Revert "Add new type for the CoM to be used by:"

This reverts commit 72817935.

src/privatepgtypes.cpp

-/*
- * 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();
-  }
-
-}

src/privatepgtypes.h

 /*
  * 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_ */