From 4a5ed533fa16b5c9500e733f03da3ea402c9cb91 Mon Sep 17 00:00:00 2001
From: olivier-stasse <olivier.stasse@aist.go.jp>
Date: Fri, 11 Mar 2011 05:07:22 +0900
Subject: [PATCH] Revert "obsolete class and documentation"
This reverts commit 04698daf1f68b0f63d37883db525f25db842b659.
---
src/Mathematics/intermediate-qp-matrices.hh | 10 +++
src/PreviewControl/SupportFSM.cpp | 1 +
src/privatepgtypes.cpp | 67 ++++++++++-----------
src/privatepgtypes.h | 22 +------
4 files changed, 45 insertions(+), 55 deletions(-)
diff --git a/src/Mathematics/intermediate-qp-matrices.hh b/src/Mathematics/intermediate-qp-matrices.hh
index 115202cf..ebf0851e 100644
--- a/src/Mathematics/intermediate-qp-matrices.hh
+++ b/src/Mathematics/intermediate-qp-matrices.hh
@@ -105,6 +105,9 @@ namespace PatternGeneratorJRL
/// \brief Current support state
support_state_t SupportState;
+ /// \brief Current support foot position
+ supportfoot_t SupportFoot;
+
/// \}
};
typedef state_variant_s state_variant_t;
@@ -174,6 +177,13 @@ namespace PatternGeneratorJRL
inline void Reference( const reference_t & Ref )
{ m_StateMatrices.Ref = Ref; };
+ /// \brief Accessors to the support foot position
+ inline supportfoot_t const & SupportFoot() const
+ { return m_StateMatrices.SupportFoot; };
+ inline void SupportFoot( const supportfoot_t & SupportFoot )
+ { m_StateMatrices.SupportFoot = SupportFoot; };
+ /// \}
+
/// \brief Accessors to the current support state
inline support_state_t const & SupportState() const
{ return m_StateMatrices.SupportState; };
diff --git a/src/PreviewControl/SupportFSM.cpp b/src/PreviewControl/SupportFSM.cpp
index d6d793fa..67007ee0 100644
--- a/src/PreviewControl/SupportFSM.cpp
+++ b/src/PreviewControl/SupportFSM.cpp
@@ -93,6 +93,7 @@ void SupportFSM::setSupportState(const double &Time, const int &pi,
Support.StateChanged = true;
Support.TimeLimit = Time+pi*m_T + m_SSPeriod;
Support.StepNumber++;
+ Support.SSSS = 1;
if (ReferenceGiven == false)
Support.StepsLeft = Support.StepsLeft-1;
}
diff --git a/src/privatepgtypes.cpp b/src/privatepgtypes.cpp
index 5541b527..46ced799 100644
--- a/src/privatepgtypes.cpp
+++ b/src/privatepgtypes.cpp
@@ -29,32 +29,28 @@ namespace PatternGeneratorJRL
struct support_state_s & support_state_t::operator =(const support_state_s & aSS)
{
- Phase = aSS.Phase;
- Foot = aSS.Foot;
- StepsLeft = aSS.StepsLeft;
- TimeLimit = aSS.TimeLimit;
- StepNumber = aSS.StepNumber;
- StateChanged = aSS.StateChanged;
- StartTime = aSS.StartTime;
- x = aSS.x;
- y = aSS.y;
- yaw = aSS.yaw;
-
+ for(unsigned int i=0;i<3;i++)
+ {
+ Phase = aSS.Phase;
+ Foot = aSS.Foot;
+ StepsLeft = aSS.StepsLeft;
+ TimeLimit = aSS.TimeLimit;
+ StepNumber = aSS.StepNumber;
+ };
return *this;
}
void support_state_t::reset()
{
- Phase = 0;
- Foot = 0;
- StepsLeft = 0;
- TimeLimit = 0.0;
- StepNumber = 0;
- StateChanged = false;
- StartTime = 0.0;
- x = 0.0;
- y = 0.0;
- yaw = 0.0;
+ for(int i=0;i<3;i++)
+ {
+ Phase = 0;
+ Foot = 0;
+ StepsLeft = 0;
+ TimeLimit = 0.0;
+ StepNumber = 0;
+ SSSS = StateChanged = false;
+ }
}
support_state_s::support_state_s()
@@ -136,14 +132,15 @@ namespace PatternGeneratorJRL
convex_hull_t::rotate( double angle )
{
- double c_a = cos(angle);
- double s_a = sin(angle);
+ double c_a = cos(angle);
+ double s_a = sin(angle);
+
+ for( unsigned int j=0;j<X.size();j++ )
+ {
+ X[j] = ( X[j]*c_a - Y[j]*s_a );
+ Y[j] = ( X[j]*s_a + Y[j]*c_a );
+ }
- for( int j=0;j<X.size();j++ )
- {
- X[j] = ( X[j]*c_a - Y[j]*s_a );
- Y[j] = ( X[j]*s_a + Y[j]*c_a );
- }
}
convex_hull_s::convex_hull_s( int size )
@@ -173,13 +170,13 @@ namespace PatternGeneratorJRL
void
convex_hull_t::set(const double * arrayX, const double * arrayY)
- {
- for(int i=0;i<X.size();i++)
- {
- X[i] = arrayX[i];
- Y[i] = arrayY[i];
- }
- }
+ {
+ for(unsigned int i=0;i<X.size();i++)
+ {
+ X[i] = arrayX[i];
+ Y[i] = arrayY[i];
+ }
+ }
void
linear_inequality_t::clear()
diff --git a/src/privatepgtypes.h b/src/privatepgtypes.h
index d2dff824..8f6715dc 100644
--- a/src/privatepgtypes.h
+++ b/src/privatepgtypes.h
@@ -39,27 +39,9 @@ namespace PatternGeneratorJRL
/// \brief Support state of the robot at a certain point in time
struct support_state_s
{
- const static int DS=0;
- const static int SS=1;
- const static int LEFT=2;
- const static int RIGHT=-2;
-
- /// \brief Support phase
- int Phase;
- /// \brief Support foot
- int Foot;
- /// \brief Number steps left before double support
- int StepsLeft;
- /// \brief Number of step previewed
- int StepNumber;
- /// \brief (true) -> New single support state
- bool StateChanged;
- /// \brief Time until StateChanged == true
+ int Phase, Foot, StepsLeft, StepNumber;
+ bool SSSS, StateChanged;
double TimeLimit;
- /// \brief start time
- double StartTime;
- /// \brief Position and orientation on a plane
- double x,y,yaw;
struct support_state_s & operator = (const support_state_s &aSS);
--
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