From 934a46cc3f9d85b1771a73904445651dda4894ce Mon Sep 17 00:00:00 2001
From: Olivier Stasse <Olivier.stasse@aist.go.jp>
Date: Thu, 28 Oct 2010 06:56:08 +0900
Subject: [PATCH] Complete merge with vel-ref for FootConstraints.
---
.../FootConstraintsAsLinearSystemForVelRef.h | 12 +++---------
1 file changed, 3 insertions(+), 9 deletions(-)
diff --git a/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.h b/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.h
index 72ec73db..fb697a3d 100644
--- a/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.h
+++ b/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.h
@@ -84,7 +84,7 @@ namespace PatternGeneratorJRL
int computeLinearSystem(std::vector<CH_Point> aVecOfPoints,
MAL_MATRIX(&D,double),
MAL_MATRIX(&Dc,double),
- SupportState * Support);
+ SupportState_t PrwSupport);
/*! Build a queue of constraint Inequalities based on a list of Foot Absolute
Position.
@@ -98,7 +98,8 @@ namespace PatternGeneratorJRL
ReferenceAbsoluteVelocity & RefVel,
double StartingTime,
double m_QP_N,
- SupportState * Support, std::deque<double> &PreviewedSupportAngles,
+ SupportFSM * SupportFSM, SupportState_t CurrentSupport, SupportState_t & PrwSupport,
+ std::deque<double> &PreviewedSupportAngles,
int & NbOfConstraints);
/*! Build a queue of constraint Inequalities based on a list of Foot Absolute Position. */
@@ -127,13 +128,6 @@ namespace PatternGeneratorJRL
CjrlHumanoidDynamicRobot * m_HS;
std::vector<CH_Point> ConvexHullFP;
-
- //Andremize: Caused memory errors when initialized in the constructor
- /* float CHLeftFPosConstrArrayX[5]; */
- /* float CHLeftFPosConstrArrayY[5]; */
-
- /* float CHRightFPosConstrArrayX[5]; */
- /* float CHRightFPosConstrArrayY[5]; */
float* CHFPosConstrArrayX;
float* CHFPosConstrArrayY;
--
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