From bf0f8ae4a000027cc51302149c6f78225a50e788 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <Olivier.stasse@aist.go.jp>
Date: Thu, 28 Oct 2010 07:33:23 +0900
Subject: [PATCH] Finalize merge for OrientationsPreview.
---
src/ZMPRefTrajectoryGeneration/OrientationsPreview.h | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/ZMPRefTrajectoryGeneration/OrientationsPreview.h b/src/ZMPRefTrajectoryGeneration/OrientationsPreview.h
index 2aae5d65..9a7823b8 100644
--- a/src/ZMPRefTrajectoryGeneration/OrientationsPreview.h
+++ b/src/ZMPRefTrajectoryGeneration/OrientationsPreview.h
@@ -55,7 +55,7 @@ namespace PatternGeneratorJRL
void previewOrientations(const double &Time,
std::deque<double> &PreviewedSupportAngles,
const COMState &TrunkState, COMState &TrunkStateT,
- SupportState_t CurrentSupport,
+ const SupportFSM * SupportFSM, SupportState_t CurrentSupport,
std::deque<FootAbsolutePosition> &LeftFootAbsolutePositions,
std::deque<FootAbsolutePosition> &RightFootAbsolutePositions);
@@ -122,14 +122,14 @@ namespace PatternGeneratorJRL
unsigned int m_FullDebug;
- bool verifyAngleOfHipJoint(const SupportState * Support,
+ bool verifyAngleOfHipJoint(SupportState_t CurrentSupport,
const COMState &TrunkState, COMState &TrunkStateT,
double CurrentSupportFootAngle,
unsigned int StepNumber);
void verifyVelocityOfHipJoint(const double &Time, COMState &TrunkStateT,
const double &PreviewedSupportFoot, const unsigned int &StepNumber,
- const SupportState * Support,
+ SupportState_t CurrentSupport,
const double &CurrentRightFootAngle, const double &CurrentLeftFootAngle,
const double &CurrentLeftFootVelocity,
const double &CurrentRightFootVelocity);
--
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