From 76e32bee74c8eb3ac196c498a68c2d4c91e0137e Mon Sep 17 00:00:00 2001
From: Andrei Herdt <andrei.herdt@gmail.com>
Date: Sat, 15 Oct 2011 18:46:40 +0200
Subject: [PATCH] Clean up
---
src/PreviewControl/SupportFSM.h | 2 +-
.../ZMPVelocityReferencedQP.cpp | 10 ++--------
src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp | 2 +-
src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh | 4 ++--
src/privatepgtypes.h | 4 ++--
5 files changed, 8 insertions(+), 14 deletions(-)
diff --git a/src/PreviewControl/SupportFSM.h b/src/PreviewControl/SupportFSM.h
index 2b1ca708..32d6456d 100644
--- a/src/PreviewControl/SupportFSM.h
+++ b/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_;
diff --git a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
index 6587256f..753e530d 100644
--- a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
+++ b/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 );
diff --git a/src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp b/src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
index 843d342e..71756488 100755
--- a/src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
+++ b/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;
diff --git a/src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh b/src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh
index 86fd0587..5207bcc0 100644
--- a/src/ZMPRefTrajectoryGeneration/generator-vel-ref.hh
+++ b/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
///
diff --git a/src/privatepgtypes.h b/src/privatepgtypes.h
index 268ea230..c62248e2 100644
--- a/src/privatepgtypes.h
+++ b/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
--
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