[rtc/AutoBalancer/GaitGenerator] Remove unused argument in update_ref…

…zmp.
snozawa · Jun 19, 2017 · 5e22e9a · 5e22e9a
1 parent 61608bd
commit 5e22e9a
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/rtc/AutoBalancer/GaitGenerator.cpp b/rtc/AutoBalancer/GaitGenerator.cpp
@@ -204,7 +204,7 @@ namespace rats
  }
  };
 
- void refzmp_generator::update_refzmp (const std::vector< std::vector<step_node> >& fnsl)
+ void refzmp_generator::update_refzmp ()
  {
  if ( 1 <= refzmp_count ) {
  refzmp_count--;
@@ -720,7 +720,7 @@ namespace rats
  solved = preview_controller_ptr->update(refzmp, cog, swing_foot_zmp_offsets, rzmp, sfzos, (refzmp_exist_p || finalize_count < preview_controller_ptr->get_delay()-default_step_time/dt));
  }
 
- rg.update_refzmp(footstep_nodes_list);
+ rg.update_refzmp();
  // { // debug
  // double cart_zmp[3];
  // preview_controller_ptr->get_cart_zmp(cart_zmp);
@@ -1118,12 +1118,12 @@ namespace rats
  for (size_t i = overwrite_idx; i < queue_size - 1; i++) {
  refzmp_exist_p = rg.get_current_refzmp(rzmp, sfzos, default_double_support_ratio_before, default_double_support_ratio_after, default_double_support_static_ratio_before, default_double_support_static_ratio_after);
  preview_controller_ptr->set_preview_queue(rzmp, sfzos, i+1);
- rg.update_refzmp(footstep_nodes_list);
+ rg.update_refzmp();
  sfzos.clear();
  }
  refzmp_exist_p = rg.get_current_refzmp(rzmp, sfzos, default_double_support_ratio_before, default_double_support_ratio_after, default_double_support_static_ratio_before, default_double_support_static_ratio_after);
  solved = preview_controller_ptr->update(refzmp, cog, swing_foot_zmp_offsets, rzmp, sfzos, refzmp_exist_p);
- rg.update_refzmp(footstep_nodes_list);
+ rg.update_refzmp();
  };
 
  const std::vector<leg_type> gait_generator::calc_counter_leg_types_from_footstep_nodes(const std::vector<step_node>& fns, std::vector<std::string> _all_limbs) const {

diff --git a/rtc/AutoBalancer/GaitGenerator.h b/rtc/AutoBalancer/GaitGenerator.h
@@ -345,7 +345,7 @@ namespace rats
  const std::vector<step_node>& _support_leg_steps,
  const std::vector<step_node>& _swing_leg_steps);
  void push_refzmp_from_footstep_nodes_for_single (const std::vector<step_node>& fns, const std::vector<step_node>& _support_leg_steps, const toe_heel_types& tht);
- void update_refzmp (const std::vector< std::vector<step_node> >& fnsl);
+ void update_refzmp ();
  // setter
  void set_indices (const size_t idx) { refzmp_index = idx; };
  void set_refzmp_count(const size_t _refzmp_count) { refzmp_count = _refzmp_count; };