Julia DESMAZES / Mbed 2 deprecated Hexapode

Sorfware for Lexy ( Hexapode )

Dependencies:   mbed BLE_API X_NUCLEO_IDB0XA1 MODSERIAL

LIB/Bezier.cpp@5:58acbceb4f9e, 2016-08-20 (annotated)

Committer:
Essenceia
Date:
Sat Aug 20 19:21:54 2016 +0000
Revision:
5:58acbceb4f9e
Parent:
1:8bab9152933e 
Now needs to be debugger;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Essenceia 1:8bab9152933e 1 #include "Bezier.h"
Essenceia 1:8bab9152933e 2
Essenceia 1:8bab9152933e 3 Bezier::Bezier()
Essenceia 1:8bab9152933e 4 {;}
Essenceia 1:8bab9152933e 5 Bezier::~Bezier()
Essenceia 1:8bab9152933e 6 {
Essenceia 1:8bab9152933e 7 ;
Essenceia 1:8bab9152933e 8 }
Essenceia 1:8bab9152933e 9 void Bezier::add_point(float x,float y)
Essenceia 1:8bab9152933e 10 {
Essenceia 1:8bab9152933e 11 xpos.push_back(x);
Essenceia 1:8bab9152933e 12 ypos.push_back(y);
Essenceia 1:8bab9152933e 13 }
Essenceia 1:8bab9152933e 14
Essenceia 1:8bab9152933e 15 void Bezier::get_pos(float t, float *xret, float *yret)
Essenceia 1:8bab9152933e 16 {
Essenceia 1:8bab9152933e 17 int ii, ij, npoints;
Essenceia 1:8bab9152933e 18 float *x, *y;
Essenceia 1:8bab9152933e 19
Essenceia 1:8bab9152933e 20 npoints = xpos.size();
Essenceia 1:8bab9152933e 21 x = new float [npoints];
Essenceia 1:8bab9152933e 22 y = new float [npoints];
Essenceia 1:8bab9152933e 23 // load with current points
Essenceia 1:8bab9152933e 24 for (ii=0; ii<npoints; ii++)
Essenceia 1:8bab9152933e 25 {
Essenceia 1:8bab9152933e 26 x[ii] = xpos[ii];
Essenceia 1:8bab9152933e 27 y[ii] = ypos[ii];
Essenceia 1:8bab9152933e 28 }
Essenceia 1:8bab9152933e 29
Essenceia 1:8bab9152933e 30 // iterate over levels
Essenceia 1:8bab9152933e 31 for (ii=0; ii<npoints-1; ii++)
Essenceia 1:8bab9152933e 32 {
Essenceia 1:8bab9152933e 33 for (ij=0; ij<npoints-ii-1; ij++)
Essenceia 1:8bab9152933e 34 {
Essenceia 1:8bab9152933e 35 x[ij] = (1.0-t)*x[ij] + t*x[ij+1];
Essenceia 1:8bab9152933e 36 y[ij] = (1.0-t)*y[ij] + t*y[ij+1];
Essenceia 1:8bab9152933e 37 }
Essenceia 1:8bab9152933e 38 }
Essenceia 1:8bab9152933e 39
Essenceia 1:8bab9152933e 40 *xret = x[0];
Essenceia 1:8bab9152933e 41 *yret = y[0];
Essenceia 1:8bab9152933e 42
Essenceia 1:8bab9152933e 43 delete [] x;
Essenceia 1:8bab9152933e 44 delete [] y;
Essenceia 1:8bab9152933e 45 }