Skip to content
GitLab
Commit 248cbf3e authored by NoelieRamuzat's avatar NoelieRamuzat Committed by Olivier Stasse
Browse files

[Phases] Change feet stepType for double support in ZMPDiscretization 

Now = 10 to be coherent with the stepTypes used in the whole project
parent b1252866
Hide whitespace changes
Inline Side-by-side
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);
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment