Clean up

src/PreviewControl/SupportFSM.h

@@ -129,7 +129,7 @@ namespace PatternGeneratorJRL
     int NbStepsAfterRotation_;
 
     /// \brief Current support foot type (SS, DS)
-    FootType CurrentSupportFoot_;
+    foot_type_e CurrentSupportFoot_;
 
     /// \brief True if the end phase of the rotation has begun
     bool PostRotationPhase_;

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp

@@ -353,14 +353,11 @@ ZMPVelocityReferencedQP::OnLine(double Time,
       // ---------------------
       Problem_.reset();
       Solution_.reset();
-
-
       VRQPGenerator_->CurrentTime( Time );
       VelRef_=NewVelRef_;
-
       SupportFSM_->update_vel_reference(VelRef_, IntermedData_->SupportState());
       IntermedData_->Reference( VelRef_ );
-      IntermedData_->CoM( CoM_() );// TODO: still necessary?
+      IntermedData_->CoM( CoM_() );
 
 
       // PREVIEW SUPPORT STATES FOR THE WHOLE PREVIEW WINDOW:
@@ -407,11 +404,8 @@ ZMPVelocityReferencedQP::OnLine(double Time,
 
       // SOLVE PROBLEM:
       // --------------
-
-      if (Solution_.useWarmStart){
+      if (Solution_.useWarmStart)
     	  VRQPGenerator_->computeWarmStart(Solution_);
-      }
-
       Problem_.solve(QPProblem_s::QLD, Solution_, QPProblem_s::NONE );
       if(Solution_.Fail>0)
         Problem_.dump( Time );

src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp

@@ -566,7 +566,7 @@ void GeneratorVelRef::computeWarmStart(	solution_t & Solution){
   Solution.initialSolution.resize(2*N+2*M);
 
   // Current support state
-  FootType CurrentSupportFoot = Solution.SupportStates_deq[0].Foot;
+  foot_type_e CurrentSupportFoot = Solution.SupportStates_deq[0].Foot;
   double currentSupportFoot_x = Solution.SupportStates_deq[0].X;
   double currentSupportFoot_y = Solution.SupportStates_deq[0].Y;
   double currentYaw = Solution.SupportStates_deq[0].Yaw;

src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh

@@ -45,7 +45,7 @@
 
 namespace PatternGeneratorJRL
 {
- 
+
   /// \brief Generate optimization problem as proposed in Herdt2010IROS
   class  GeneratorVelRef : public MPCTrajectoryGeneration
   {
@@ -180,7 +180,7 @@ namespace PatternGeneratorJRL
     /// \param[in] NbStepsPreviewed
     /// \param[out] Pb
     void build_constraints_cop( const linear_inequality_t & IneqCoP, unsigned int NbStepsPreviewed,
-         QPProblem & Pb );
+        QPProblem & Pb );
 
     /// \brief Compute feet constraints corresponding to the set of inequalities
     ///

src/privatepgtypes.h

@@ -170,7 +170,7 @@ namespace PatternGeneratorJRL
     void resize( int NbRows, int NbCols, bool Preserve );
   };
 
-  enum FootType
+  enum foot_type_e
   {
     LEFT, RIGHT
   };
@@ -187,7 +187,7 @@ namespace PatternGeneratorJRL
     /// \brief Support phase
     PhaseType Phase;
     /// \brief Support foot
-    FootType Foot;
+    foot_type_e Foot;
     /// \brief Number steps left before double support
     unsigned int NbStepsLeft;
     /// \brief Number of step previewed