/*
// lecture/modification/ecriture d'une trajectoire Bip
//
//
// gcc conv.c lmsTrajBip.c -I$ROBOTIQUE/Robots/Bipede/Control/Host/include -o conv
// Fichiers lmsTrajBip.c/h dans $ROBOTIQUE/Robots/Bipede/Control/Host/Proc
*/


#include "lmsTrajBip.h"

#define INCREMENT 0.04
#define FILEOUT "pnew.traj"

int main(int argc, char *argv[])
{
  TRAJBIP15_DESC traj;
  int i;
  double increment,max=0,min=0;

  increment=INCREMENT;

  if (argc!=2) {
    printf("%s use:: %s bipfile.traj\n write in pnew.traj",argv[0],argv[0]);
    return 1;
  }

  if (trajbipRead(argv[1],&traj)==OK)
    {
      for (i=0; i<traj.trajmax; i++)
	{
	  /* printf("%lf\n",traj.pos[i][0]);*/
	  traj.pos[i][0]+=increment;
	  if (traj.pos[i][0]>max)
	    max=traj.pos[i][0];
	  if (traj.pos[i][0]<min)
	    min=traj.pos[i][0];
	  
	}
      if (trajbipWrite(FILEOUT,traj)!=OK)
          printf("%s error:: traj write failed\n",argv[0]);
    }
  else {
    printf("%s error:: traj read failed\n",argv[0]);
  }
 
  printf("min=%lf max=%lf\n",min,max);
  return 0;
}