Commit 5e941730 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Remove trailing whitespace for PGTypes

parent 7436a10b
/*
* Copyright 2007, 2008, 2009, 2010,
* Copyright 2007, 2008, 2009, 2010,
*
* Mehdi Benallegue
* Andrei Herdt
......@@ -21,7 +21,7 @@
* 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
* Research carried out within the scope of the
* Joint Japanese-French Robotics Laboratory (JRL)
*/
/*! \file PGTypes.h
......@@ -32,11 +32,11 @@
// For Windows compatibility.
#if defined (WIN32)
# ifdef walkGenJrl_EXPORTS
# ifdef walkGenJrl_EXPORTS
# define WALK_GEN_JRL_EXPORT __declspec(dllexport)
# else
# else
# define WALK_GEN_JRL_EXPORT __declspec(dllimport)
# endif
# endif
#else
# define WALK_GEN_JRL_EXPORT
#endif
......@@ -47,17 +47,17 @@ namespace PatternGeneratorJRL
{
struct COMState_s;
/// Structure to store the COM position computed by the preview control.
/// Structure to store the COM position computed by the preview control.
struct WALK_GEN_JRL_EXPORT COMPosition_s
{
double x[3],y[3];
double z[3];
double x[3],y[3];
double z[3];
double yaw; // aka theta
double pitch; // aka omega
double roll; // aka hip
double roll; // aka hip
struct COMPosition_s & operator=(const COMState_s &aCS);
};
typedef struct COMPosition_s COMPosition;
......@@ -70,58 +70,58 @@ namespace PatternGeneratorJRL
double yaw[3]; // aka theta
double pitch[3]; // aka omega
double roll[3]; // aka hip
struct COMState_s & operator=(const COMPosition_s &aCS);
void reset();
void reset();
COMState_s();
};
typedef struct COMState_s COMState;
/** Structure to store each foot position when the user is specifying
/** Structure to store each foot position when the user is specifying
a sequence of relative positions. */
struct RelativeFootPosition_s
{
{
double sx,sy,theta;
float SStime;
float DStime;
int stepType; //1:normal walking 2:one step before opbstacle
//3:first leg over obstacle 4:second leg over obstacle 5:one step after obstacle
double DeviationHipHeight;
double DeviationHipHeight;
};
typedef struct RelativeFootPosition_s RelativeFootPosition;
/** Structure to store each of the ZMP value, with a given
direction at a certain time. */
struct ZMPPosition_s
{
{
double px,py,pz;
double theta;//For COM
double time;
int stepType; //1:normal walking 2:one step before opbstacle
//3:first leg over obstacle 4:second leg over obstacle 5:one step after obstacle
//+10 if duoble support phase
//*(-1) if right foot stance else left foot stance
//*(-1) if right foot stance else left foot stance
};
typedef struct ZMPPosition_s ZMPPosition;
//TODO 0: FootAbsolutePosition_t does not contain the acceleration
/// Structure to store the absolute foot position.
struct FootAbsolutePosition_t
{
{
/*! px, py in meters, theta in DEGREES. */
double x,y,z, theta, omega, omega2;
double x,y,z, theta, omega, omega2;
/*! Speed of the foot. */
double dx,dy,dz, dtheta, domega, domega2;
double dx,dy,dz, dtheta, domega, domega2;
/*! Time at which this position should be reached. */
double time;
/*! 1:normal walking 2:one step before opbstacle
3:first leg over obstacle 4:second leg over obstacle 5:one step after obstacle
+10 if double support phase
(-1) if support foot */
int stepType;
int stepType;
};
typedef struct FootAbsolutePosition_t FootAbsolutePosition;
......@@ -134,9 +134,9 @@ namespace PatternGeneratorJRL
std::vector<int> SimilarConstraints;
double StartingTime, EndingTime;
};
typedef struct LinearConstraintInequality_s
typedef struct LinearConstraintInequality_s
LinearConstraintInequality_t;
/// Linear constraints with variable feet placement.
struct LinearConstraintInequalityFreeFeet_s
{
......@@ -144,7 +144,7 @@ namespace PatternGeneratorJRL
MAL_MATRIX(Dc,double);
int StepNumber;
};
typedef struct LinearConstraintInequalityFreeFeet_s
typedef struct LinearConstraintInequalityFreeFeet_s
LinearConstraintInequalityFreeFeet_t;
//State of the feet on the ground
......@@ -153,17 +153,17 @@ namespace PatternGeneratorJRL
double x,y,theta,StartTime;
int SupportFoot;
};
typedef struct SupportFeet_s
typedef struct SupportFeet_s
SupportFeet_t;
/// Structure to store the absolute reference.
struct ReferenceAbsoluteVelocity_t
{
{
/*! m/sec or degrees/sec */
double x,y,z, dYaw;
/*! reference values for the whole preview window */
MAL_VECTOR(RefVectorX,double);
MAL_VECTOR(RefVectorX,double);
MAL_VECTOR(RefVectorY,double);
MAL_VECTOR(RefVectorTheta,double);
};
......@@ -177,6 +177,6 @@ namespace PatternGeneratorJRL
double TimeLimit;
};
typedef struct SupportState_s SupportState_t;
};
#endif
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