From ca3aaaacbbd1667eb0c19180503b1d9ab5b32267 Mon Sep 17 00:00:00 2001
From: Andrei <andrei@massenet.grenoble.inria.fr>
Date: Thu, 16 Jun 2011 17:57:12 +0200
Subject: [PATCH] Complete unmerged details
---
src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp b/src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
index 919b38a0..b40bdbde 100755
--- a/src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
+++ b/src/ZMPRefTrajectoryGeneration/generator-vel-ref.cpp
@@ -165,9 +165,9 @@ void
GeneratorVelRef::initialize_matrices()
{
- IntermedQPMat::dynamics_t & Position = Matrices_.Dynamics( IntermedQPMat::POSITION );
+ IntermedQPMat::dynamics_t & Position = Matrices_->Dynamics( IntermedQPMat::POSITION );
initialize_matrices( Position );
- IntermedQPMat::dynamics_t & Velocity = Matrices_.Dynamics( IntermedQPMat::VELOCITY );
+ IntermedQPMat::dynamics_t & Velocity = Matrices_->Dynamics( IntermedQPMat::VELOCITY );
initialize_matrices( Velocity );
IntermedQPMat::dynamics_t & COP = Matrices_->Dynamics( IntermedQPMat::COP );
initialize_matrices( COP );
@@ -401,7 +401,7 @@ GeneratorVelRef::build_constraints_door(double Time, Door & Door,
// double RrotHp = prod(Door.InvRp(),Rrot);
// Build selection matrix W
- IntermedQPMat::state_variant_t & State = Matrices_.State();
+ IntermedQPMat::state_variant_t & State = Matrices_->State();
const int & NbPrwSteps = SupportStates_deq.back().StepNumber;
boost_ublas::matrix<double> W(N_,NbPrwSteps,false);
@@ -450,7 +450,7 @@ GeneratorVelRef::build_constraints_door(double Time, Door & Door,
D7(i) = 0.7;
}
- const IntermedQPMat::dynamics_t & PosDynamics = Matrices_.Dynamics(IntermedQPMat::POSITION);
+ const IntermedQPMat::dynamics_t & PosDynamics = Matrices_->Dynamics(IntermedQPMat::POSITION);
// Number of inequality constraints
linear_inequality_t DoorConstraints;
--
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