Smaller refactoring

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp

@@ -293,7 +293,7 @@ ZMPVelocityReferencedQP::InitOnLine(deque<ZMPPosition> & FinalZMPTraj_deq,
 
 
 void
-ZMPVelocityReferencedQP::OnLine(double time,
+ZMPVelocityReferencedQP::OnLine(double Time,
 				     deque<ZMPPosition> & FinalZMPTraj_deq,
 				     deque<COMState> & FinalCOMTraj_deq,
 				     deque<FootAbsolutePosition> &FinalLeftFootTraj_deq,
@@ -306,7 +306,7 @@ ZMPVelocityReferencedQP::OnLine(double time,
 
   // Testing if we are reaching the end of the online mode.
   if ((EndingPhase_) &&
-      (time>=TimeToStopOnLineMode_))
+      (Time>=TimeToStopOnLineMode_))
     { m_OnLineMode = false; }
 
 
@@ -322,7 +322,7 @@ ZMPVelocityReferencedQP::OnLine(double time,
 
   // UPDATE WALKING TRAJECTORIES:
   // ----------------------------
-  if(time + 0.00001 > UpperTimeLimitToUpdate_)
+  if(Time + 0.00001 > UpperTimeLimitToUpdate_)
     {
       double TotalAmountOfCPUTime=0.0,CurrentCPUTime=0.0;
       struct timeval start,end;
@@ -332,7 +332,7 @@ ZMPVelocityReferencedQP::OnLine(double time,
       // UPDATE INTERNAL DATA:
       // ---------------------
       VRQPGenerator_->Reference(VelRef_);
-      VRQPGenerator_->CurrentTime(time+TimeBuffer_);
+      VRQPGenerator_->CurrentTime(Time+TimeBuffer_);
       VRQPGenerator_->CoM(CoM_());
 
 
@@ -364,7 +364,7 @@ ZMPVelocityReferencedQP::OnLine(double time,
       // COMPUTE ORIENTATIONS OF FEET FOR WHOLE PREVIEW PERIOD:
       // ------------------------------------------------------
       deque<double> PreviewedSupportAngles_deq;
-      OrientPrw_->preview_orientations(time+TimeBuffer_,
+      OrientPrw_->preview_orientations(Time+TimeBuffer_,
                                 VelRef_,
 				SupportFSM_->StepPeriod(), CurrentSupport,
 				FinalLeftFootTraj_deq, FinalRightFootTraj_deq,
@@ -418,7 +418,7 @@ ZMPVelocityReferencedQP::OnLine(double time,
 
       // COMPUTE ORIENTATION OF TRUNK:
       // -----------------------------
-      OrientPrw_->interpolate_trunk_orientation(time+TimeBuffer_, CurrentIndex,
+      OrientPrw_->interpolate_trunk_orientation(Time+TimeBuffer_, CurrentIndex,
                             m_SamplingPeriod,
                             CurrentSupport,
                             FinalCOMTraj_deq);
@@ -426,8 +426,8 @@ ZMPVelocityReferencedQP::OnLine(double time,
 
       // INTERPOLATE THE COMPUTED FEET POSITIONS:
       // ----------------------------------------
-      unsigned NumberStepsPrwd = PrwSupportStates_deq.back().StepNumber;
-      OFTG_->interpolate_feet_positions(time+TimeBuffer_,
+      unsigned int NumberStepsPrwd = PrwSupportStates_deq.back().StepNumber;
+      OFTG_->interpolate_feet_positions(Time+TimeBuffer_,
                                CurrentIndex, CurrentSupport,
                                Result.Solution_vec[2*QP_N_], Result.Solution_vec[2*QP_N_+NumberStepsPrwd],
                                PreviewedSupportAngles_deq,

src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp

@@ -192,6 +192,7 @@ GeneratorVelRef::initialize_matrices()
 void
 GeneratorVelRef::initialize_matrices( linear_inequality_t & Inequalities)
 {
+
   switch(Inequalities.type)
     {
     case IntermedQPMat::INEQ_COP:
@@ -285,10 +286,10 @@ GeneratorVelRef::build_inequalities_cop(linear_inequality_t & Inequalities,
 
   //set constraints for the whole preview window
   double SupportAngle = CurrentSupportAngle;
-  const int nEdges = 4;
-  double D_x[nEdges] = {0.0, 0.0, 0.0, 0.0};
-  double D_y[nEdges] = {0.0, 0.0, 0.0, 0.0};
-  double dc[nEdges] = {0.0, 0.0, 0.0, 0.0};
+  const int NbEdges = 4;
+  double D_x[NbEdges] = {0.0, 0.0, 0.0, 0.0};
+  double D_y[NbEdges] = {0.0, 0.0, 0.0, 0.0};
+  double dc[NbEdges] = {0.0, 0.0, 0.0, 0.0};
   for( int i=1;i<=N_;i++ )
     {
       const support_state_t & PrwSupport = SupportStates_deq[i];
@@ -304,11 +305,11 @@ GeneratorVelRef::build_inequalities_cop(linear_inequality_t & Inequalities,
 
       RFI->compute_linear_system( ZMPFeasibilityEdges, D_x, D_y, dc, PrwSupport );
 
-      for(int j = 0;j < nEdges; j++)
+      for(int j = 0;j < NbEdges; j++)
         {
-          Inequalities.D.x.push_back((i-1)*nEdges+j,i-1,D_x[j]);
-          Inequalities.D.y.push_back((i-1)*nEdges+j,i-1,D_y[j]);
-          Inequalities.dc((i-1)*nEdges+j) = dc[j];
+          Inequalities.D.x.push_back((i-1)*NbEdges+j,i-1,D_x[j]);
+          Inequalities.D.y.push_back((i-1)*NbEdges+j,i-1,D_y[j]);
+          Inequalities.dc((i-1)*NbEdges+j) = dc[j];
         }
 
     }