Add new type for the CoM to be used by:

LinearInvertedPendulum2D
intermediate-qp-matrices

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
@@ -28,10 +29,12 @@
 #ifndef _PATTERN_GENERATOR_INTERNAL_PRIVATE_H_
 #define  _PATTERN_GENERATOR_INTERNAL_PRIVATE_H_
 
+#include <jrl/mal/matrixabstractlayer.hh>
+
 namespace PatternGeneratorJRL
 {
 
-  // State of the support
+  // Support state of the robot at a certain point in time
   struct SupportState_s
   {
     int Phase, Foot, StepsLeft, StepNumber;
@@ -39,6 +42,21 @@ 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_ */