From 5d9651e805d5b1b73ce30fa6c56ceb71c932aa8b Mon Sep 17 00:00:00 2001
From: olivier-stasse <olivier.stasse@aist.go.jp>
Date: Fri, 11 Mar 2011 05:07:26 +0900
Subject: [PATCH] Revert "Add new type for the CoM to be used by:"
This reverts commit 72817935f958972ad3dc0f1d4bbb0b74a762cd40.
---
src/privatepgtypes.cpp | 59 ------------------------------------------
src/privatepgtypes.h | 20 +-------------
2 files changed, 1 insertion(+), 78 deletions(-)
delete mode 100644 src/privatepgtypes.cpp
diff --git a/src/privatepgtypes.cpp b/src/privatepgtypes.cpp
deleted file mode 100644
index 29965314..00000000
--- a/src/privatepgtypes.cpp
+++ /dev/null
@@ -1,59 +0,0 @@
-/*
- * Copyright 2005, 2006, 2007, 2008, 2009, 2010,
- *
- * Andrei Herdt
- * Olivier Stasse
- *
- * JRL, CNRS/AIST
- *
- * This file is part of walkGenJrl.
- * walkGenJrl is free software: you can redistribute it and/or modify
- * it under the terms of the GNU Lesser General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * walkGenJrl is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Lesser Public License for more details.
- * You should have received a copy of the GNU Lesser General Public License
- * along with walkGenJrl. If not, see <http://www.gnu.org/licenses/>.
- *
- * Research carried out within the scope of the
- * Joint Japanese-French Robotics Laboratory (JRL)
- */
-#include <privatepgtypes.h>
-
-namespace PatternGeneratorJRL
-{
-
- struct com_s & com_t::operator=(const com_s &aCS)
- {
- for(unsigned int i=0;i<3;i++)
- {
- x[i] = aCS.x[i];
- y[i] = aCS.y[i];
- z[i] = aCS.z[i];
- };
- return *this;
- }
-
- void com_t::reset()
- {
- for(unsigned int i=0;i<3;i++)
- {
- MAL_VECTOR_RESIZE(x,3);
- MAL_VECTOR_RESIZE(y,3);
- MAL_VECTOR_RESIZE(z,3);
- x[i] = 0.0;
- y[i] = 0.0;
- z[i] = 0.0;
- }
- }
-
- com_s::com_s()
- {
- reset();
- }
-
-}
diff --git a/src/privatepgtypes.h b/src/privatepgtypes.h
index 5bb12d49..72aff2a2 100644
--- a/src/privatepgtypes.h
+++ b/src/privatepgtypes.h
@@ -1,7 +1,6 @@
/*
* Copyright 2010,
*
- * Andrei Herdt
* Olivier Stasse
*
* JRL, CNRS/AIST
@@ -29,12 +28,10 @@
#ifndef _PATTERN_GENERATOR_INTERNAL_PRIVATE_H_
#define _PATTERN_GENERATOR_INTERNAL_PRIVATE_H_
-#include <jrl/mal/matrixabstractlayer.hh>
-
namespace PatternGeneratorJRL
{
- // Support state of the robot at a certain point in time
+ // State of the support
struct SupportState_s
{
int Phase, Foot, StepsLeft, StepNumber;
@@ -42,21 +39,6 @@ namespace PatternGeneratorJRL
double TimeLimit;
};
typedef struct SupportState_s SupportState_t;
-
- // Support state of the robot at a certain point in time
- struct com_s
- {
- MAL_VECTOR(x,double);
- MAL_VECTOR(y,double);
- MAL_VECTOR(z,double);
-
- struct com_s & operator=(const com_s &aCS);
-
- void reset();
-
- com_s();
- };
- typedef struct com_s com_t;
}
#endif /* _PATTERN_GENERATOR_INTERNAL_PRIVATE_H_ */
--
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