Commit 1060be49 authored by Francesco Morsillo's avatar Francesco Morsillo
Browse files

Added underscore to attribute name secondOrderKinematics in solver-kine.cpp

parent 53e890c7
......@@ -14,8 +14,8 @@
* with sot-dyninv. If not, see <http://www.gnu.org/licenses/>.
*/
#define VP_DEBUG
#define VP_DEBUG_MODE 50
//#define VP_DEBUG
//#define VP_DEBUG_MODE 50
#include <sot/core/debug.hh>
#include <exception>
#ifdef VP_DEBUG
......@@ -118,7 +118,7 @@ namespace dynamicgraph
dampingSIN )
,controlFreeFloating(true)
,secondOrderKinematics(false)
,secondOrderKinematics_(false)
,hsolver()
......@@ -160,7 +160,7 @@ namespace dynamicgraph
docstring));
addCommand("getSecondOrderKine",
makeDirectGetter(*this,&secondOrderKinematics,
makeDirectGetter(*this,&secondOrderKinematics_,
docDirectGetter("second order kinematic inversion","bool")));
ADD_COMMANDS_FOR_THE_STACK;
......@@ -172,7 +172,7 @@ namespace dynamicgraph
void SolverKine::push (TaskAbstract& task)
{
if (secondOrderKinematics) {
if (secondOrderKinematics_) {
checkDynamicTask (task);
}
sot::Stack< TaskAbstract >::push (task);
......@@ -199,7 +199,7 @@ namespace dynamicgraph
("The solver should contain no task before switching to second order mode.");
}
}
secondOrderKinematics = secondOrder;
secondOrderKinematics_ = secondOrder;
}
SolverKine::TaskDependancyList_t SolverKine::
......@@ -336,7 +336,7 @@ namespace dynamicgraph
/* -Tasks 1:n- */
/* Ctaski = [ Ji 0 0 0 0 0 ] */
if( !secondOrderKinematics )
if( !secondOrderKinematics_ )
{
for( int i=0;i<(int)stack.size();++i )
{
......
......@@ -94,7 +94,7 @@ namespace dynamicgraph {
void resetAset( void );
void getDecomposition( const int &stage );
bool controlFreeFloating;
bool secondOrderKinematics;
bool secondOrderKinematics_;
/// Push the task in the stack.
/// Call parent implementation anc check that task is
/// of type dynamic if necessary
......
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