{"action":"created","comment":{"url":"https://api.github.com/repos/fkanehiro/hrpsys-base/pulls/comments/36980124","id":36980124,"diff_hunk":"@@ -384,7 +384,16 @@ namespace rats\n       if (fnsl[current_footstep_index].front().l_r == fnsl[current_footstep_index-1].front().l_r) {\n             swing_legs_src_coords = swing_legs_dst_coords_list[current_footstep_index-1];\n         } else {\n-            swing_legs_src_coords = support_legs_coords_list[current_footstep_index-1];\n+            /* current swing leg src coords = (previout support leg coords + previous swing leg dst coords) - current support leg coords */","path":"rtc/AutoBalancer/GaitGenerator.cpp","position":5,"original_position":5,"commit_id":"3a8f56852d7d104403418730a0acb14983645b90","original_commit_id":"3a8f56852d7d104403418730a0acb14983645b90","user":{"login":"eisoku9618","id":4509039,"avatar_url":"https://avatars.githubusercontent.com/u/4509039?v=3","gravatar_id":"","url":"https://api.github.com/users/eisoku9618","html_url":"https://github.com/eisoku9618","followers_url":"https://api.github.com/users/eisoku9618/followers","following_url":"https://api.github.com/users/eisoku9618/following{/other_user}","gists_url":"https://api.github.com/users/eisoku9618/gists{/gist_id}","starred_url":"https://api.github.com/users/eisoku9618/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/eisoku9618/subscriptions","organizations_url":"https://api.github.com/users/eisoku9618/orgs","repos_url":"https://api.github.com/users/eisoku9618/repos","events_url":"https://api.github.com/users/eisoku9618/events{/privacy}","received_events_url":"https://api.github.com/users/eisoku9618/received_events","type":"User","site_admin":false},"body":"> 比較してる箇所はここでしょうか。\r\n\r\nはい．\r\n\r\n> これは何を取得（削除？）してますか？\r\n\r\n取得したいもの：「現在の遊脚開始値のstep_nodeのリスト」\r\n\r\nPR前：\r\n 「１歩前の支持脚のstep_nodeのリスト」に等しいので，これでOK\r\n\r\nPR後：\r\n例えばcrawl歩行ですとbeforeのではダメで，「１歩前の遊脚目標値のstep_nodeのリスト」＋「１歩前の支持脚のstep_nodeのリスト」を合わせたものから，「現在の遊脚目標値のstep_nodeのリスト」を削除したものであればbiped / crawl ... ともにOK\r\n\r\n\r\nなので，比較が必要でした．\r\n\r\nただ，ある時期の支持脚リストと遊脚リストは重複しないことから，coordsの比較ではなく，名前の比較（ https://github.com/fkanehiro/hrpsys-base/pull/754#issuecomment-129744092 ）で対応できることに気づいたので，そうするようにします．","created_at":"2015-08-13T14:27:54Z","updated_at":"2015-08-13T14:27:54Z","html_url":"https://github.com/fkanehiro/hrpsys-base/pull/755#discussion_r36980124","pull_request_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/pulls/755","_links":{"self":{"href":"https://api.github.com/repos/fkanehiro/hrpsys-base/pulls/comments/36980124"},"html":{"href":"https://github.com/fkanehiro/hrpsys-base/pull/755#discussion_r36980124"},"pull_request":{"href":"https://api.github.com/repos/fkanehiro/hrpsys-base/pulls/755"}}},"pull_request":{"url":"https://api.github.com/repos/fkanehiro/hrpsys-base/pulls/755","id":42211416,"html_url":"https://github.com/fkanehiro/hrpsys-base/pull/755","diff_url":"https://github.com/fkanehiro/hrpsys-base/pull/755.diff","patch_url":"https://github.com/fkanehiro/hrpsys-base/pull/755.patch","issue_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/755","number":755,"state":"open","locked":false,"title":"add operator-overloadings of assignment and comparison","user":{"login":"eisoku9618","id":4509039,"avatar_url":"https://avatars.githubusercontent.com/u/4509039?v=3","gravatar_id":"","url":"https://api.github.com/users/eisoku9618","html_url":"https://github.com/eisoku9618","followers_url":"https://api.github.com/users/eisoku9618/followers","following_url":"https://api.github.com/users/eisoku9618/following{/other_user}","gists_url":"https://api.github.com/users/eisoku9618/gists{/gist_id}","starred_url":"https://api.github.com/users/eisoku9618/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/eisoku9618/subscriptions","organizations_url":"https://api.github.com/users/eisoku9618/orgs","repos_url":"https://api.github.com/users/eisoku9618/repos","events_url":"https://api.github.com/users/eisoku9618/events{/privacy}","received_events_url":"https://api.github.com/users/eisoku9618/received_events","type":"User","site_admin":false},"body":"@snozawa さん，\r\n\r\n「１歩前の遊脚目標値のstep_nodeのリスト」＋「１歩前の支持脚のstep_nodeのリスト」ー「現在の遊脚目標値のstep_nodeのリスト」\r\n\r\nで，現在の遊脚開始値のstep_nodeのリストを取得したいので，``coordinates``と``step_node``に代入と比較の演算子を追加させてもらったのですが，問題無さそうでしょうか？\r\n\r\nhttps://github.com/fkanehiro/hrpsys-base/blob/master/rtc/AutoBalancer/GaitGenerator.cpp#L367-L389","created_at":"2015-08-12T07:27:51Z","updated_at":"2015-08-13T14:27:54Z","closed_at":null,"merged_at":null,"merge_commit_sha":"d4004951e4235a24dfaeceb7e19ae621a4538b7a","assignee":null,"milestone":null,"commits_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/pulls/755/commits","review_comments_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/pulls/755/comments","review_comment_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/pulls/comments{/number}","comments_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/issues/755/comments","statuses_url":"https://api.github.com/repos/fkanehiro/hrpsys-base/statuses/3a8f56852d7d104403418730a0acb14983645b90","head":{"label":"eisoku9618:operator-overloading","ref":"operator-overloading","sha":"3a8f56852d7d104403418730a0acb14983645b90","user":{"login":"eisoku9618","id":4509039,"avatar_url":"https://avatars.githubusercontent.com/u/4509039?v=3","gravatar_id":"","url":"https://api.github.com/users/eisoku9618","html_url":"https://github.com/eisoku9618","followers_url":"https://api.github.com/users/eisoku9618/followers","following_url":"https://api.github.com/users/eisoku9618/following{/other_user}","gists_url":"https://api.github.com/users/eisoku9618/gists{/gist_id}","starred_url":"https://api.github.com/users/eisoku9618/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/eisoku9618/subscriptions","organizations_url":"https://api.github.com/users/eisoku9618/orgs","repos_url":"https://api.github.com/users/eisoku9618/repos","events_url":"https://api.github.com/users/eisoku9618/events{/privacy}","received_events_url":"https://api.github.com/users/eisoku9618/received_events","type":"User","site_admin":false},"repo":{"id":18903990,"name":"hrpsys-base","full_name":"eisoku9618/hrpsys-base","owner":{"login":"eisoku9618","id":4509039,"avatar_url":"https://avatars.githubusercontent.com/u/4509039?v=3","gravatar_id":"","url":"https://api.github.com/users/eisoku9618","html_url":"https://github.com/eisoku9618","followers_url":"https://api.github.com/users/eisoku9618/followers","following_url":"https://api.github.com/users/eisoku9618/following{/other_user}","gists_url":"https://api.github.com/users/eisoku9618/gists{/gist_id}","starred_url":"https://api.github.com/users/eisoku9618/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/eisoku9618/subscriptions","organizations_url":"https://api.github.com/users/eisoku9618/orgs","repos_url":"https://api.github.com/users/eisoku9618/repos","events_url":"https://api.github.com/users/eisoku9618/events{/privacy}","received_events_url":"https://api.github.com/users/eisoku9618/received_events","type":"User","site_admin":false},"private":false,"html_url":"https://github.com/eisoku9618/hrpsys-base","description":"Basic 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