Make setVertices and computeLinearSystem public methods of FCALS

src/Mathematics/FootConstraintsAsLinearSystemForVelRef.cpp

@@ -151,8 +151,8 @@ FootConstraintsAsLinearSystemForVelRef::setFeetDimensions( CjrlHumanoidDynamicRo
 int
 FootConstraintsAsLinearSystemForVelRef::setVertices( std::vector<CH_Point> & ZMPConstrVertices,
                                                      std::vector<CH_Point> & FeetPosConstrVertices,
-                                                     double ZMPConvHullAngle,
-                                                     double FeetPosConvHullAngle,
+                                                     double & ZMPConvHullAngle,
+                                                     double & FeetPosConvHullAngle,
                                                      support_state_t & PrwSupport)
 {
 
@@ -215,7 +215,7 @@ FootConstraintsAsLinearSystemForVelRef::setVertices( std::vector<CH_Point> & ZMP
 
 
 int
-FootConstraintsAsLinearSystemForVelRef::computeLinearSystem( vector<CH_Point> aVecOfPoints,
+FootConstraintsAsLinearSystemForVelRef::computeLinearSystem( vector<CH_Point> & aVecOfPoints,
                                                              MAL_MATRIX(&D,double),
                                                              MAL_MATRIX(&Dc,double),
                                                              support_state_t & PrwSupport )
@@ -308,7 +308,6 @@ FootConstraintsAsLinearSystemForVelRef::buildConstraintInequalities( deque< Foot
     }
   double CurrentSupportAngle = FAP_it->theta*M_PI/180.0;
 
-
   //initialize the previewed support state before previewing
   PrwSupport.Phase  = CurrentSupport.Phase;
   PrwSupport.Foot  = CurrentSupport.Foot;
@@ -337,7 +336,6 @@ FootConstraintsAsLinearSystemForVelRef::buildConstraintInequalities( deque< Foot
           FPConvHullOrientation = PreviewedSupportAngles[PrwSupport.StepNumber-1];
 
       //foot positioning constraints
-      //
       if( PrwSupport.StateChanged && PrwSupport.StepNumber>0 && PrwSupport.Phase != 0)
         {
           ZMPConvHullOrientation = PreviewedSupportAngles[PrwSupport.StepNumber-1];

src/Mathematics/FootConstraintsAsLinearSystemForVelRef.h

@@ -101,6 +101,33 @@ namespace PatternGeneratorJRL
                                      double >&PreviewedSupportAngles,
                                      int &NbOfConstraints);
 
+    /// \brief Adapt vertices to the support foot and its orientation
+    ///
+    /// \param ZMPConstrVertices vertices of the ZMP convex hull
+    /// \param FeetPosConstrVertices vertices of the foot position convex hull
+    /// \param ZMPConvHullOrientation
+    /// \param FeetPosConvHullOrientation
+    /// \param PrwSupport previewed support state
+    /// \return 0
+    int setVertices (std::vector < CH_Point > & ZMPConstrVertices,
+                     std::vector < CH_Point > & FeetPosConstrVertices,
+                     double & ZMPConvHullOrientation,
+                     double & FeetPosConvHullOrientation,
+                     support_state_t & PrwSupport);
+
+    /// \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.
+    ///
+    /// \param aVecOfPoints a vector of vertices
+    /// \param D left hand side of the inequalities
+    /// \param Dc right hand side of the inequalities
+    /// \param PrwSupport previewed support state
+    /// \return 0
+    int computeLinearSystem (std::vector < CH_Point > & aVecOfPoints,
+                             MAL_MATRIX (&D, double),
+                             MAL_MATRIX (&Dc, double),
+                             support_state_t & PrwSupport);
+
     /// \brief Reimplement the interface of SimplePluginManager
     ///
     /// \param[in] Method: The method to be called.
@@ -131,33 +158,6 @@ namespace PatternGeneratorJRL
     /// return 0
     int initFeetConstraints ();
 
-    /// \brief Adapt vertices to the support foot and its orientation
-    ///
-    /// \param ZMPConstrVertices vertices of the ZMP convex hull
-    /// \param FeetPosConstrVertices vertices of the foot position convex hull
-    /// \param ZMPConvHullOrientation
-    /// \param FeetPosConvHullOrientation
-    /// \param PrwSupport previewed support state
-    /// \return 0
-    int setVertices (std::vector < CH_Point > &ZMPConstrVertices,
-                     std::vector < CH_Point > &FeetPosConstrVertices,
-                     double ZMPConvHullOrientation,
-                     double FeetPosConvHullOrientation,
-                     support_state_t & PrwSupport);
-
-    /// \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.
-    ///
-    /// \param aVecOfPoints a vector of vertices
-    /// \param D left hand side of the inequalities
-    /// \param Dc right hand side of the inequalities
-    /// \param PrwSupport previewed support state
-    /// \return 0
-    int computeLinearSystem (std::vector < CH_Point > aVecOfPoints,
-                             MAL_MATRIX (&D, double),
-                             MAL_MATRIX (&Dc, double),
-                             support_state_t & PrwSupport);
-
     //
     // Private members
     //