From 67ad0e16621aecea87b6e736be7db79899aadb93 Mon Sep 17 00:00:00 2001
From: olivier-stasse <olivier.stasse@aist.go.jp>
Date: Fri, 11 Mar 2011 05:07:23 +0900
Subject: [PATCH] Revert "Fix a problem related to the number of variables
dumped."
This reverts commit 03c3697c7921044fa9d366558e64776b9b89479b.
---
tests/TestObject.cpp | 74 ++++++++++++++++++++------------------------
tests/TestObject.h | 3 --
2 files changed, 33 insertions(+), 44 deletions(-)
diff --git a/tests/TestObject.cpp b/tests/TestObject.cpp
index 8588158d..3e057c5a 100644
--- a/tests/TestObject.cpp
+++ b/tests/TestObject.cpp
@@ -117,7 +117,6 @@ namespace PatternGeneratorJRL
MAL_VECTOR_RESIZE(m_PreviousVelocity, m_HDR->numberDof());
MAL_VECTOR_RESIZE(m_PreviousAcceleration, m_HDR->numberDof());
- m_NbOfStoredVariables = 0;
}
TestObject::~TestObject()
@@ -203,39 +202,38 @@ namespace PatternGeneratorJRL
aof.open(aFileName.c_str(),ofstream::app);
aof.precision(8);
aof.setf(ios::scientific, ios::floatfield);
- aof << filterprecision(m_OneStep.NbOfIt*0.005 ) << " " // 1
- << filterprecision(m_OneStep.finalCOMPosition.x[0] ) << " " // 2
- << filterprecision(m_OneStep.finalCOMPosition.y[0] ) << " " // 3
- << filterprecision(m_OneStep.finalCOMPosition.z[0] ) << " " // 4
- << filterprecision(m_OneStep.finalCOMPosition.yaw ) << " " // 5
- << filterprecision(m_OneStep.finalCOMPosition.x[1] ) << " " // 6
- << filterprecision(m_OneStep.finalCOMPosition.y[1] ) << " " // 7
- << filterprecision(m_OneStep.finalCOMPosition.z[1] ) << " " // 8
- << filterprecision(m_OneStep.ZMPTarget(0) ) << " " // 9
- << filterprecision(m_OneStep.ZMPTarget(1) ) << " " // 10
- << filterprecision(m_OneStep.LeftFootPosition.x ) << " " // 11
- << filterprecision(m_OneStep.LeftFootPosition.y ) << " " // 12
- << filterprecision(m_OneStep.LeftFootPosition.z ) << " " // 13
- << filterprecision(m_OneStep.LeftFootPosition.theta ) << " " // 14
- << filterprecision(m_OneStep.LeftFootPosition.omega ) << " " // 15
- << filterprecision(m_OneStep.LeftFootPosition.omega2 ) << " " // 16
- << filterprecision(m_OneStep.RightFootPosition.x ) << " " // 17
- << filterprecision(m_OneStep.RightFootPosition.y ) << " " // 18
- << filterprecision(m_OneStep.RightFootPosition.z ) << " " // 19
- << filterprecision(m_OneStep.RightFootPosition.theta ) << " " // 20
- << filterprecision(m_OneStep.RightFootPosition.omega ) << " " // 21
- << filterprecision(m_OneStep.RightFootPosition.omega2 ) << " " // 22
+ aof << filterprecision(m_OneStep.NbOfIt*0.005 ) << " "
+ << filterprecision(m_OneStep.finalCOMPosition.x[0] ) << " "
+ << filterprecision(m_OneStep.finalCOMPosition.y[0] ) << " "
+ << filterprecision(m_OneStep.finalCOMPosition.z[0] ) << " "
+ << filterprecision(m_OneStep.finalCOMPosition.yaw ) << " "
+ << filterprecision(m_OneStep.finalCOMPosition.x[1] ) << " "
+ << filterprecision(m_OneStep.finalCOMPosition.y[1] ) << " "
+ << filterprecision(m_OneStep.finalCOMPosition.z[1] ) << " "
+ << filterprecision(m_OneStep.ZMPTarget(0) ) << " "
+ << filterprecision(m_OneStep.ZMPTarget(1) ) << " "
+ << filterprecision(m_OneStep.LeftFootPosition.x ) << " "
+ << filterprecision(m_OneStep.LeftFootPosition.y ) << " "
+ << filterprecision(m_OneStep.LeftFootPosition.z ) << " "
+ << filterprecision(m_OneStep.LeftFootPosition.theta ) << " "
+ << filterprecision(m_OneStep.LeftFootPosition.omega ) << " "
+ << filterprecision(m_OneStep.LeftFootPosition.omega2 ) << " "
+ << filterprecision(m_OneStep.RightFootPosition.x ) << " "
+ << filterprecision(m_OneStep.RightFootPosition.y ) << " "
+ << filterprecision(m_OneStep.RightFootPosition.z ) << " "
+ << filterprecision(m_OneStep.RightFootPosition.theta ) << " "
+ << filterprecision(m_OneStep.RightFootPosition.omega ) << " "
+ << filterprecision(m_OneStep.RightFootPosition.omega2 ) << " "
<< filterprecision(m_OneStep.ZMPTarget(0)*cos(m_CurrentConfiguration(5)) -
m_OneStep.ZMPTarget(1)*sin(m_CurrentConfiguration(5))
- +m_CurrentConfiguration(0) ) << " " // 23
+ +m_CurrentConfiguration(0) ) << " "
<< filterprecision(m_OneStep.ZMPTarget(0)*sin(m_CurrentConfiguration(5)) +
m_OneStep.ZMPTarget(1)*cos(m_CurrentConfiguration(5))
- +m_CurrentConfiguration(1) ) << " " // 24
- << filterprecision(m_CurrentConfiguration(0) ) << " " // 25
- << filterprecision(m_CurrentConfiguration(1) ) << " " // 26
+ +m_CurrentConfiguration(1) ) << " "
+ << filterprecision(m_CurrentConfiguration(0) ) << " "
+ << filterprecision(m_CurrentConfiguration(1) ) << " "
<< endl;
aof.close();
- m_NbOfStoredVariables = 26;
}
}
@@ -258,33 +256,27 @@ namespace PatternGeneratorJRL
arif.open(aFileName.c_str(),ifstream::in);
// Time
- vector<double> LocalInput;
- LocalInput.resize(m_NbOfStoredVariables);
- vector<double> ReferenceInput;
- ReferenceInput.resize(m_NbOfStoredVariables);
- unsigned int LineNumber=0;
+ double LocalInput[70], ReferenceInput[70];
+
while ((!alif.eof()) ||
(!arif.eof()))
{
- for (unsigned int i=0;i<m_NbOfStoredVariables;i++)
+ for (unsigned int i=0;i<70;i++)
alif >> LocalInput[i];
- for (unsigned int i=0;i<m_NbOfStoredVariables;i++)
+ for (unsigned int i=0;i<70;i++)
arif >> ReferenceInput[i];
- for (unsigned int i=0;i<m_NbOfStoredVariables;i++)
+ for (unsigned int i=0;i<70;i++)
{
if (fabs(LocalInput[i]-
ReferenceInput[i])>=1e-5)
{
- cout << " LineNumber: " << LineNumber
- << " ... failed with: "
- << "LocalInput["<<i<<"]: "<<LocalInput[i]
- << " ReferenceInput["<<i<<"]: "<<ReferenceInput[i]<<endl;
+ cout<<"... failed with: "<< "LocalInput["<<i<<"]: "<<LocalInput[i]<<
+ " ReferenceInput["<<i<<"]: "<<ReferenceInput[i]<<endl;
return false;
}
}
- LineNumber++;
}
alif.close();
diff --git a/tests/TestObject.h b/tests/TestObject.h
index 3ce167a5..164d7f43 100644
--- a/tests/TestObject.h
+++ b/tests/TestObject.h
@@ -162,9 +162,6 @@ namespace PatternGeneratorJRL
/*! \brief Patten Generator Interface. */
int m_PGIInterface;
-
- /*! \brief Nb of variables store into the debug files.*/
- unsigned int m_NbOfStoredVariables;
};
--
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