Commit 377d8ebf authored by Olivier Stasse's avatar Olivier Stasse
Browse files

Extend PatternGeneratorInterface with one argument.

parent 7d15b517
......@@ -1211,6 +1211,20 @@ bool PatternGeneratorInterfacePrivate::RunOneStepOfTheControlLoop(
return m_Running;
}
bool PatternGeneratorInterfacePrivate::RunOneStepOfTheControlLoop(
ControlLoopOneStepArgs &aControlLoopOneStepArgs) {
return RunOneStepOfTheControlLoop(
aControlLoopOneStepArgs.CurrentConfiguration,
aControlLoopOneStepArgs.CurrentVelocity,
aControlLoopOneStepArgs.CurrentAcceleration,
aControlLoopOneStepArgs.ZMPTarget,
aControlLoopOneStepArgs.finalCOMState,
aControlLoopOneStepArgs.LeftFootPosition,
aControlLoopOneStepArgs.RightFootPosition);
}
bool PatternGeneratorInterfacePrivate::RunOneStepOfTheControlLoop(
Eigen::VectorXd &CurrentConfiguration, Eigen::VectorXd &CurrentVelocity,
Eigen::VectorXd &CurrentAcceleration, Eigen::VectorXd &ZMPTarget,
......
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