Skip to content
GitLab
Projects
Groups
Snippets
/
Help
Help
Support
Community forum
Keyboard shortcuts
?
Submit feedback
Contribute to GitLab
Sign in / Register
Toggle navigation
Menu
Open sidebar
Stack Of Tasks
jrl-walkgen
Commits
377d8ebf
Commit
377d8ebf
authored
Jul 07, 2020
by
Olivier Stasse
Browse files
Extend PatternGeneratorInterface with one argument.
parent
7d15b517
Changes
1
Hide whitespace changes
Inline
Side-by-side
src/PatternGeneratorInterfacePrivate.cpp
View file @
377d8ebf
...
...
@@ -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
,
...
...
Write
Preview
Supports
Markdown
0%
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment