From 0f6b772991539b8b374d92996627554a0d608065 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Wed, 30 Jan 2019 13:13:19 +0100
Subject: [PATCH] Remove useless code + fix wrong sizes.
---
.../DynamicFilter.cpp | 24 +++++--------------
src/privatepgtypes.cpp | 18 +++++++-------
2 files changed, 15 insertions(+), 27 deletions(-)
diff --git a/src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp b/src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp
index 48ff46ec..c6c84ae0 100644
--- a/src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp
+++ b/src/ZMPRefTrajectoryGeneration/DynamicFilter.cpp
@@ -368,19 +368,7 @@ int DynamicFilter::OnLinefilter(
deltaZMP_deq_[i].py = 0.0 ;
}
}
- /*
- for (unsigned int i = 0 ; i < N1 ; ++i)
- {
- std::cout << i
- << " - Dx=" << deltaZMP_deq_[i].px
- << " Dy=" << deltaZMP_deq_[i].py
- << " " << inputZMPTraj_deq_[i].px
- << " " << zmpmb_i_[i][0]
- << " " << inputZMPTraj_deq_[i].py
- << " " << zmpmb_i_[i][1]
- << " useDynamicFilter: " << useDynamicFilter_
- << std::endl;
- } */
+
OptimalControl(deltaZMP_deq_,outputDeltaCOMTraj_deq_) ;
return 0 ;
@@ -525,11 +513,11 @@ int DynamicFilter::OptimalControl(
double deltaZMPx = 0.0 ;
double deltaZMPy = 0.0 ;
// computation of the preview control along the "deltaZMP_deq_"
-// for(unsigned i=0;i<3;++i)
-// {
-// deltax_(i,0)=0.0;
-// deltay_(i,0)=0.0;
-// }
+ // for(unsigned i=0;i<3;++i)
+ // {
+ // deltax_(i,0)=0.0;
+ // deltay_(i,0)=0.0;
+ // }
for (int i = 0 ; i < Nctrl ; ++i )
{
PC_->OneIterationOfPreview(deltax_,deltay_,
diff --git a/src/privatepgtypes.cpp b/src/privatepgtypes.cpp
index 48cdaeeb..4cb490eb 100644
--- a/src/privatepgtypes.cpp
+++ b/src/privatepgtypes.cpp
@@ -92,9 +92,9 @@ namespace PatternGeneratorJRL
void com_t::reset()
{
- x.resize(3,false);
- y.resize(3,false);
- z.resize(3,false);
+ x.resize(3);
+ y.resize(3);
+ z.resize(3);
x.setZero();
y.setZero();
z.setZero();
@@ -131,12 +131,12 @@ namespace PatternGeneratorJRL
void trunk_t::reset()
{
- x.resize(3,false);
- y.resize(3,false);
- z.resize(3,false);
- yaw.resize(3,false);
- pitch.resize(3,false);
- roll.resize(3,false);
+ x.resize(3);
+ y.resize(3);
+ z.resize(3);
+ yaw.resize(3);
+ pitch.resize(3);
+ roll.resize(3);
x.setZero();
y.setZero();
z.setZero();
--
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