Simplify PatternGenerator Interface through one structure.

First step: need to be tested and strongify.

include/jrl/walkgen/patterngeneratorinterface.hh

@@ -193,6 +193,13 @@ public:
                              FootAbsolutePosition &RightFootPosition,
                              ZMPPosition &ZMPRefPos,
                              COMPosition &COMRefPos) = 0;
+
+
+  /*! \brief Rune One Step of the global control loop
+   */
+  virtual bool
+  RunOneStepOfTheControlLoop(
+      ControlLoopOneStepArgs &aControlLoopOneStepArgs) =0;
   /*! @} */
 
   /*! Set the current joint values of the robot.

include/jrl/walkgen/pgtypes.hh

@@ -60,6 +60,7 @@ struct WALK_GEN_JRL_EXPORT COMPosition_s {
   struct COMPosition_s &operator=(const COMState_s &aCS);
 };
 
+
 inline std::ostream &operator<<(std::ostream &os, const COMPosition_s &aCp) {
   for (size_t i = 0; i < 3; ++i) {
     os << "x[" << i << "] " << aCp.x[i] << " y[" << i << "] " << aCp.y[i]
@@ -270,5 +271,16 @@ inline std::ostream &operator<<(std::ostream &os, const Circle_t &circle) {
   return os;
 }
 
+struct ControlLoopOneStepArgs {
+  Eigen::VectorXd CurrentConfiguration;
+  Eigen::VectorXd CurrentVelocity;
+  Eigen::VectorXd CurrentAcceleration;
+  Eigen::VectorXd ZMPTarget;
+  COMState finalCOMState;
+  FootAbsolutePosition LeftFootPosition;
+  FootAbsolutePosition RightFootPosition;
+  Eigen::VectorXd Momentum;
+};
+
 } // namespace PatternGeneratorJRL
 #endif

include/jrl/walkgen/pinocchiorobot.hh

@@ -201,9 +201,9 @@ public:
   inline Eigen::VectorXd &currentRPYAcceleration() { return m_arpy; }
   inline Eigen::VectorXd &currentTau() { return m_tau; }
 
-  inline unsigned numberDof() { return m_robotModel->nq; }
+  inline unsigned numberDof() { return (unsigned)m_robotModel->nq; }
 
-  inline unsigned numberVelDof() { return m_robotModel->nv; }
+  inline unsigned numberVelDof() { return (unsigned)m_robotModel->nv; }
 
   inline void zeroMomentumPoint(Eigen::Vector3d &zmp) {
     m_externalForces = m_robotData->liMi[1].act(m_robotData->f[1]);

src/patterngeneratorinterfaceprivate.hh

@@ -258,6 +258,9 @@ public:
                                   FootAbsolutePosition &RightFootPosition,
                                   ZMPPosition &ZMPRefPos,
                                   COMPosition &COMRefPos);
+
+
+  bool RunOneStepOfTheControlLoop(ControlLoopOneStepArgs &aControlLoopStepArgs);
   /*! @} */
 
   /*! Set the current joint values of the robot.