From f279cb2d661ec05e6ed182b353fa9d633f2f0c4c Mon Sep 17 00:00:00 2001
From: Andrei <andrei.herdt@inrialpes.fr>
Date: Sun, 23 Jan 2011 09:00:29 +0100
Subject: [PATCH] Minor changes
---
src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp | 4 ++--
src/ZMPRefTrajectoryGeneration/OrientationsPreview.h | 2 +-
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp b/src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
index dd104d9b..5dfad599 100644
--- a/src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
+++ b/src/ZMPRefTrajectoryGeneration/OrientationsPreview.cpp
@@ -84,7 +84,7 @@ void OrientationsPreview::previewOrientations(const double &Time,
deque<double> &PreviewedSupportAngles,
const COMState &TrunkState,
COMState &TrunkStateT,
- const SupportFSM * SupportFSM ,support_state_t CurrentSupport,
+ double StepDuration ,support_state_t CurrentSupport,
deque<FootAbsolutePosition> &LeftFootAbsolutePositions,
deque<FootAbsolutePosition> &RightFootAbsolutePositions)
{
@@ -219,7 +219,7 @@ void OrientationsPreview::previewOrientations(const double &Time,
//Preview
for(StepNumber = m_FirstPreviewedFoot;
- StepNumber <= (unsigned int)((int)ceil((m_N+1)*m_T/SupportFSM->m_SSPeriod));
+ StepNumber <= (unsigned int)((int)ceil((m_N+1)*m_T/StepDuration));
StepNumber++)
{
m_PreviewedSupportFoot = -m_PreviewedSupportFoot;
diff --git a/src/ZMPRefTrajectoryGeneration/OrientationsPreview.h b/src/ZMPRefTrajectoryGeneration/OrientationsPreview.h
index 6f696295..5d16f285 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,
- const SupportFSM * SupportFSM, support_state_t CurrentSupport,
+ double StepDuration, support_state_t CurrentSupport,
std::deque<FootAbsolutePosition> &LeftFootAbsolutePositions,
std::deque<FootAbsolutePosition> &RightFootAbsolutePositions);
--
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