Merge pull request #7 from ROBOTIS-GIT/master

Merge for sync kinetic-devel and master branch
ROBOTIS-GIT · Sep 1, 2016 · c7731ad · c7731ad
2 parents 39679f2 + 13389ab
commit c7731ad
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diff --git a/robotis_math/include/robotis_math/step_data_define.h b/robotis_math/include/robotis_math/step_data_define.h
@@ -57,6 +57,7 @@ typedef struct
 {
   int    moving_foot;
   double foot_z_swap, body_z_swap;
+  double x_zmp_shift, y_zmp_shift;
   double shoulder_swing_gain, elbow_swing_gain;
   double waist_roll_angle, waist_pitch_angle, waist_yaw_angle;
   Pose3D left_foot_pose;

diff --git a/robotis_math/src/step_data_define.cpp b/robotis_math/src/step_data_define.cpp
@@ -39,6 +39,7 @@ std::ostream& operator<<(std::ostream& out, const StepPositionData& position_dat
   out << "[  BODY] " << position_data.body_pose << "\n";
   out << "[ WAIST] " << "r/p/y: " << position_data.waist_roll_angle << "/" << position_data.waist_pitch_angle << "/" << position_data.waist_yaw_angle << "\n";
   out << "[PARAMS] " << "moving_foot: " << dispatchMovingFoot(position_data.moving_foot) << " | foot_z_swap: " << position_data.foot_z_swap << " | body_z_swap: " << position_data.body_z_swap << "\n";
+  out << "[PARAMS] " << "x_zmp_shift: " << position_data.x_zmp_shift  << " | y_zmp_shift: " << position_data.y_zmp_shift << "\n";
   out << "[PARAMS] " << "shoulder_swing_gain: " << position_data.shoulder_swing_gain << " | elbow_swing_gain: " << position_data.elbow_swing_gain;
   return out;
 }