Commit f382c574 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

Format

parent b3c49414
......@@ -194,12 +194,10 @@ public:
ZMPPosition &ZMPRefPos,
COMPosition &COMRefPos) = 0;
/*! \brief Rune One Step of the global control loop
*/
virtual bool
RunOneStepOfTheControlLoop(
ControlLoopOneStepArgs &aControlLoopOneStepArgs) =0;
virtual bool RunOneStepOfTheControlLoop(
ControlLoopOneStepArgs &aControlLoopOneStepArgs) = 0;
/*! @} */
/*! Set the current joint values of the robot.
......
......@@ -60,7 +60,6 @@ struct WALK_GEN_JRL_EXPORT COMPosition_s {
struct COMPosition_s &operator=(const COMState_s &aCS);
};
inline std::ostream &operator<<(std::ostream &os, const COMPosition_s &aCp) {
for (size_t i = 0; i < 3; ++i) {
os << "x[" << i << "] " << aCp.x[i] << " y[" << i << "] " << aCp.y[i]
......
......@@ -1212,17 +1212,15 @@ bool PatternGeneratorInterfacePrivate::RunOneStepOfTheControlLoop(
}
bool PatternGeneratorInterfacePrivate::RunOneStepOfTheControlLoop(
ControlLoopOneStepArgs &aControlLoopOneStepArgs) {
return RunOneStepOfTheControlLoop(
aControlLoopOneStepArgs.CurrentConfiguration,
aControlLoopOneStepArgs.CurrentVelocity,
aControlLoopOneStepArgs.CurrentAcceleration,
aControlLoopOneStepArgs.ZMPTarget,
aControlLoopOneStepArgs.finalCOMState,
aControlLoopOneStepArgs.LeftFootPosition,
aControlLoopOneStepArgs.RightFootPosition);
ControlLoopOneStepArgs &aControlLoopOneStepArgs) {
return RunOneStepOfTheControlLoop(
aControlLoopOneStepArgs.CurrentConfiguration,
aControlLoopOneStepArgs.CurrentVelocity,
aControlLoopOneStepArgs.CurrentAcceleration,
aControlLoopOneStepArgs.ZMPTarget, aControlLoopOneStepArgs.finalCOMState,
aControlLoopOneStepArgs.LeftFootPosition,
aControlLoopOneStepArgs.RightFootPosition);
}
bool PatternGeneratorInterfacePrivate::RunOneStepOfTheControlLoop(
......
......@@ -259,7 +259,6 @@ public:
ZMPPosition &ZMPRefPos,
COMPosition &COMRefPos);
bool RunOneStepOfTheControlLoop(ControlLoopOneStepArgs &aControlLoopStepArgs);
/*! @} */
......
......@@ -410,18 +410,16 @@ void DumpReferencesObjects::fillInTestsFormat2(
prepareFile(aof, prefix, anOneStep);
vec_db.resize(3);
vec_db[0] = 0;
if (anOneStep.m_LeftFootPosition.stepType==-1)
if (anOneStep.m_LeftFootPosition.stepType == -1)
vec_db[0] = 1.0;
else if (anOneStep.m_RightFootPosition.stepType==-1)
vec_db[0] =-1.0;
else if (anOneStep.m_RightFootPosition.stepType == -1)
vec_db[0] = -1.0;
vec_db[1] = 0;
vec_db[2] = 0;
if (m_prevPhase.size()!=3)
if (m_prevPhase.size() != 3)
m_prevPhase.resize(3);
aof.unsetf(std::ios::floatfield );
aof.unsetf(std::ios::floatfield);
aof.precision(1);
fillFileWithSubsamplingAndClose(aSetOfFillingFileArgs, vec_db,
m_prevPhase);
fillFileWithSubsamplingAndClose(aSetOfFillingFileArgs, vec_db, m_prevPhase);
}
......@@ -41,12 +41,10 @@ public:
Eigen::VectorXd &aCurrentConfiguration);
///
virtual void fillInTestsFormat1(std::string &aTestName,
OneStep &anOneStep,
virtual void fillInTestsFormat1(std::string &aTestName, OneStep &anOneStep,
Eigen::VectorXd &aCurrentConfiguration);
virtual void fillInTestsFormat2(std::string &aTestName,
OneStep &anOneStep,
virtual void fillInTestsFormat2(std::string &aTestName, OneStep &anOneStep,
Eigen::VectorXd &aCurrentConfiguration);
virtual void
......@@ -68,7 +66,7 @@ public:
m_prevRightAnkledOrientation, m_prevRightAnkleddOrientation;
std::vector<double> m_prevZMPlocal, m_prevZMPlocalF2, m_prevZMPRef,
m_prevTorquesF2, m_prevPhase;
m_prevTorquesF2, m_prevPhase;
Eigen::Vector3d m_AnklePositionRight, m_AnklePositionLeft;
/// Add time or not in the dump file
......
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