From 52cef8a841d7e9bc15fa8d5cd505933e881924f9 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <Olivier.stasse@aist.go.jp>
Date: Thu, 28 Oct 2010 06:20:35 +0900
Subject: [PATCH] Transitional commit for merging.
Please DO NOT put types in the API which are not necessary
to interact with the user. This should stay in the private
area.
---
include/walkGenJrl/PGTypes.h | 11 ++++++++++-
1 file changed, 10 insertions(+), 1 deletion(-)
diff --git a/include/walkGenJrl/PGTypes.h b/include/walkGenJrl/PGTypes.h
index 4fb88c8d..8207ffc7 100644
--- a/include/walkGenJrl/PGTypes.h
+++ b/include/walkGenJrl/PGTypes.h
@@ -168,6 +168,15 @@ namespace PatternGeneratorJRL
MAL_VECTOR(RefVectorTheta,double);
};
typedef struct ReferenceAbsoluteVelocity_t ReferenceAbsoluteVelocity;
-
+
+ // State of the support
+ struct SupportState_s
+ {
+ int Phase, Foot, StepsLeft, StepNumber;
+ bool SSSS, StateChanged;
+ double TimeLimit;
+ };
+ typedef struct SupportState_s SupportState_t;
+
};
#endif
--
GitLab