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
656554c7
Commit
656554c7
authored
Apr 25, 2020
by
Olivier Stasse
Committed by
Guilhem Saurel
Apr 30, 2020
Browse files
Switch back to C++98.
parent
92a14296
Changes
3
Hide whitespace changes
Inline
Side-by-side
src/Mathematics/PLDPSolver.cpp
View file @
656554c7
...
...
@@ -339,16 +339,17 @@ int PLDPSolver::BackwardSubstitution() {
// LL^t v2 = v1 <-> L y = v1 with L^t v2 = y
// y solved with first phase.
// So now we are looking for v2.
auto
SizeOfL
=
m_ActivatedConstraints
.
size
();
std
::
vector
<
unsigned
int
>::
size_type
SizeOfL
=
m_ActivatedConstraints
.
size
();
if
(
SizeOfL
==
0
)
return
0
;
ODEBUG
(
"BackwardSubstitution "
<<
m_ItNb
);
for
(
auto
i
=
SizeOfL
-
1
;;
i
--
)
{
for
(
std
::
vector
<
unsigned
int
>::
size_type
i
=
SizeOfL
-
1
;;
i
--
)
{
double
tmp
=
0.0
;
m_v2
[
i
]
=
m_y
[
i
];
for
(
auto
k
=
i
+
1
;
k
<
SizeOfL
;
k
++
)
{
for
(
std
::
vector
<
unsigned
int
>::
size_type
k
=
i
+
1
;
k
<
SizeOfL
;
k
++
)
{
if
(
k
==
SizeOfL
-
1
)
tmp
=
m_v2
[
i
];
...
...
src/MotionGeneration/UpperBodyMotion.cpp
View file @
656554c7
...
...
@@ -93,8 +93,8 @@ void UpperBodyMotion::ReadDataFile(string aFileName,
std
::
ifstream
aif
;
auto
NumberRows
=
UpperBodyAngles
.
rows
();
auto
NumberColumns
=
UpperBodyAngles
.
cols
();
Eigen
::
MatrixXd
::
Index
NumberRows
=
UpperBodyAngles
.
rows
();
Eigen
::
MatrixXd
::
Index
NumberColumns
=
UpperBodyAngles
.
cols
();
double
r
;
...
...
@@ -114,8 +114,8 @@ void UpperBodyMotion::ReadDataFile(string aFileName,
void
UpperBodyMotion
::
WriteDataFile
(
string
aFileName
,
Eigen
::
MatrixXd
&
UpperBodyAngles
)
{
ofstream
aof
;
auto
NumberRows
=
UpperBodyAngles
.
rows
();
auto
NumberColumns
=
UpperBodyAngles
.
cols
();
Eigen
::
MatrixXd
::
Index
NumberRows
=
UpperBodyAngles
.
rows
();
Eigen
::
MatrixXd
::
Index
NumberColumns
=
UpperBodyAngles
.
cols
();
aof
.
open
(
aFileName
.
c_str
(),
ofstream
::
out
);
if
(
aof
.
is_open
())
{
...
...
src/SimplePluginManager.cpp
View file @
656554c7
...
...
@@ -114,12 +114,12 @@ bool SimplePluginManager::CallMethod(string &MethodName, istringstream &istrm) {
stringbuf
*
pbuf
;
pbuf
=
istrm
.
rdbuf
();
auto
size
=
pbuf
->
in_avail
();
std
::
streamsize
size
=
pbuf
->
in_avail
();
char
aBuffer
[
65636
];
assert
(
size
<
65635
);
memset
(
aBuffer
,
0
,
size
+
1
);
for
(
int
i
=
0
;
i
<
size
;
i
++
)
for
(
std
::
streamsize
i
=
0
;
i
<
size
;
i
++
)
aBuffer
[
i
]
=
(
char
)
pbuf
->
sbumpc
();
ODEBUG5
(
aBuffer
,
"PgDebug.txt"
);
...
...
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