From 248cbf3ed31c8fd4b2fce7f1ab88fed1e96ce1a7 Mon Sep 17 00:00:00 2001 From: NoelieRamuzat <noelie.ramuzat@laas.fr> Date: Thu, 9 Jul 2020 16:47:10 +0200 Subject: [PATCH] [Phases] Change feet stepType for double support in ZMPDiscretization Now = 10 to be coherent with the stepTypes used in the whole project --- src/ZMPRefTrajectoryGeneration/ZMPDiscretization.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/ZMPRefTrajectoryGeneration/ZMPDiscretization.cpp b/src/ZMPRefTrajectoryGeneration/ZMPDiscretization.cpp index 7127aa87..588a1ff5 100644 --- a/src/ZMPRefTrajectoryGeneration/ZMPDiscretization.cpp +++ b/src/ZMPRefTrajectoryGeneration/ZMPDiscretization.cpp @@ -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); -- GitLab