Commit 6b8bd9d3 authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Indent PGTypes to GNU format.

parent 5e941730
......@@ -25,7 +25,7 @@
* Joint Japanese-French Robotics Laboratory (JRL)
*/
/*! \file PGTypes.h
\brief Defines basic types for the Humanoid Walking Pattern Generator.
\brief Defines basic types for the Humanoid Walking Pattern Generator.
*/
#ifndef _PATTERN_GENERATOR_TYPES_H_
#define _PATTERN_GENERATOR_TYPES_H_
......@@ -90,7 +90,7 @@ namespace PatternGeneratorJRL
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;
};
};
typedef struct RelativeFootPosition_s RelativeFootPosition;
/** Structure to store each of the ZMP value, with a given
......@@ -102,8 +102,8 @@ namespace PatternGeneratorJRL
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
//+10 if duoble support phase
//*(-1) if right foot stance else left foot stance
};
typedef struct ZMPPosition_s ZMPPosition;
......@@ -172,9 +172,9 @@ namespace PatternGeneratorJRL
// State of the support
struct SupportState_s
{
int Phase, Foot, StepsLeft, StepNumber;
bool SSSS, StateChanged;
double TimeLimit;
int Phase, Foot, StepsLeft, StepNumber;
bool SSSS, StateChanged;
double TimeLimit;
};
typedef struct SupportState_s SupportState_t;
......
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