Revert "-Introduce m_NbVariables"

This reverts commit 13819817.

src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp

@@ -176,7 +176,7 @@ GeneratorVelRef::generateFeetPosConstraints (CjrlFoot & Foot,
 
 
 void 
-GeneratorVelRef::buildInvariantPart(QPProblem & Pb, IntermedQPMat & Matrices)
+GeneratorVelRef::buildInvariantProblemPart(QPProblem & Pb, IntermedQPMat & Matrices)
 {
 
   const IntermedQPMat::objective_variant_t & Jerk = Matrices(IntermedQPMat::JERK);
@@ -314,7 +314,7 @@ GeneratorVelRef::addTerm(MAL_MATRIX (&Mat, double), double * QPMat, int row, int
 {
   for(int i = row;i < row+nrows; i++)
     for(int j = col;j < col+ncols; j++)
-      QPMat[i+j*m_NbVariables] = Mat(i,j);
+      QPMat[i+j*2*(m_N+m_PrwSupport.StepNumber)] = Mat(i,j);
 }
 
 

src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh

@@ -125,7 +125,7 @@ namespace PatternGeneratorJRL
     /// \brief Build the constant part of the objective
     ///
     /// \param Pb
-    void buildInvariantPart(QPProblem & Pb, IntermedQPMat & Matrices);
+    void buildInvariantProblemPart(QPProblem & Pb, IntermedQPMat & Matrices);
 
     /// \brief Compute the objective matrices
     ///
@@ -254,6 +254,12 @@ namespace PatternGeneratorJRL
 
     /// \name Variables related to the QP
     /// @{
+	  
+    /// \brief Sampling of the QP. 
+    double m_QP_T;
+	  
+    /// \brief Number of previewed samples 
+    int m_QP_N;
 
     /// \brief Constant part of the constraint matrices. 
     double * m_Pu;

src/ZMPRefTrajectoryGeneration/mpc-trajectory-generation.hh

@@ -65,9 +65,6 @@ namespace PatternGeneratorJRL
      /// \brief Size of the preview window (Nb. of samplings)
      int m_N;
 
-     /// \brief Number of variables
-     int m_NbVariables;
-
      /* ! \brief Step height for the walking pattern. */
      double m_StepHeight;
 
@@ -120,15 +117,15 @@ namespace PatternGeneratorJRL
     inline const double & getPreviewLength( ) const
     { return m_PreviewControlTime; };
 		
-    /// \brief Return the Com Height.
+    /// \brief Returns the Com Height.
     inline const double & getComHeight() const
     { return m_CoMHeight; };
 		
-    /// \brief Return the Com Height.
+    /// \brief Returns the Com Height. 
     inline void setComHeight(const double & aComHeight)
     { m_CoMHeight = aComHeight; };
 		
-    /// \brief Return the single support time.
+    /// \brief Returns the single support time. 
     inline const double & getTSingleSupport() const
     { return m_Tsingle; };
 		
@@ -136,7 +133,7 @@ namespace PatternGeneratorJRL
     inline void setTSingleSupport(const double & aTSingleSupport)
     { m_Tsingle = aTSingleSupport; };
 		
-    /// \brief Return the double support time.
+    /// \brief Returns the double support time.
     inline const double & getTDoubleSupport() const
     {return m_Tdble;};
 		
@@ -156,26 +153,18 @@ namespace PatternGeneratorJRL
     inline const double & getSamplingPeriodPreview() const
     { return m_T_Prw; };
 		
-    /// \brief Set the sampling period for the preview.
+    /// \brief Set the sampling period for the preview. */
     inline void setSamplingPeriodPreview(const double &aSamplingPeriod)
     { m_T_Prw = aSamplingPeriod;};
 		
     /// \brief Get the sampling period for the preview, set to 0.100 by default.
-    inline const int & getNbPrwSamplings() const
+    inline const double & getNbPrwSamplings() const
     { return m_N; };
 
-    /// \brief Set the sampling period for the preview.
+    /// \brief Set the sampling period for the preview. */
     inline void setNbPrwSamplings(const int &NbSamplings)
     { m_N = NbSamplings;};
 
-    /// \brief Set the number of optimization parameters.
-    inline void setNbVariables(const int &NbVariables)
-    { m_NbVariables = NbVariables;};
-
-    /// \brief Set the number of optimization parameters.
-    inline const int & getNbVariables() const
-    { return m_NbVariables;};
-
     /// \brief Set the security margin for the zmp
     ///
     /// \param Margin

src/ZMPRefTrajectoryGeneration/qp-problem.cpp

@@ -110,31 +110,7 @@ void QPProblem_s::AllocateMemory()
   X=new double[2*(m_QP_N+m_stepNumber)];   // Solution of the problem.
   NewX=new double[2*(m_QP_N+m_stepNumber)];   // Solution of the problem.
 
-}
-
-
-void
-QPProblem_s::resize(double * array, int size)
-{
-  if (array!=0)
-    delete [] array;
-  array = new double[size];
-}
-
 
-void
-QPProblem_s::resize(int * array, int size)
-{
-  if (array!=0)
-    delete [] array;
-  array = new int[size];
-}
-
-
-void
-QPProblem_s::setNbVariables(int NbVariables)
-{
-  m_NbVariables = NbVariables;
 }
 
 void QPProblem_s::setDimensions(int NbOfConstraints,
@@ -147,7 +123,6 @@ void QPProblem_s::setDimensions(int NbOfConstraints,
 
   // If all the dimensions are less than
   // the current ones no need to reallocate.
-  // TODO: Should not be necessary to reallocate that often
   if ((NbOfConstraints <= m) &&
       (StepNumber <= m_stepNumber) &&
       (QP_N <= m_QP_N))

src/ZMPRefTrajectoryGeneration/qp-problem.hh

@@ -50,9 +50,6 @@ namespace PatternGeneratorJRL
     /// \brief Release the memory at the end only.
     ~QPProblem_s();
 
-    /// \brief Set the number of optimization variables
-    void setNbVariables(int NbVariables);
-
     /// \brief Set the dimensions of the problem.
     /// This method has an internal logic to 
     /// allocate the memory. It is done only
@@ -63,10 +60,6 @@ namespace PatternGeneratorJRL
 		       int StepNumber,
 		       int QP_N);
     
-    /// \brief Reallocate array
-    void resize(double * array, int size);
-    void resize(int * array, int size);
-
     /// \brief Dump on disk a problem.
     void dumpProblem(const char *filename);
     void dumpProblem(std::ostream &);
@@ -107,9 +100,6 @@ namespace PatternGeneratorJRL
     void AllocateMemory();
 
   private:
-    /// Previous set of step number considered.
-    int m_NbVariables;
-
     /// Previous set of step number considered.
     int m_stepNumber;