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