src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.h

 /*
  * Copyright 2011
  *
- * 
+ *
  * Andrei Herdt
  * Olivier Stasse
  *
@@ -20,146 +20,135 @@
  * You should have received a copy of the GNU Lesser General Public License
  * along with walkGenJrl.  If not, see <http://www.gnu.org/licenses/>.
  *
- *  Research carried out within the scope of the 
+ *  Research carried out within the scope of the
  *  Joint Japanese-French Robotics Laboratory (JRL)
  */
 /*! \file FootTrajectoryGenerationStandard.h
   \brief This object generate all the values for the foot trajectories.
    @ingroup foottrajectorygeneration */
 
-
 #ifndef _ONLINE_FOOT_TRAJECTORY_GENERATION_H_
 #define _ONLINE_FOOT_TRAJECTORY_GENERATION_H_
 
 #include <FootTrajectoryGeneration/FootTrajectoryGenerationStandard.hh>
 
-namespace PatternGeneratorJRL
-{
-
-  /// @ingroup foottrajectorygeneration
-  /// Generate online trajectories for the swinging and the stance foot some amount in the future.
-  class  OnLineFootTrajectoryGeneration : public FootTrajectoryGenerationStandard
-  {
-
-    //
-    // Public methods:
-    //
-  public:
-
-    OnLineFootTrajectoryGeneration(SimplePluginManager *lSPM,CjrlFoot *aFoot);
-
-    virtual ~OnLineFootTrajectoryGeneration();
-
-
-    /// Interpolate piece of feet trajectories
-    ///
-    /// \param[in] Time Current time
-    /// \param[in] CurrentSupport
-    /// \param[in] FPx Previewed foot position to be interpolated
-    /// \param[in] FPy Previewed foot position to be interpolated
-    /// \param[in] PreviewedSupportAngles_deq
-    /// \param[out] FinalLeftFootTraj_deq Left foot trajectory
-    /// \param[out] FinalRightFootTraj_deq Right foot trajectory
-    virtual void interpolate_feet_positions(double Time,
-        const deque<support_state_t> & PrwSupportStates_deq,
-        const solution_t & Solution,
-        const deque<double> & PreviewedSupportAngles_deq,
-        deque<FootAbsolutePosition> &FinalLeftFootTraj_deq,
-        deque<FootAbsolutePosition> &FinalRightFootTraj_deq);
-
-    virtual void interpolate_feet_positions(double Time, unsigned CurrentIndex,
-        const PatternGeneratorJRL::support_state_t &CurrentSupport,
-        std::vector<double> FootStepX,
-        std::vector<double> FootStepY,
-        std::vector<double> FootStepYaw,
-        deque<FootAbsolutePosition> &FinalLeftFootTraj_deq,
-        deque<FootAbsolutePosition> &FinalRightFootTraj_deq);
-
-    /// \name Accessors
-    /// \{
-    inline double QPSamplingPeriod() const
-    { return QP_T_; };
-    inline void QPSamplingPeriod( double QP_T )
-    { QP_T_ = QP_T; };
-    inline unsigned int NbSamplingsPreviewed() const
-    { return QP_N_; };
-    inline void NbSamplingsPreviewed( unsigned int QP_N )
-    { QP_N_ = QP_N; };
-    inline double FeetDistance() const
-    { return FeetDistanceDS_; };
-    inline void FeetDistance( double FeetDistance )
-    { FeetDistanceDS_ = FeetDistance; };
-    /// \}
-
-    //
-    // Protected methods:
-    //
-  protected:
-
-    /// \brief Check if the solution should be used as is and
-    /// propose alternative if not.
-    ///
-    /// \param[out] X Solution
-    /// \param[out] Y Solution
-    /// \param[in] CurrentSupport
-    /// \param[in] CurrentTime
-    virtual void interpret_solution( double CurrentTime, const solution_t & Solution,
-        const support_state_t & CurrentSupport, unsigned int NbSteps, double & X, double & Y );
-
-
-    /// \brief Compute the position of the swinging and the stance foot.
-    /// Use polynomials for the X-axis, Y-axis,
-    /// orientation in the Oy axis, and orientation in the Oz axis.
-    /// Use a 4th order polynome for the Z-axis.
-    ///
-    /// \param SupportFootTraj_deq: Queue of positions for the support foot.
-    /// Set the foot position at index CurrentAbsoluteIndex of the queue.
-    /// \param StanceFootTraj_deq: Queue of absolute position for the swinging
-    /// foot. Set the foot position at index NoneSupportFootAbsolutePositions of the queue.
-    /// \param StartIndex: Index in the queues of the foot position to be set.
-    /// \param k: Current sampling
-    /// \param UnlockedSwingPeriod: Amount of time where the swinging foot can move horizontally.
-    /// \param StepType: Type of steps (for book-keeping).
-    /// \param LeftOrRight: Specify if it is left (1) or right (-1).
-    virtual void UpdateFootPosition(deque<FootAbsolutePosition> &SupportFootTraj_deq,
-        deque<FootAbsolutePosition> &StanceFootTraj_deq,
-        int StartIndex, int k,
-        double LocalInterpolationStartTime,
-        double UnlockedSwingPeriod,
-        int StepType, int LeftOrRight);
-
-    /// \brief Compute the results of the polynome at time "t".
-    /// And fill the current none support foot absolute positions obect.
-    ///
-    /// \param t : the time
-    /// \param curr_NSFAP : absolute position for the swinging
-    virtual void ComputeXYThetaFootPosition(double t,
-                                     FootAbsolutePosition& curr_NSFAP);
-
-    //
-    // Protected members
-    //
-  protected:
-
-    /// \brief Sampling period of the QP
-    double QP_T_;
-
-    /// \brief Nb previewed samplings
-    unsigned int QP_N_;
-
-    /// \brief Distance between feet centers in ds phase
-    double FeetDistanceDS_;
-
-    /// \brief Half of simple support passed trigger
-    bool HalfTimePassed_;
-
-    /// \brief vector containing the first preview support solution along the foot step
-    vector<double> FirstPrvSuppFootX_vec, FirstPrvSuppFootY_vec ;
-    
-    /// \brief final position determined 3 iteration before landing
-    double FPx_,FPy_ ;
+namespace PatternGeneratorJRL {
+
+/// @ingroup foottrajectorygeneration
+/// Generate online trajectories for the swinging and the stance foot some
+/// amount in the future.
+class OnLineFootTrajectoryGeneration : public FootTrajectoryGenerationStandard {
+  //
+  // Public methods:
+  //
+ public:
+  OnLineFootTrajectoryGeneration(SimplePluginManager *lSPM, PRFoot *aFoot);
+
+  virtual ~OnLineFootTrajectoryGeneration();
+
+  /// Interpolate piece of feet trajectories
+  ///
+  /// \param[in] Time Current time
+  /// \param[in] CurrentSupport
+  /// \param[in] FPx Previewed foot position to be interpolated
+  /// \param[in] FPy Previewed foot position to be interpolated
+  /// \param[in] PreviewedSupportAngles_deq
+  /// \param[out] FinalLeftFootTraj_deq Left foot trajectory
+  /// \param[out] FinalRightFootTraj_deq Right foot trajectory
+  virtual void interpolate_feet_positions(
+      double Time, const deque<support_state_t> &PrwSupportStates_deq,
+      const solution_t &Solution,
+      const deque<double> &PreviewedSupportAngles_deq,
+      deque<FootAbsolutePosition> &FinalLeftFootTraj_deq,
+      deque<FootAbsolutePosition> &FinalRightFootTraj_deq);
+
+  virtual void interpolate_feet_positions(
+      double Time, unsigned CurrentIndex,
+      const PatternGeneratorJRL::support_state_t &CurrentSupport,
+      std::vector<double> FootStepX, std::vector<double> FootStepY,
+      std::vector<double> FootStepYaw,
+      deque<FootAbsolutePosition> &FinalLeftFootTraj_deq,
+      deque<FootAbsolutePosition> &FinalRightFootTraj_deq);
+
+  /// \name Accessors
+  /// \{
+  inline double QPSamplingPeriod() const { return QP_T_; };
+  inline void QPSamplingPeriod(double QP_T) { QP_T_ = QP_T; };
+  inline unsigned int NbSamplingsPreviewed() const { return QP_N_; };
+  inline void NbSamplingsPreviewed(unsigned int QP_N) { QP_N_ = QP_N; };
+  inline double FeetDistance() const { return FeetDistanceDS_; };
+  inline void FeetDistance(double FeetDistance) {
+    FeetDistanceDS_ = FeetDistance;
   };
-
-}
+  /// \}
+
+  //
+  // Protected methods:
+  //
+ protected:
+  /// \brief Check if the solution should be used as is and
+  /// propose alternative if not.
+  ///
+  /// \param[out] X Solution
+  /// \param[out] Y Solution
+  /// \param[in] CurrentSupport
+  /// \param[in] CurrentTime
+  virtual void interpret_solution(double CurrentTime,
+                                  const solution_t &Solution,
+                                  const support_state_t &CurrentSupport,
+                                  unsigned int NbSteps, double &X, double &Y);
+
+  /// \brief Compute the position of the swinging and the stance foot.
+  /// Use polynomials for the X-axis, Y-axis,
+  /// orientation in the Oy axis, and orientation in the Oz axis.
+  /// Use a 4th order polynome for the Z-axis.
+  ///
+  /// \param SupportFootTraj_deq: Queue of positions for the support foot.
+  /// Set the foot position at index CurrentAbsoluteIndex of the queue.
+  /// \param StanceFootTraj_deq: Queue of absolute position for the swinging
+  /// foot. Set the foot position at index NoneSupportFootAbsolutePositions of
+  /// the queue. \param StartIndex: Index in the queues of the foot position to
+  /// be set. \param k: Current sampling \param UnlockedSwingPeriod: Amount of
+  /// time where the swinging foot can move horizontally. \param StepType: Type
+  /// of steps (for book-keeping). \param LeftOrRight: Specify if it is left (1)
+  /// or right (-1).
+  virtual void UpdateFootPosition(
+      deque<FootAbsolutePosition> &SupportFootTraj_deq,
+      deque<FootAbsolutePosition> &StanceFootTraj_deq, int StartIndex, int k,
+      double LocalInterpolationStartTime, double UnlockedSwingPeriod,
+      int StepType, int LeftOrRight);
+
+  /// \brief Compute the results of the polynome at time "t".
+  /// And fill the current none support foot absolute positions obect.
+  ///
+  /// \param t : the time
+  /// \param curr_NSFAP : absolute position for the swinging
+  virtual void ComputeXYThetaFootPosition(double t,
+                                          FootAbsolutePosition &curr_NSFAP);
+
+  //
+  // Protected members
+  //
+ protected:
+  /// \brief Sampling period of the QP
+  double QP_T_;
+
+  /// \brief Nb previewed samplings
+  unsigned int QP_N_;
+
+  /// \brief Distance between feet centers in ds phase
+  double FeetDistanceDS_;
+
+  /// \brief Half of simple support passed trigger
+  bool HalfTimePassed_;
+
+  /// \brief vector containing the first preview support solution along the foot
+  /// step
+  vector<double> FirstPrvSuppFootX_vec, FirstPrvSuppFootY_vec;
+
+  /// \brief final position determined 3 iteration before landing
+  double FPx_, FPy_;
+};
+
+}  // namespace PatternGeneratorJRL
 #endif /* _ONLINE_FOOT_TRAJECTORY_GENERATION_H_ */
-

src/GlobalStrategyManagers/GlobalStrategyManager.cpp

 /*
- * Copyright 2009, 2010, 
+ * Copyright 2009, 2010,
  *
  * Olivier  Stasse
  *
@@ -18,32 +18,28 @@
  * You should have received a copy of the GNU Lesser General Public License
  * along with walkGenJrl.  If not, see <http://www.gnu.org/licenses/>.
  *
- *  Research carried out within the scope of the 
+ *  Research carried out within the scope of the
  *  Joint Japanese-French Robotics Laboratory (JRL)
  */
 /*! \file GlobalStrategyManager.cpp
-  \brief This object defines a global strategy abstract object to generate an output
-  handled by the PatternGeneratorInterface object.
+  \brief This object defines a global strategy abstract object to generate
+  an output handled by the PatternGeneratorInterface object.
 */
 
 #include <Debug.hh>
-#include <deque> 
 #include <GlobalStrategyManagers/GlobalStrategyManager.hh>
+#include <deque>
 
 using namespace PatternGeneratorJRL;
 
-GlobalStrategyManager::GlobalStrategyManager(SimplePluginManager *aPluginManager):
-  SimplePlugin(aPluginManager)
-{
-}
+GlobalStrategyManager::GlobalStrategyManager(
+    SimplePluginManager *aPluginManager)
+    : SimplePlugin(aPluginManager) {}
 
-  
-  
-void GlobalStrategyManager::SetBufferPositions(deque<ZMPPosition> * aZMPPositions,
-					       deque<COMState> * aCOMBuffer,
-					       deque<FootAbsolutePosition> *aLeftFootAbsolutePositions,
-					       deque<FootAbsolutePosition> *aRightFootAbsolutePositions )
-{
+void GlobalStrategyManager::SetBufferPositions(
+    deque<ZMPPosition> *aZMPPositions, deque<COMState> *aCOMBuffer,
+    deque<FootAbsolutePosition> *aLeftFootAbsolutePositions,
+    deque<FootAbsolutePosition> *aRightFootAbsolutePositions) {
   m_ZMPPositions = aZMPPositions;
   m_COMBuffer = aCOMBuffer;
   m_LeftFootPositions = aLeftFootAbsolutePositions;