Revert "Add members and change accessor names"

This reverts commit 8d4c499d.

src/Mathematics/intermediate-qp-matrices.cpp

@@ -51,7 +51,7 @@ IntermedQPMat::~IntermedQPMat()
 
 
 IntermedQPMat::objective_variant_t const &
-IntermedQPMat::Objective( const int aObjectiveType ) const
+IntermedQPMat::operator ()( const int aObjectiveType ) const
 {
   switch(aObjectiveType)
   {
@@ -68,7 +68,7 @@ IntermedQPMat::Objective( const int aObjectiveType ) const
 
 
 IntermedQPMat::objective_variant_t &
-IntermedQPMat::Objective( const int aObjectiveType )
+IntermedQPMat::operator ()( const int aObjectiveType )
 {
   switch(aObjectiveType)
   {
@@ -85,7 +85,7 @@ IntermedQPMat::Objective( const int aObjectiveType )
 
 
 void
-IntermedQPMat::dumpObjective( const int aObjectiveType, std::ostream &aos )
+IntermedQPMat::printObjective( const int aObjectiveType, std::ostream &aos )
 {
   IntermedQPMat::objective_variant_t objective;
   switch(aObjectiveType)
@@ -113,29 +113,29 @@ IntermedQPMat::dumpObjective( const int aObjectiveType, std::ostream &aos )
 
 
 void
-IntermedQPMat::dumpState( std::ostream &aos )
+IntermedQPMat::printState( std::ostream &aos )
 {
 
 }
 
 
 void
-IntermedQPMat::dumpObjective(const char * filename,
+IntermedQPMat::printObjective(const char * filename,
                           const int type)
 {
   std::ofstream aof;
   aof.open(filename,std::ofstream::out);
-  dumpObjective(type,aof);
+  printObjective(type,aof);
   aof.close();
 }
 
 
 void
-IntermedQPMat::dumpState(const char * filename)
+IntermedQPMat::printState(const char * filename)
 {
   std::ofstream aof;
   aof.open(filename,std::ofstream::out);
-  dumpState(aof);
+  printState(aof);
   aof.close();
 }
 

src/Mathematics/intermediate-qp-matrices.hh

@@ -56,23 +56,24 @@ namespace PatternGeneratorJRL
     /// \{
     struct state_variant_s
     {
-      /// \brief Reference
-      reference_t Ref;
+      /// \brief reference values for the whole preview window
+      MAL_VECTOR(RefX,double);
+      MAL_VECTOR(RefY,double);
+      MAL_VECTOR(RefTheta,double);
 
       /// \brief State of the Center of Mass
       com_t CoM;
 
-      /// \brief TrunkState
-      trunk_t Trunk;
-
       /// \brief Selection matrix for the previewed and current feet positions.
       MAL_MATRIX(V,double);
       MAL_MATRIX(VT,double);
       MAL_VECTOR(Vc,double);
 
       /// \brief Current support foot position
-      supportfoot_t SupportFoot;
+      double fx, fy;
 
+      /// \brief Number of free steps in the preview window
+      int NbStepsPrw;
       /// \}
     };
     typedef state_variant_s state_variant_t;
@@ -109,38 +110,26 @@ namespace PatternGeneratorJRL
     /// \}
 
     /// \brief Accessors to the state matrices
-    inline state_variant_t const & State() const
+    inline state_variant_t const & operator ()() const
     { return m_StateMatrices; };
 
     /// \brief Accessors to the objective dependent matrices
-    objective_variant_t const & Objective( const int aObjectiveType ) const;
-    objective_variant_t & Objective( const int aObjectiveType );
+    objective_variant_t const & operator ()( const int aObjectiveType ) const;
+    objective_variant_t & operator ()( const int aObjectiveType );
 
     /// \brief Accessors to the Center of Mass
-    inline com_t const & CoM() const
-    { return m_StateMatrices.CoM; };
-    inline void CoM( const com_t & CoM )
+    //inline com_t const & operator ()()
+    //{ return m_StateMatrices.CoM; };
+    void operator ()( com_t CoM )
     { m_StateMatrices.CoM = CoM; };
 
-    /// \brief Accessors to the reference
-    inline reference_t const & Reference() const
-    { return m_StateMatrices.Ref; };
-    inline reference_t & Reference()
-    { return m_StateMatrices.Ref; };
-    inline void Reference( reference_t & Ref )
-    { m_StateMatrices.Ref = Ref; };
+    /// \brief Printers
+    void printObjective( const int ObjectiveType, std::ostream &aos );
+    void printState( std::ostream &aos );
+    void printObjective(const char * filename, const int Objectivetype);
+    void printState(const char * filename);
+
 
-    /// \brief Accessors to the Center of Mass
-    inline supportfoot_t const & SupportFoot() const
-    { return m_StateMatrices.SupportFoot; };
-    inline void SupportFoot( const supportfoot_t & SupportFoot )
-    { m_StateMatrices.SupportFoot = SupportFoot; };
-
-    /// \brief Dumping
-    void dumpObjective( const int ObjectiveType, std::ostream &aos );
-    void dumpState( std::ostream &aos );
-    void dumpObjective(const char * filename, const int Objectivetype);
-    void dumpState(const char * filename);
 
     //
     //Private members