From 9776309ad4c485f5a4ac1943c587d37ed301fa11 Mon Sep 17 00:00:00 2001
From: olivier-stasse <olivier.stasse@aist.go.jp>
Date: Fri, 11 Mar 2011 05:07:25 +0900
Subject: [PATCH] Revert "New type and type methods"
This reverts commit 91f60c1358da1a8aedd14171e0b91a28029dbd0b.
---
src/privatepgtypes.cpp | 32 --------------------------------
src/privatepgtypes.h | 26 --------------------------
2 files changed, 58 deletions(-)
diff --git a/src/privatepgtypes.cpp b/src/privatepgtypes.cpp
index 032facfe..99630d79 100644
--- a/src/privatepgtypes.cpp
+++ b/src/privatepgtypes.cpp
@@ -27,38 +27,6 @@
namespace PatternGeneratorJRL
{
- struct support_state_s & support_state_t::operator =(const support_state_s & aSS)
- {
- for(unsigned int i=0;i<3;i++)
- {
- Phase = aSS.Phase;
- Foot = aSS.Foot;
- StepsLeft = aSS.StepsLeft;
- TimeLimit = aSS.TimeLimit;
- StepNumber = aSS.StepNumber;
- };
- return *this;
- }
-
- void support_state_t::reset()
- {
- for(int i=0;i<3;i++)
- {
- Phase = 0;
- Foot = 0;
- StepsLeft = 0;
- TimeLimit = 0.0;
- StepNumber = 0;
- SSSS = StateChanged = false;
- }
- }
-
- support_state_s::support_state_s()
- {
- reset();
- }
-
-
struct com_s & com_t::operator=(const com_s &aCS)
{
for(unsigned int i=0;i<3;i++)
diff --git a/src/privatepgtypes.h b/src/privatepgtypes.h
index 54d100a3..71a0ce91 100644
--- a/src/privatepgtypes.h
+++ b/src/privatepgtypes.h
@@ -40,12 +40,6 @@ namespace PatternGeneratorJRL
int Phase, Foot, StepsLeft, StepNumber;
bool SSSS, StateChanged;
double TimeLimit;
-
- struct support_state_s & operator = (const support_state_s &aSS);
-
- void reset();
-
- support_state_s();
};
typedef struct support_state_s support_state_t;
@@ -112,26 +106,6 @@ namespace PatternGeneratorJRL
};
typedef struct reference_s reference_t;
- struct solution_s
- {
- /// \brief whole solution array
- double * array;
-
- struct vector_s
- {
- MAL_VECTOR(X,double);
- MAL_VECTOR(Y,double);
-
- /// \brief First and last elements of vector in array
- int first, last;
- };
- typedef struct vector_s vector_t;
-
- vector_t jerk, footpos;
-
- };
- typedef struct solution_s solution_t;
-
}
#endif /* _PATTERN_GENERATOR_INTERNAL_PRIVATE_H_ */
--
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