Commit 80f58154 authored by NoelieRamuzat's avatar NoelieRamuzat Committed by Olivier Stasse
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[Phase Signal] Add check on stepType for Kajita double support phase

In Kajita's algorithm the dsp stepType can be = 11
parent 8889ecd1
......@@ -1526,7 +1526,9 @@ int &PatternGenerator::OneStepOfControl(int &dummy, int time) {
// Find the support foot feet.
// If stepType = -1 -> single support phase on the dedicated foot
// If stepType = 10 -> double support phase (both feet should have stepType=10)
if ((lLeftFootPosition.stepType == 10) || (lRightFootPosition.stepType == 10)){
// If stepType = 11 -> double support phase between 2 single support phases for Kajita Algorithm
if ((lLeftFootPosition.stepType == 10) || (lRightFootPosition.stepType == 10) ||
(lLeftFootPosition.stepType == 11) || (lRightFootPosition.stepType == 11)){
m_leftFootContact = true;
m_rightFootContact = true;
m_ContactPhase = DOUBLE_SUPPORT_PHASE;
......
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