b8341f16..588a4078 100644
--- a/src/ZMPRefTrajectoryGeneration/qp-problem.cpp
+++ b/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;
--
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