From f64b2dea4092e6e4b73cad2c56b67a9fc45d4342 Mon Sep 17 00:00:00 2001
From: olivier-stasse <olivier.stasse@aist.go.jp>
Date: Fri, 11 Mar 2011 05:07:25 +0900
Subject: [PATCH] Revert "Add types trunk_t, supportfoot_t, reference_t"
This reverts commit fc8c8c6446a1081522029a0e7c9d2dcc000c2c14.
---
src/privatepgtypes.cpp | 39 ------------------------------
src/privatepgtypes.h | 55 +++++-------------------------------------
2 files changed, 6 insertions(+), 88 deletions(-)
diff --git a/src/privatepgtypes.cpp b/src/privatepgtypes.cpp
index 99630d79..29965314 100644
--- a/src/privatepgtypes.cpp
+++ b/src/privatepgtypes.cpp
@@ -56,43 +56,4 @@ namespace PatternGeneratorJRL
reset();
}
- struct trunk_s & trunk_t::operator=(const trunk_s &aTS)
- {
- for(unsigned int i=0;i<3;i++)
- {
- x[i] = aTS.x[i];
- y[i] = aTS.y[i];
- z[i] = aTS.z[i];
-
- yaw[i] = aTS.yaw[i];
- pitch[i] = aTS.pitch[i];
- roll[i] = aTS.roll[i];
- };
- return *this;
- }
-
- void trunk_t::reset()
- {
- for(unsigned int i=0;i<3;i++)
- {
- MAL_VECTOR_RESIZE(x,3);
- MAL_VECTOR_RESIZE(y,3);
- MAL_VECTOR_RESIZE(z,3);
- MAL_VECTOR_RESIZE(yaw,3);
- MAL_VECTOR_RESIZE(pitch,3);
- MAL_VECTOR_RESIZE(roll,3);
- x[i] = 0.0;
- y[i] = 0.0;
- z[i] = 0.0;
- yaw[i] = 0.0;
- pitch[i] = 0.0;
- roll[i] = 0.0;
- }
- }
-
- trunk_s::trunk_s()
- {
- reset();
- }
-
}
diff --git a/src/privatepgtypes.h b/src/privatepgtypes.h
index 71a0ce91..a9f58126 100644
--- a/src/privatepgtypes.h
+++ b/src/privatepgtypes.h
@@ -35,13 +35,13 @@ namespace PatternGeneratorJRL
{
// Support state of the robot at a certain point in time
- struct support_state_s
+ struct SupportState_s
{
int Phase, Foot, StepsLeft, StepNumber;
bool SSSS, StateChanged;
double TimeLimit;
};
- typedef struct support_state_s support_state_t;
+ typedef struct SupportState_s SupportState_t;
// Support state of the robot at a certain point in time
struct com_s
@@ -58,53 +58,10 @@ namespace PatternGeneratorJRL
};
typedef struct com_s com_t;
- // Support state of the robot at a certain point in time
- struct trunk_s
- {
- MAL_VECTOR(x,double);
- MAL_VECTOR(y,double);
- MAL_VECTOR(z,double);
-
- MAL_VECTOR(yaw,double);
- MAL_VECTOR(pitch,double);
- MAL_VECTOR(roll,double);
-
- struct trunk_s & operator=(const trunk_s &aTS);
-
- void reset();
-
- trunk_s();
- };
- typedef struct trunk_s trunk_t;
-
- //State of the feet on the ground
- struct supportfoot_s
- {
- double x,y,theta,StartTime;
- int SupportFoot;
- };
- typedef struct supportfoot_s
- supportfoot_t;
-
- /// Absolute reference.
- struct reference_s
- {
- struct frame_s
- {
- /// \brief Constant reference
- double x,y, yaw;
-
- /// \brief Reference vectors
- MAL_VECTOR(X,double);
- MAL_VECTOR(Y,double);
- MAL_VECTOR(YAW,double);
- };
- typedef struct frame_s frame_t;
-
- frame_t global, local;
-
- };
- typedef struct reference_s reference_t;
+ const static int MEAN_VELOCITY = 0;
+ const static int INSTANT_VELOCITY = 1;
+ const static int COP_CENTERING = 2;
+ const static int JERK = 3;
}
--
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