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Commit 248cbf3e authored by NoelieRamuzat's avatar NoelieRamuzat Committed by Olivier Stasse
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[Phases] Change feet stepType for double support in ZMPDiscretization 

Now = 10 to be coherent with the stepTypes used in the whole project
parent b1252866
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src/ZMPRefTrajectoryGeneration/ZMPDiscretization.cpp
View file @ 248cbf3e
......@@ -1111,7 +1111,7 @@ void ZMPDiscretization::EndPhaseOfTheWalking(
LeftFootAbsolutePosition.time = RightFootAbsolutePosition.time =
m_CurrentTime;
LeftFootAbsolutePosition.stepType = RightFootAbsolutePosition.stepType = 0;
LeftFootAbsolutePosition.stepType = RightFootAbsolutePosition.stepType = 10;
FinalLeftFootAbsolutePositions.push_back(LeftFootAbsolutePosition);
FinalRightFootAbsolutePositions.push_back(RightFootAbsolutePosition);
......@@ -1147,7 +1147,7 @@ void ZMPDiscretization::EndPhaseOfTheWalking(
LeftFootAbsolutePosition.time = RightFootAbsolutePosition.time =
m_CurrentTime;
LeftFootAbsolutePosition.stepType = RightFootAbsolutePosition.stepType = 0;
LeftFootAbsolutePosition.stepType = RightFootAbsolutePosition.stepType = 10;
FinalLeftFootAbsolutePositions.push_back(LeftFootAbsolutePosition);
FinalRightFootAbsolutePositions.push_back(RightFootAbsolutePosition);
......@@ -1194,7 +1194,7 @@ void ZMPDiscretization::EndPhaseOfTheWalking(
LeftFootAbsolutePosition.time = RightFootAbsolutePosition.time =
m_CurrentTime;
LeftFootAbsolutePosition.stepType = RightFootAbsolutePosition.stepType = 0;
LeftFootAbsolutePosition.stepType = RightFootAbsolutePosition.stepType = 10;
FinalLeftFootAbsolutePositions.push_back(LeftFootAbsolutePosition);
FinalRightFootAbsolutePositions.push_back(RightFootAbsolutePosition);
......
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