[AutoBalancer.*] rename zmp_interpolator to zmp_offset_interpolator f…

…or zmp_weight_interpolator

rtc/AutoBalancer/AutoBalancer.cpp

@@ -207,7 +207,7 @@ RTC::ReturnCode_t AutoBalancer::onInitialize()
  for (size_t i = 0; i < num; i++) m_controlSwingSupportTime.data[i] = 0.0;
  }
 
- zmp_interpolator = new interpolator(ikp.size()*3, m_dt);
+ zmp_offset_interpolator = new interpolator(ikp.size()*3, m_dt);
  zmp_transition_time = 1.0;
  transition_interpolator = new interpolator(1, m_dt, interpolator::HOFFARBIB, 1);
  transition_interpolator_ratio = 1.0;
@@ -294,7 +294,7 @@ RTC::ReturnCode_t AutoBalancer::onInitialize()
 
 RTC::ReturnCode_t AutoBalancer::onFinalize()
 {
- delete zmp_interpolator;
+ delete zmp_offset_interpolator;
  delete transition_interpolator;
  delete adjust_footstep_interpolator;
  return RTC::RTC_OK;
@@ -539,9 +539,9 @@ void AutoBalancer::getTargetParameters()
  //
  if (control_mode != MODE_IDLE) {
  coordinates tmp_fix_coords;
- if (!zmp_interpolator->isEmpty()) {
+ if (!zmp_offset_interpolator->isEmpty()) {
  double *default_zmp_offsets_output = new double[ikp.size()*3];
- zmp_interpolator->get(default_zmp_offsets_output, true);
+ zmp_offset_interpolator->get(default_zmp_offsets_output, true);
  for (size_t i = 0; i < ikp.size(); i++)
  for (size_t j = 0; j < 3; j++)
  default_zmp_offsets[i](j) = default_zmp_offsets_output[i*3+j];
@@ -1270,9 +1270,9 @@ bool AutoBalancer::setAutoBalancerParam(const OpenHRP::AutoBalancerService::Auto
  default_zmp_offsets_array[i*3+j] = i_param.default_zmp_offsets[i][j];
  zmp_transition_time = i_param.zmp_transition_time;
  adjust_footstep_transition_time = i_param.adjust_footstep_transition_time;
- if (zmp_interpolator->isEmpty()) {
- zmp_interpolator->clear();
- zmp_interpolator->go(default_zmp_offsets_array, zmp_transition_time, true);
+ if (zmp_offset_interpolator->isEmpty()) {
+ zmp_offset_interpolator->clear();
+ zmp_offset_interpolator->go(default_zmp_offsets_array, zmp_transition_time, true);
  } else {
  std::cerr << "[" << m_profile.instance_name << "] default_zmp_offsets cannot be set because interpolating." << std::endl;
  }

rtc/AutoBalancer/AutoBalancer.h

@@ -224,7 +224,7 @@ class AutoBalancer
  coil::Mutex m_mutex;
 
  double transition_interpolator_ratio, transition_time, zmp_transition_time, adjust_footstep_transition_time;
- interpolator *zmp_interpolator;
+ interpolator *zmp_offset_interpolator;
  interpolator *transition_interpolator;
  interpolator *adjust_footstep_interpolator;
  hrp::Vector3 input_zmp, input_basePos;