From c2b58d6c9f23d5feee245564fb3a8262838566c2 Mon Sep 17 00:00:00 2001
From: mnaveau <maximilien.naveau@laas.fr>
Date: Thu, 26 Jun 2014 11:43:49 +0200
Subject: [PATCH] modify the intialisation of the dynamic filter in Herdt2010
---
.../ZMPVelocityReferencedQP.cpp | 11 +----------
1 file changed, 1 insertion(+), 10 deletions(-)
diff --git a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
index 6bc85737..f03ecba6 100644
--- a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
+++ b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
@@ -434,17 +434,8 @@ int
InitStateOrientPrw_ = OrientPrw_->CurrentTrunkState() ;
FinalCurrentStateOrientPrw_ = OrientPrw_->CurrentTrunkState() ;
- FootAbsolutePosition supportFoot ;
- if (InitLeftFootAbsolutePosition.stepType<0)
- {
- supportFoot = InitLeftFootAbsolutePosition ;
- }else
- {
- supportFoot = InitRightFootAbsolutePosition ;
- }
-
dynamicFilter_->init(0.0,m_SamplingPeriod,InterpolationPeriod_,
- QP_T_,QP_N_*QP_T_,CoMHeight_,supportFoot);
+ QP_T_,QP_N_*QP_T_,CoMHeight_,InitLeftFootAbsolutePosition);
return 0;
}
--
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