Added missing comments + deleted redundant variable

Author: fctalbot

include/syropod_highlevel_controller/pose.h

@@ -14,6 +14,7 @@
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 /// Class defining a 3d position and rotation using Eigen Vector3 and Quaternion classes.
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+class Pose
 {
 public:
   /// Blank contructor

include/syropod_highlevel_controller/walk_controller.h

@@ -417,9 +417,6 @@ class LegStepper
   /// @param[in] at_correct_phase The new value for the flag
   inline void setAtCorrectPhase(const bool& at_correct_phase) { at_correct_phase_ = at_correct_phase; };
 
-  /// TBD
-  inline void setNewStepFrequency(void) { new_step_frequency_ = true; };
-  
   /// Modifier for the flag denoting touchdown detection enabled.
   /// @param[in] touchdown_detection The new value for the flag
   inline void setTouchdownDetection(const bool& touchdown_detection) { touchdown_detection_ = touchdown_detection; };
@@ -489,10 +486,9 @@ class LegStepper
   int phase_ = 0;    ///< Step cycle phase
   int phase_offset_; ///< Step cycle phase offset
 
-  bool new_step_frequency_ = false;
-  double step_progress_ = 0.0;
-  double swing_progress_ = -1.0;   ///< The progress of the swing period in the step cycle. (0.0->1.0 || -1.0)
-  double stance_progress_ = -1.0;  ///< The progress of the stance period in the step cycle. (0.0->1.0 || -1.0)
+  double step_progress_ = 0.0;      ///< The progress of the entire step cycle (0.0->1.0 || -1.0)
+  double swing_progress_ = -1.0;    ///< The progress of the swing period in the step cycle. (0.0->1.0 || -1.0)
+  double stance_progress_ = -1.0;   ///< The progress of the stance period in the step cycle. (0.0->1.0 || -1.0)
 
   StepState step_state_ = STANCE; ///< The state of the step cycle
 
@@ -529,4 +525,4 @@ class LegStepper
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
-#endif // SYROPOD_HIGHLEVEL_CONTROLLER_WALK_CONTROLLER_H
+#endif // SYROPOD_HIGHLEVEL_CONTROLLER_WALK_CONTROLLER_H

src/walk_controller.cpp

@@ -690,7 +690,7 @@ void WalkController::updateManual(const int& primary_leg_selection_ID, const Vec
   }
 }
 
-Ref: https://math.stackexchange.com/questions/99299/best-fitting-plane-given-a-set-of-points
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
 void WalkController::updateWalkPlane(void)
 {
@@ -785,7 +785,6 @@ LegStepper::LegStepper(shared_ptr<LegStepper> leg_stepper)
   completed_first_step_ = leg_stepper->completed_first_step_;
   phase_ = leg_stepper->phase_;
   phase_offset_ = leg_stepper->phase_offset_;
-  new_step_frequency_ = leg_stepper->new_step_frequency_;
   stance_progress_ = leg_stepper->stance_progress_;
   swing_progress_ = leg_stepper->swing_progress_;
   stance_progress_ = leg_stepper->stance_progress_;
@@ -1271,4 +1270,4 @@ void LegStepper::forceNormalTouchdown(void)
   swing_2_nodes_[1] = swing_2_nodes_[0] + (swing_2_nodes_[2] - bezier_origin)/2.0;
 }
 
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////