Commit f382c574 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

Format

parent b3c49414
...@@ -194,12 +194,10 @@ public: ...@@ -194,12 +194,10 @@ public:
ZMPPosition &ZMPRefPos, ZMPPosition &ZMPRefPos,
COMPosition &COMRefPos) = 0; COMPosition &COMRefPos) = 0;
/*! \brief Rune One Step of the global control loop /*! \brief Rune One Step of the global control loop
*/ */
virtual bool virtual bool RunOneStepOfTheControlLoop(
RunOneStepOfTheControlLoop( ControlLoopOneStepArgs &aControlLoopOneStepArgs) = 0;
ControlLoopOneStepArgs &aControlLoopOneStepArgs) =0;
/*! @} */ /*! @} */
/*! Set the current joint values of the robot. /*! Set the current joint values of the robot.
......
...@@ -60,7 +60,6 @@ struct WALK_GEN_JRL_EXPORT COMPosition_s { ...@@ -60,7 +60,6 @@ struct WALK_GEN_JRL_EXPORT COMPosition_s {
struct COMPosition_s &operator=(const COMState_s &aCS); struct COMPosition_s &operator=(const COMState_s &aCS);
}; };
inline std::ostream &operator<<(std::ostream &os, const COMPosition_s &aCp) { inline std::ostream &operator<<(std::ostream &os, const COMPosition_s &aCp) {
for (size_t i = 0; i < 3; ++i) { for (size_t i = 0; i < 3; ++i) {
os << "x[" << i << "] " << aCp.x[i] << " y[" << i << "] " << aCp.y[i] os << "x[" << i << "] " << aCp.x[i] << " y[" << i << "] " << aCp.y[i]
......
...@@ -1212,17 +1212,15 @@ bool PatternGeneratorInterfacePrivate::RunOneStepOfTheControlLoop( ...@@ -1212,17 +1212,15 @@ bool PatternGeneratorInterfacePrivate::RunOneStepOfTheControlLoop(
} }
bool PatternGeneratorInterfacePrivate::RunOneStepOfTheControlLoop( bool PatternGeneratorInterfacePrivate::RunOneStepOfTheControlLoop(
ControlLoopOneStepArgs &aControlLoopOneStepArgs) { ControlLoopOneStepArgs &aControlLoopOneStepArgs) {
return RunOneStepOfTheControlLoop( return RunOneStepOfTheControlLoop(
aControlLoopOneStepArgs.CurrentConfiguration, aControlLoopOneStepArgs.CurrentConfiguration,
aControlLoopOneStepArgs.CurrentVelocity, aControlLoopOneStepArgs.CurrentVelocity,
aControlLoopOneStepArgs.CurrentAcceleration, aControlLoopOneStepArgs.CurrentAcceleration,
aControlLoopOneStepArgs.ZMPTarget, aControlLoopOneStepArgs.ZMPTarget, aControlLoopOneStepArgs.finalCOMState,
aControlLoopOneStepArgs.finalCOMState, aControlLoopOneStepArgs.LeftFootPosition,
aControlLoopOneStepArgs.LeftFootPosition, aControlLoopOneStepArgs.RightFootPosition);
aControlLoopOneStepArgs.RightFootPosition);
} }
bool PatternGeneratorInterfacePrivate::RunOneStepOfTheControlLoop( bool PatternGeneratorInterfacePrivate::RunOneStepOfTheControlLoop(
......
...@@ -259,7 +259,6 @@ public: ...@@ -259,7 +259,6 @@ public:
ZMPPosition &ZMPRefPos, ZMPPosition &ZMPRefPos,
COMPosition &COMRefPos); COMPosition &COMRefPos);
bool RunOneStepOfTheControlLoop(ControlLoopOneStepArgs &aControlLoopStepArgs); bool RunOneStepOfTheControlLoop(ControlLoopOneStepArgs &aControlLoopStepArgs);
/*! @} */ /*! @} */
......
...@@ -410,18 +410,16 @@ void DumpReferencesObjects::fillInTestsFormat2( ...@@ -410,18 +410,16 @@ void DumpReferencesObjects::fillInTestsFormat2(
prepareFile(aof, prefix, anOneStep); prepareFile(aof, prefix, anOneStep);
vec_db.resize(3); vec_db.resize(3);
vec_db[0] = 0; vec_db[0] = 0;
if (anOneStep.m_LeftFootPosition.stepType==-1) if (anOneStep.m_LeftFootPosition.stepType == -1)
vec_db[0] = 1.0; vec_db[0] = 1.0;
else if (anOneStep.m_RightFootPosition.stepType==-1) else if (anOneStep.m_RightFootPosition.stepType == -1)
vec_db[0] =-1.0; vec_db[0] = -1.0;
vec_db[1] = 0; vec_db[1] = 0;
vec_db[2] = 0; vec_db[2] = 0;
if (m_prevPhase.size()!=3) if (m_prevPhase.size() != 3)
m_prevPhase.resize(3); m_prevPhase.resize(3);
aof.unsetf(std::ios::floatfield ); aof.unsetf(std::ios::floatfield);
aof.precision(1); aof.precision(1);
fillFileWithSubsamplingAndClose(aSetOfFillingFileArgs, vec_db, fillFileWithSubsamplingAndClose(aSetOfFillingFileArgs, vec_db, m_prevPhase);
m_prevPhase);
} }
...@@ -41,12 +41,10 @@ public: ...@@ -41,12 +41,10 @@ public:
Eigen::VectorXd &aCurrentConfiguration); Eigen::VectorXd &aCurrentConfiguration);
/// ///
virtual void fillInTestsFormat1(std::string &aTestName, virtual void fillInTestsFormat1(std::string &aTestName, OneStep &anOneStep,
OneStep &anOneStep,
Eigen::VectorXd &aCurrentConfiguration); Eigen::VectorXd &aCurrentConfiguration);
virtual void fillInTestsFormat2(std::string &aTestName, virtual void fillInTestsFormat2(std::string &aTestName, OneStep &anOneStep,
OneStep &anOneStep,
Eigen::VectorXd &aCurrentConfiguration); Eigen::VectorXd &aCurrentConfiguration);
virtual void virtual void
...@@ -68,7 +66,7 @@ public: ...@@ -68,7 +66,7 @@ public:
m_prevRightAnkledOrientation, m_prevRightAnkleddOrientation; m_prevRightAnkledOrientation, m_prevRightAnkleddOrientation;
std::vector<double> m_prevZMPlocal, m_prevZMPlocalF2, m_prevZMPRef, std::vector<double> m_prevZMPlocal, m_prevZMPlocalF2, m_prevZMPRef,
m_prevTorquesF2, m_prevPhase; m_prevTorquesF2, m_prevPhase;
Eigen::Vector3d m_AnklePositionRight, m_AnklePositionLeft; Eigen::Vector3d m_AnklePositionRight, m_AnklePositionLeft;
/// Add time or not in the dump file /// Add time or not in the dump file
......
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