From c8afc3f3e1f53a9c7e080c4f8110a9b17e8b30e1 Mon Sep 17 00:00:00 2001
From: Andrei <andrei.herdt@inrialpes.fr>
Date: Thu, 14 Oct 2010 04:07:13 +0900
Subject: [PATCH] Moved the new type SupportState_t to PGTypes.h
---
include/walkGenJrl/PGTypes.h | 9 +++++++++
1 file changed, 9 insertions(+)
diff --git a/include/walkGenJrl/PGTypes.h b/include/walkGenJrl/PGTypes.h
index 4fb88c8d..8159e86e 100644
--- a/include/walkGenJrl/PGTypes.h
+++ b/include/walkGenJrl/PGTypes.h
@@ -169,5 +169,14 @@ namespace PatternGeneratorJRL
};
typedef struct ReferenceAbsoluteVelocity_t ReferenceAbsoluteVelocity;
+ // State of the support
+ struct SupportState_s
+ {
+ int Phase, Foot, StepsLeft, StepNumber;
+ bool SSSS, StateChanged;
+ double TimeLimit;
+ };
+ typedef struct SupportState_s SupportState_t;
+
};
#endif
--
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