Diff: gaitGenerator/gaitGenerator.cpp

Revision:

2:89b78367d173

Parent:

0:d38d627c922f

Child:

8:5766a09fefbf

Child:

13:c588cb388240

--- a/gaitGenerator/gaitGenerator.cpp	Sat Nov 22 00:54:39 2014 +0000
+++ b/gaitGenerator/gaitGenerator.cpp	Mon Nov 24 03:35:08 2014 +0000
@@ -1296,120 +1296,3 @@
 float blend_e0_L;
 float blend_R;
 float blend_L;
-
-
-// this function changes the back angle during the gait
-// which acts as a bias throughout the trajectories
-/*void initialize_GaitTrajectories()
-{
-
-    for (int i = 0; i < trajectoryLength; i++) {
-        ref_swing_FTG[i] += backBias;
-        ref_stance_FTG[i] += backBias;
-        ref_swing_FS[i] += backBias;
-        ref_stance_FS[i] += backBias;
-        ref_swing_step[i] += backBias;
-
-        ref_stance_step095[i] += backBias;
-        ref_stance_step100[i] += backBias;
-        ref_stance_step105[i] += backBias;
-        ref_stance_step110[i] += backBias;
-        ref_stance_step115[i] += backBias;
-        ref_stance_step120[i] += backBias;
-        ref_stance_step125[i] += backBias;
-        ref_stance_step130[i] += backBias;
-
-        ref_swing_step095[i] += backBias;
-        ref_swing_step100[i] += backBias;
-        ref_swing_step105[i] += backBias;
-        ref_swing_step110[i] += backBias;
-        ref_swing_step115[i] += backBias;
-        ref_swing_step120[i] += backBias;
-        ref_swing_step125[i] += backBias;
-        ref_swing_step130[i] += backBias;
-        ref_stance_step[i] += backBias;
-        //ref_seated[i] += -10;
-    }
-}*/
-
-/*void initialize_blend(float posRef_L0, float posRef_R0, float t_blend)
-{
-    //pos_R0 = pos_R;
-    //pos_L0 = pos_L;
-    blend_e0_R = posRef_R0 - pos_R;
-    blend_e0_L = posRef_L0 - pos_L;
-
-    blendSlope_R = blend_e0_R / t_blend;
-    blendSlope_L = blend_e0_L / t_blend;
-
-    tState.stop();
-    tState.reset();
-    tState.start();
-}
-
-void initialize_blend_from_reference(float posRef_L0, float posRef_R0, float t_blend)
-{
-    //pos_R0 = pos_R;
-    //pos_L0 = pos_L;
-    blend_e0_R = posRef_R0 - posRef_R;
-    blend_e0_L = posRef_L0 - posRef_L;
-
-    blendSlope_R = blend_e0_R / t_blend;
-    blendSlope_L = blend_e0_L / t_blend;
-
-    tState.stop();
-    tState.reset();
-    tState.start();
-}
-
-
-
-
-
-//// new MM 1/9/13
-
-
-void blendToTarget(float t, float t_blend, float posRefTarget_L, float posRefTarget_R)
-{
-
-    if (t < t_blend) {
-        blend_R = posRefTarget_R-blend_e0_R + t*blendSlope_R;
-        blend_L = posRefTarget_L-blend_e0_L + t*blendSlope_L;
-    } else {
-        blend_R = posRefTarget_R;
-        blend_L = posRefTarget_L;
-    }
-    posRef_L = blend_L;
-    posRef_R = blend_R;
-}
-
-//////
-
-void gaitGen(float *ref_L,float *ref_R,float t,float t_max, float t_blend)
-{
-
-    //float dt=t_max/(float(trajectoryLength) - 1);
-    float dt=t_max/(trajectoryLength - 1);
-    //float dt=t_max/(50);
-    int n=int(t/dt);
-    float v=t/dt-n;//(t-float(n)*dt)/dt;
-
-    //posRef_L=(1-v)*ref_L[n]+v*ref_L[n+1];
-    //posRef_R=(1-v)*ref_R[n]+v*ref_R[n+1];
-
-    float A=ref_L[n];
-    float B=ref_L[n+1];
-    float C=ref_R[n];
-    float D=ref_R[n+1];
-
-    posRef_L=(1-v)*A+v*B;
-    posRef_R=(1-v)*C+v*D;
-
-    if (t < t_blend) {
-        blend_R = blend_e0_R - t*blendSlope_R;
-        blend_L = blend_e0_L - t*blendSlope_L;
-
-        posRef_R -= blend_R;
-        posRef_L -= blend_L;
-    }
-}*/
\ No newline at end of file