From 73cca75ba5497f0b3b3d5510011859e1d5dea9cd Mon Sep 17 00:00:00 2001
From: paleziart <paleziart@laas.fr>
Date: Tue, 13 Apr 2021 10:23:06 +0200
Subject: [PATCH] Move a few lines to fix compilation warnings
---
include/qrw/FootTrajectoryGenerator.hpp | 6 +++---
include/qrw/FootstepPlanner.hpp | 2 +-
src/FootTrajectoryGenerator.cpp | 2 +-
src/FootstepPlanner.cpp | 2 +-
4 files changed, 6 insertions(+), 6 deletions(-)
diff --git a/include/qrw/FootTrajectoryGenerator.hpp b/include/qrw/FootTrajectoryGenerator.hpp
index 84bc9801..83beef94 100644
--- a/include/qrw/FootTrajectoryGenerator.hpp
+++ b/include/qrw/FootTrajectoryGenerator.hpp
@@ -74,21 +74,21 @@ public:
MatrixN getFootAcceleration() { return acceleration_; } ///< Get the next foot acceleration
private:
+ std::shared_ptr<Gait> gait_; ///< Target lock before the touchdown
double dt_tsid; ///<
int k_mpc; ///<
double maxHeight_; ///< Apex height of the swinging trajectory
double lockTime_; ///< Target lock before the touchdown
- std::shared_ptr<Gait> gait_; ///< Target lock before the touchdown
std::vector<int> feet;
Vector4 t0s;
Vector4 t_swing;
+ Matrix34 targetFootstep_; // Target for the X component
+
Matrix64 Ax; ///< Coefficients for the X component
Matrix64 Ay; ///< Coefficients for the Y component
- Matrix34 targetFootstep_; // Target for the X component
-
Matrix34 position_; // position computed in updateFootPosition
Matrix34 velocity_; // velocity computed in updateFootPosition
Matrix34 acceleration_; // acceleration computed in updateFootPosition
diff --git a/include/qrw/FootstepPlanner.hpp b/include/qrw/FootstepPlanner.hpp
index 9cc91060..de7b2219 100644
--- a/include/qrw/FootstepPlanner.hpp
+++ b/include/qrw/FootstepPlanner.hpp
@@ -42,7 +42,7 @@ public:
///
////////////////////////////////////////////////////////////////////////////////////////////////
void initialize(double dt_in,
- double k_mpc_in,
+ int k_mpc_in,
double T_mpc_in,
double h_ref_in,
Matrix34 const& shouldersIn,
diff --git a/src/FootTrajectoryGenerator.cpp b/src/FootTrajectoryGenerator.cpp
index d8350bdc..8c21a1b9 100644
--- a/src/FootTrajectoryGenerator.cpp
+++ b/src/FootTrajectoryGenerator.cpp
@@ -31,7 +31,7 @@ void FootTrajectoryGenerator::initialize(double const maxHeightIn,
dt_tsid = dt_tsid_in;
k_mpc = k_mpc_in;
maxHeight_ = maxHeightIn;
- lockTime_ = lockTime_;
+ lockTime_ = lockTimeIn;
targetFootstep_ = targetFootstepIn;
position_ = initialFootPosition;
gait_ = gaitIn;
diff --git a/src/FootstepPlanner.cpp b/src/FootstepPlanner.cpp
index 440b6ef7..29fe8819 100644
--- a/src/FootstepPlanner.cpp
+++ b/src/FootstepPlanner.cpp
@@ -22,7 +22,7 @@ FootstepPlanner::FootstepPlanner()
}
void FootstepPlanner::initialize(double dt_in,
- double k_mpc_in,
+ int k_mpc_in,
double T_mpc_in,
double h_ref_in,
Matrix34 const& shouldersIn,
--
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