yattaze!
omni_all.cpp@0:657446f249bc, 2019-05-02 (annotated)
- Committer:
- THtakahiro702286
- Date:
- Thu May 02 08:47:08 2019 +0000
- Revision:
- 0:657446f249bc
yattaze!!
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
THtakahiro702286 | 0:657446f249bc | 1 | #include "omni_all.h" |
THtakahiro702286 | 0:657446f249bc | 2 | |
THtakahiro702286 | 0:657446f249bc | 3 | Omni_all::Omni_all(int number_wheel) |
THtakahiro702286 | 0:657446f249bc | 4 | { |
THtakahiro702286 | 0:657446f249bc | 5 | wheelRad = new double[number_wheel]; |
THtakahiro702286 | 0:657446f249bc | 6 | } |
THtakahiro702286 | 0:657446f249bc | 7 | |
THtakahiro702286 | 0:657446f249bc | 8 | void Omni_all::sendRad(double rad, int num) |
THtakahiro702286 | 0:657446f249bc | 9 | { |
THtakahiro702286 | 0:657446f249bc | 10 | wheelRad[num] = rad; |
THtakahiro702286 | 0:657446f249bc | 11 | } |
THtakahiro702286 | 0:657446f249bc | 12 | |
THtakahiro702286 | 0:657446f249bc | 13 | double Omni_all::vec(double way, int dis) |
THtakahiro702286 | 0:657446f249bc | 14 | { |
THtakahiro702286 | 0:657446f249bc | 15 | delete[] wheelRad; |
THtakahiro702286 | 0:657446f249bc | 16 | return sin(way - wheelRad[dis]); |
THtakahiro702286 | 0:657446f249bc | 17 | } |