src/walking.cpp
/**
 * @brief The position of the next support foot may change from the targeted, 
 * this function moves it to the right place.
 */
@brief The position of the next support foot may change from the targeted,
this function moves it to the right place.
@brief The position of the next support foot may change from the targeted this function moves it to the right place .
void oru_walk::correctNextSupportPosition(WMG &wmg)
{
    Transform<double,3> swing_foot_posture;
    nao.getSwingFootPosture (nao.state_sensor, swing_foot_posture.data());
    wmg.changeNextSSPosition (swing_foot_posture.data(), wp.set_support_z_to_zero);
}
void oru_walk :: correctNextSupportPosition ( WMG & wmg ) { Transform < double , 3 > swing_foot_posture ; nao . getSwingFootPosture ( nao . state_sensor , swing_foot_posture . data ( ) ) ; wmg . changeNextSSPosition ( swing_foot_posture . data ( ) , wp . set_support_z_to_zero ) ; }
@brief The position of the next support foot may change from the targeted,
 this function moves it to the right place.
@brief The position of the next support foot may change from the targeted this function moves it to the right place .