...missing in the previous commit...

- exchange Left and RightFPos... 
- exchange ZMP/FOOT_CONS... by ineq_e

src/Mathematics/relative-feet-inequalities.cpp

@@ -85,14 +85,14 @@ RelativeFeetInequalities::init_convex_hulls()
   FootPosEdges_.LeftDS.resize(5);
   FootPosEdges_.LeftSS.resize(5);
   double LeftFPosEdgesX[5] = {-0.28, -0.2, 0.0, 0.2, 0.28};
-  double LeftFPosEdgesY[5] = {0.2, 0.3, 0.4, 0.3, 0.2};
+  double LeftFPosEdgesY[5] = {-0.2, -0.3, -0.4, -0.3, -0.2};
   FootPosEdges_.LeftDS.set(LeftFPosEdgesX,LeftFPosEdgesY);
   FootPosEdges_.LeftSS.set(LeftFPosEdgesX,LeftFPosEdgesY);
 
   FootPosEdges_.RightDS.resize(5);
   FootPosEdges_.RightSS.resize(5);
   double RightFPosEdgesX[5] = {-0.28, -0.2, 0.0, 0.2, 0.28};
-  double RightFPosEdgesY[5] = {-0.2, -0.3, -0.4, -0.3, -0.2};
+  double RightFPosEdgesY[5] = {0.2, 0.3, 0.4, 0.3, 0.2};
   FootPosEdges_.RightDS.set(RightFPosEdgesX,RightFPosEdgesY);
   FootPosEdges_.RightSS.set(RightFPosEdgesX,RightFPosEdgesY);
 
@@ -155,40 +155,39 @@ RelativeFeetInequalities::set_feet_dimensions( CjrlHumanoidDynamicRobot *aHS )
 
 int
 RelativeFeetInequalities::set_vertices( convex_hull_t & ConvexHull,
-    double Orientation,
-    const support_state_t & PrwSupport,
-    int Type)
+    const support_state_t & Support,
+    ineq_e type)
 {
 
   edges_s * ConvexHull_p = 0;
 
-  switch(Type)
+  switch(type)
     {
-    case ZMP_CONSTRAINTS:
+    case INEQ_COP:
       ConvexHull_p = & ZMPPosEdges_;
       break;
-    case FOOT_CONSTRAINTS:
+    case INEQ_FEET:
       ConvexHull_p = & FootPosEdges_;
       break;
 
     }
   //Prepare the computation of the convex hull
-  if( PrwSupport.Foot == LEFT )
+  if( Support.Foot == LEFT )
     {
-      if( PrwSupport.Phase == DS )
+      if( Support.Phase == DS )
         ConvexHull = ConvexHull_p->LeftDS;
       else
         ConvexHull = ConvexHull_p->LeftSS;
     }
   else
     {
-      if( PrwSupport.Phase == DS )
+      if( Support.Phase == DS )
         ConvexHull = ConvexHull_p->RightDS;
       else
         ConvexHull = ConvexHull_p->RightSS;
     }
 
-  ConvexHull.rotate(Orientation);
+  ConvexHull.rotate(Support.Yaw);
 
   return 0;
 

src/Mathematics/relative-feet-inequalities.hh

@@ -55,8 +55,6 @@ namespace PatternGeneratorJRL
     // Public types
     //
   public:
-    const static int ZMP_CONSTRAINTS = 0;
-    const static int FOOT_CONSTRAINTS = 1;
 
     //
     // Public member functions
@@ -79,9 +77,8 @@ namespace PatternGeneratorJRL
     /// \param[in] Type Type
     /// \return 0
     int set_vertices( convex_hull_t & ConvexHull,
-        double Orientation,
         const support_state_t & SupportState,
-        int Type);
+        ineq_e type);
 
     /// \brief Compute the linear inequalities \f${\bf A}{\bf x} \geq {\bf b}\f$ associated with the
     /// convex hull specified by a vector of points.

src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp

@@ -221,7 +221,7 @@ GeneratorVelRef::build_inequalities_cop(linear_inequality_t & Inequalities,
   convex_hull_t ZMPFeasibilityEdges;
   RFI_->set_vertices( ZMPFeasibilityEdges,
       *prwSS_it,
-      RelativeFeetInequalities::ZMP_CONSTRAINTS );
+      INEQ_COP );
 
   const unsigned nbEdges = 4;
   double D_x[nbEdges] = {0.0, 0.0, 0.0, 0.0};
@@ -233,7 +233,7 @@ GeneratorVelRef::build_inequalities_cop(linear_inequality_t & Inequalities,
     {
       if( prwSS_it->StateChanged )
         RFI_->set_vertices( ZMPFeasibilityEdges,*prwSS_it,
-            RelativeFeetInequalities::ZMP_CONSTRAINTS );
+            INEQ_COP );
 
       RFI_->compute_linear_system( ZMPFeasibilityEdges, D_x, D_y, dc, *prwSS_it );
 
@@ -275,7 +275,7 @@ GeneratorVelRef::build_inequalities_feet( linear_inequality_t & Inequalities,
         {
           prwSS_it--;//Take the support state before
           RFI_->set_vertices( FootFeasibilityEdges, *prwSS_it,
-              RelativeFeetInequalities::FOOT_CONSTRAINTS );
+              INEQ_FEET );
           prwSS_it++;
           RFI_->compute_linear_system( FootFeasibilityEdges, Dx, Dy, dc, *prwSS_it );