Corrected header file include guards.
Dependencies: FiniteStateMachine HipControl Knee LinearBlend1 LocalFileSystem_Read dataComm hapticFeedback initExoVars mbed Blend_Generator Brad_poly_gait Gait_Generator MM_gait Encoders IMUdriver
Fork of Motion Control by
gaitGenerator/gaitGenerator.cpp
- Committer:
- nathanhonka
- Date:
- 2015-07-02
- Revision:
- 54:9d0e871dd00a
- Parent:
- 26:c4372c518ac3
File content as of revision 54:9d0e871dd00a:
#include "mbed.h" #include "gaitGenerator.h" // timing variables: // gait generation times const float tStandingUp = 3; const float tFirstStep = 1; const float tStep = 0.9;//1.0;//1.2; const float tNextStep=1; const float tStepMod=1; const float tFeetTogether = .5; // blending times: const float t_blend_home2bent = 2; const float t_blend_home2stand = 3; const float t_blend_home2sit = 2; const float t_blend_step = .1; const float t_blend_FS = .1; const float t_blend_FTG = .1; const float t_blend_standUp = .5; const float t_blend_sitDown = .5; const float backBias=0; const float ref_stance_step[] = { 10.0000, 9.9644, 9.9288, 9.8932, 9.8576, 9.8220, 9.7864, 9.7508, 9.7152, 9.6796, 9.6440, 9.6085, 9.5729, 9.5373, 9.5017, 9.4661, 9.4305, 9.3949, 9.3593, 9.3237, 9.2881, 9.2525, 9.2169, 9.1813, 9.1457, 9.1101, 9.0745, 9.0389, 9.0033, 8.9677, 8.9321, 8.8966, 8.8610, 8.8254, 8.7898, 8.7542, 8.7186, 8.6830, 8.6474, 8.6118, 8.5762, 8.5406, 8.5050, 8.4694, 8.4338, 8.3982, 8.3626, 8.3270, 8.2914, 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29.0658, 29.0486, 29.0314, 29.0142, 28.9970, 28.9798, 28.9626, 28.9455, 28.9283, 28.9111, 28.8939, 28.8767, 28.8595, 28.8423, 28.8236, 28.8038, 28.7839, 28.7641, 28.7443, 28.7244, 28.7046, 28.6847, 28.6649, 28.6451, 28.6252, 28.6054, 28.5855, 28.5657, 28.5459, 28.5260, 28.5062, 28.4863, 28.4650, 28.4425, 28.4200, 28.3975, 28.3750, 28.3525, 28.3301, 28.3076, 28.2851, 28.2626, 28.2401, 28.2176, 28.1951, 28.1727, 28.1502, 28.1277, 28.1052, 28.0827, 28.0586, 28.0335, 28.0084, 27.9833, 27.9581, 27.9330, 27.9079, 27.8827, 27.8576, 27.8325, 27.8073, 27.7822, 27.7571, 27.7319, 27.7068, 27.6817, 27.6566, 27.6314, 27.6047, 27.5769, 27.5491, 27.5213, 27.4936, 27.4658, 27.4380, 27.4102, 27.3825, 27.3547, 27.3269, 27.2991, 27.2714, 27.2436, 27.2158, 27.1880, 27.1602, 27.1325, 27.1030, 27.0726, 27.0422, 27.0117, 26.9813, 26.9509, 26.9205, 26.8901, 26.8596, 26.8292, 26.7988, 26.7684, 26.7380, 26.7075, 26.6771, 26.6467, 26.6163, 26.5858, 26.5537, 26.5206, 26.4875, 26.4545, 26.4214, 26.3884, 26.3553, 26.3222, 26.2892, 26.2561, 26.2230, 26.1900, 26.1569, 26.1238, 26.0908, 26.0577, 26.0246, 25.9916, 25.9567, 25.9210, 25.8853, 25.8496, 25.8138, 25.7781, 25.7424, 25.7067, 25.6710, 25.6353, 25.5996, 25.5639, 25.5282, 25.4924, 25.4567, 25.4210, 25.3853, 25.3496, 25.3120, 25.2737, 25.2353, 25.1970, 25.1586, 25.1202, 25.0819, 25.0435, 25.0052, 24.9668, 24.9285, 24.8901, 24.8518, 24.8134, 24.7750, 24.7367, 24.6983, 24.6600, 24.6197, 24.5787, 24.5377, 24.4967, 24.4557, 24.4147, 24.3737, 24.3327, 24.2917, 24.2507, 24.2097, 24.1687, 24.1277, 24.0867, 24.0457, 24.0047, 23.9637, 23.9227, 23.8797, 23.8361, 23.7924, 23.7488, 23.7051, 23.6615, 23.6178, 23.5742, 23.5305, 23.4869, 23.4432, 23.3996, 23.3559, 23.3123, 23.2686, 23.2250, 23.1814, 23.1377, 23.0920, 23.0458, 22.9995, 22.9532, 22.9069, 22.8606, 22.8143, 22.7680, 22.7217, 22.6754, 22.6291, 22.5828, 22.5365, 22.4902, 22.4439, 22.3977, 22.3514, 22.3051, 22.2567, 22.2078, 22.1588, 22.1099, 22.0610, 22.0120, 21.9631, 21.9141, 21.8652, 21.8163, 21.7673, 21.7184, 21.6695, 21.6205, 21.5716, 21.5226, 21.4737, 21.4248, 21.3737, 21.3221, 21.2705, 21.2190, 21.1674, 21.1158, 21.0642, 21.0126, 20.9610, 20.9095, 20.8579, 20.8063, 20.7547, 20.7031, 20.6515, 20.6000, 20.5484, 20.4968, 20.4430, 20.3888, 20.3346, 20.2804, 20.2261, 20.1719, 20.1177, 20.0634, 20.0092, 19.9550, 19.9008, 19.8465, 19.7923, 19.7381, 19.6838, 19.6296, 19.5754, 19.5212, 19.4647, 19.4078, 19.3510, 19.2941, 19.2372, 19.1803, 19.1235, 19.0666, 19.0097, 18.9528, 18.8960, 18.8391, 18.7822, 18.7254, 18.6685, 18.6116, 18.5547, 18.4979, 18.4387, 18.3792, 18.3197, 18.2601, 18.2006, 18.1411, 18.0816, 18.0221, 17.9626, 17.9030, 17.8435, 17.7840, 17.7245, 17.6650, 17.6054, 17.5459, 17.4864, 17.4269, 17.3650, 17.3029, 17.2407, 17.1785, 17.1164, 17.0542, 16.9920, 16.9299, 16.8677, 16.8056, 16.7434, 16.6812, 16.6191, 16.5569, 16.4947, 16.4326, 16.3704, 16.3082, 16.2437, 16.1789, 16.1141, 16.0493, 15.9845, 15.9196, 15.8548, 15.7900, 15.7252, 15.6604, 15.5956, 15.5308, 15.4660, 15.4012, 15.3364, 15.2715, 15.2067, 15.1419, 15.0747, 15.0072, 14.9398, 14.8723, 14.8049, 14.7374, 14.6700, 14.6025, 14.5350, 14.4676, 14.4001, 14.3327, 14.2652, 14.1978, 14.1303, 14.0629, 13.9954, 13.9279, 13.8580, 13.7879, 13.7178, 13.6477, 13.5776, 13.5075, 13.4374, 13.3673, 13.2972, 13.2271, 13.1570, 13.0869, 13.0168, 12.9467, 12.8766, 12.8065, 12.7364, 12.6663, 12.5937, 12.5209, 12.4482, 12.3754, 12.3027, 12.2299, 12.1572, 12.0844, 12.0117, 11.9389, 11.8662, 11.7935, 11.7207, 11.6480, 11.5752, 11.5025, 11.4297, 11.3570, 11.2816, 11.2063, 11.1309, 11.0555, 10.9801, 10.9047, 10.8293, 10.7539, 10.6785, 10.6031, 10.5277, 10.4523, 10.3770, 10.3016, 10.2262, 10.1508, 10.0754, 10.0000 }; const float ref_stance_step095[]= { 7.75,7.155,6.56,5.965,5.37,4.775,4.18,3.585,2.99,2.395,1.8,1.205,0.61,0.015,-0.58,-1.175,-1.77,-2.365,-2.96,-3.555,-4.15,-4.745,-5.34,-5.935,-6.53,-7.125,-7.72,-8.315,-8.91,-9.505,-10.1,-10.695,-11.29,-11.885,-12.48,-13.075,-13.67,-14.265,-14.86,-15.455,-16.05,-16.645,-17.24,-17.835,-18.43,-19.025,-19.62,-20.215,-20.81,-21.405,-22, }; const float ref_stance_step100[]= { 7,6.42,5.84,5.26,4.68,4.1,3.52,2.94,2.36,1.78,1.2,0.62,0.04,-0.54,-1.12,-1.7,-2.28,-2.86,-3.44,-4.02,-4.6,-5.18,-5.76,-6.34,-6.92,-7.5,-8.08,-8.66,-9.24,-9.82,-10.4,-10.98,-11.56,-12.14,-12.72,-13.3,-13.88,-14.46,-15.04,-15.62,-16.2,-16.78,-17.36,-17.94,-18.52,-19.1,-19.68,-20.26,-20.84,-21.42,-22, }; const float ref_stance_step105[]= { 6.25,5.685,5.12,4.555,3.99,3.425,2.86,2.295,1.73,1.165,0.6,0.035,-0.53,-1.095,-1.66,-2.225,-2.79,-3.355,-3.92,-4.485,-5.05,-5.615,-6.18,-6.745,-7.31,-7.875,-8.44,-9.005,-9.57,-10.135,-10.7,-11.265,-11.83,-12.395,-12.96,-13.525,-14.09,-14.655,-15.22,-15.785,-16.35,-16.915,-17.48,-18.045,-18.61,-19.175,-19.74,-20.305,-20.87,-21.435,-22, }; const float ref_stance_step110[]= { 5.5,4.95,4.4,3.85,3.3,2.75,2.2,1.65,1.1,0.55,0,-0.55,-1.1,-1.65,-2.2,-2.75,-3.3,-3.85,-4.4,-4.95,-5.5,-6.05,-6.6,-7.15,-7.7,-8.25,-8.8,-9.35,-9.9,-10.45,-11,-11.55,-12.1,-12.65,-13.2,-13.75,-14.3,-14.85,-15.4,-15.95,-16.5,-17.05,-17.6,-18.15,-18.7,-19.25,-19.8,-20.35,-20.9,-21.45,-22, }; const float ref_stance_step115[]= { 4.75,4.215,3.68,3.145,2.61,2.075,1.54,1.005,0.47,-0.065,-0.6,-1.135,-1.67,-2.205,-2.74,-3.275,-3.81,-4.345,-4.88,-5.415,-5.95,-6.485,-7.02,-7.555,-8.09,-8.625,-9.16,-9.695,-10.23,-10.765,-11.3,-11.835,-12.37,-12.905,-13.44,-13.975,-14.51,-15.045,-15.58,-16.115,-16.65,-17.185,-17.72,-18.255,-18.79,-19.325,-19.86,-20.395,-20.93,-21.465,-22, }; const float ref_stance_step120[]= { 4,3.48,2.96,2.44,1.92,1.4,0.88,0.36,-0.16,-0.68,-1.2,-1.72,-2.24,-2.76,-3.28,-3.8,-4.32,-4.84,-5.36,-5.88,-6.4,-6.92,-7.44,-7.96,-8.48,-9,-9.52,-10.04,-10.56,-11.08,-11.6,-12.12,-12.64,-13.16,-13.68,-14.2,-14.72,-15.24,-15.76,-16.28,-16.8,-17.32,-17.84,-18.36,-18.88,-19.4,-19.92,-20.44,-20.96,-21.48,-22, }; const float ref_stance_step125[]= { 3.25,2.745,2.24,1.735,1.23,0.725,0.22,-0.285,-0.79,-1.295,-1.8,-2.305,-2.81,-3.315,-3.82,-4.325,-4.83,-5.335,-5.84,-6.345,-6.85,-7.355,-7.86,-8.365,-8.87,-9.375,-9.88,-10.385,-10.89,-11.395,-11.9,-12.405,-12.91,-13.415,-13.92,-14.425,-14.93,-15.435,-15.94,-16.445,-16.95,-17.455,-17.96,-18.465,-18.97,-19.475,-19.98,-20.485,-20.99,-21.495,-22, }; const float ref_stance_step130[]= { 2.5,2.01,1.52,1.03,0.54,0.05,-0.44,-0.93,-1.42,-1.91,-2.4,-2.89,-3.38,-3.87,-4.36,-4.85,-5.34,-5.83,-6.32,-6.81,-7.3,-7.79,-8.28,-8.77,-9.26,-9.75,-10.24,-10.73,-11.22,-11.71,-12.2,-12.69,-13.18,-13.67,-14.16,-14.65,-15.14,-15.63,-16.12,-16.61,-17.1,-17.59,-18.08,-18.57,-19.06,-19.55,-20.04,-20.53,-21.02,-21.51,-22, }; const float ref_swing_step095[]= { -22,-18.75081885,-15.60644999,-12.56689342,-9.632149156,-6.802217183,-4.077097506,-1.456790123,1.058704963,3.469387755,5.775258251,7.976316453,10.07256236,12.06399597,13.95061728,15.7324263,17.40942303,18.98160746,20.44897959,21.81153943,23.06928697,24.22222222,25.27034518,26.21365583,27.0521542,27.78584026,28.41471403,28.93877551,29.35802469,29.67246158,29.88208617,29.98689846,29.98374726,29.85372535,29.59368152,29.20361578,28.68352812,28.03341855,27.25328707,26.34313367,25.30295836,24.13276114,22.832542,21.40230095,19.84203798,18.1517531,16.33144631,14.3811176,12.30076698,10.09039445,7.75, }; const float ref_swing_step100[]= { -22,-18.73270053,-15.57182774,-12.51738166,-9.569362262,-6.72776956,-3.99260355,-1.363864234,1.158448389,3.57433432,5.883793557,8.086826101,10.18343195,12.17361111,14.05736358,15.83468935,17.50558843,19.07006082,20.52810651,21.87972551,23.12491782,24.26368343,25.29602235,26.22193458,27.04142012,27.75447896,28.36111111,28.86131657,29.25509533,29.5424474,29.72337278,29.79787147,29.75871435,29.5909914,29.29425079,28.86849253,28.31371661,27.62992304,26.81711182,25.87528293,24.8044364,23.6045722,22.27569036,20.81779086,19.2308737,17.51493889,15.66998642,13.6960163,11.59302852,9.361023087,7, }; const float ref_swing_step105[]= { -22,-18.71423634,-15.53655701,-12.46696201,-9.505451346,-6.65202501,-3.906683005,-1.269425331,1.259748013,3.680837025,5.993841707,8.198762057,10.29559808,12.28434977,14.16501712,15.93760015,17.60209885,19.15851321,20.60684325,21.94708895,23.17925032,24.30332736,25.31932007,26.22722845,27.0270525,27.71879222,28.30244761,28.77801866,29.14550539,29.40490778,29.55622585,29.59935994,29.52255284,29.31773389,28.9849031,28.52406047,27.935206,27.21833968,26.37346153,25.40057153,24.29966969,23.07075601,21.71383049,20.22889312,18.61594392,16.87498287,15.00600998,13.00902525,10.88402867,8.631020257,6.25, }; const float ref_swing_step110[]= { -22,-18.69541629,-15.50061942,-12.41560938,-9.440386176,-6.574949806,-3.819300269,-1.173437567,1.362638302,3.788927336,6.105429536,8.312144902,10.40907343,12.39621513,14.27356999,16.04113802,17.69891922,19.24691358,20.68512111,22.0135418,23.23217566,24.34102268,25.34008287,26.22935623,27.00884275,27.67854244,28.23845529,28.68858131,29.0289205,29.25947285,29.38023837,29.38983952,29.27553406,29.03422255,28.66590498,28.17058136,27.54825167,26.79891593,25.92257413,24.91922627,23.78887236,22.53151238,21.14714635,19.63577426,17.99739611,16.2320119,14.33962164,12.32022532,10.17382294,7.900414497,5.5, }; const float ref_swing_step115[]= { -22,-18.67623,-15.4639959,-12.36329772,-9.374135433,-6.496509057,-3.730418586,-1.075864022,1.467154636,3.898637388,6.218584235,8.426995175,10.52387021,12.50920934,14.38301256,16.14527987,17.79601128,19.33520679,20.76286639,22.07899008,23.28357786,24.37662974,25.35814572,26.22812578,26.98656994,27.6334782,28.16885055,28.59268699,28.90498753,29.10575216,29.19498088,29.16912958,29.01792754,28.7407238,28.33751836,27.80831122,27.15310237,26.37189183,25.46467958,24.43146564,23.27224999,21.98703265,20.5758136,19.03859285,17.3753704,15.58614625,13.67092041,11.62969285,9.462463604,7.169232652,4.75, }; const float ref_swing_step120[]= { -22,-18.65666667,-15.42666667,-12.31,-9.306666667,-6.416666667,-3.64,-0.976666667,1.573333333,4.01,6.333333333,8.543333333,10.64,12.62333333,14.49333333,16.25,17.89333333,19.42333333,20.84,22.14333333,23.33333333,24.41,25.37333333,26.22333333,26.96,27.58333333,28.09333333,28.49,28.77333333,28.94333333,29,28.9375,28.75,28.4375,28,27.4375,26.75,25.9375,25,23.9375,22.75,21.4375,20,18.4375,16.75,14.9375,13,10.9375,8.75,6.4375,4, }; const float ref_swing_step125[]= { -22,-18.63671507,-15.38861114,-12.2556882,-9.237946241,-6.335385278,-3.548005306,-0.875806324,1.681211668,4.123048669,6.449704679,8.661179698,10.75747373,12.73858677,14.60451881,16.35526987,17.99083994,19.51122901,20.9164371,22.20646419,23.3813103,24.44097541,25.38545953,26.21476267,26.92888481,27.52782596,28.01158612,28.38016529,28.63356347,28.77178066,28.79441991,28.69521828,28.47201461,28.1248089,27.65360116,27.05839137,26.33917955,25.49596569,24.52874979,23.43753185,22.22231187,20.88308986,19.41986581,17.83263971,16.12141158,14.28618142,12.32694921,10.24371497,8.036478682,5.70524036,3.25, }; const float ref_swing_step130[]= { -22,-18.61636355,-15.34980795,-12.20033319,-9.167939285,-6.252626221,-3.454394002,-0.77324263,1.790827896,4.237817576,6.56772641,8.780554399,10.87630154,12.85496784,14.71655329,16.46105789,18.08848165,19.59882456,20.99208663,22.26826785,23.42736823,24.46938776,25.39432644,26.20218428,26.89296127,27.46665741,27.92327271,28.26280716,28.48526077,28.59063353,28.57785842,28.44254878,28.18423037,27.8029032,27.29856725,26.67122255,25.92086907,25.04750683,24.05113583,22.93175606,21.68936752,20.32397021,18.83556414,17.22414931,15.4897257,13.63229334,11.6518522,9.5484023,7.321943633,4.972476199,2.5, }; const float ref_stance_FS[] = { 0.0000, -0.0175, -0.0350, -0.0526, -0.0701, -0.0876, -0.1051, -0.1226, -0.1401, -0.1577, -0.1752, -0.1927, -0.2102, -0.2277, -0.2452, -0.2628, -0.2803, -0.2978, -0.3153, -0.3328, -0.3504, -0.3679, -0.3854, -0.4029, -0.4204, -0.4379, -0.4555, -0.4730, -0.4905, -0.5080, -0.5255, -0.5430, -0.5606, -0.5781, -0.5956, -0.6131, -0.6306, -0.6481, -0.6657, -0.6832, -0.7007, 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-8.3838, -8.3487, -8.3136, -8.2786, -8.2435, -8.2084, -8.1733, -8.1383, -8.1032, -8.0681, -8.0331, -7.9980, -7.9629, -7.9279, -7.8928, -7.8577, -7.8226, -7.7876, -7.7525, -7.7174, -7.6824, -7.6473, -7.6122, -7.5772, -7.5421, -7.5070, -7.4719, -7.4369, -7.4018, -7.3667, -7.3317, -7.2966, -7.2615, -7.2264, -7.1914, -7.1563, -7.1212, -7.0862, -7.0511, -7.0160, -6.9810, -6.9459, -6.9108, -6.8757, -6.8407, -6.8056, -6.7705, -6.7355, -6.7004, -6.6653, -6.6303, -6.5952, -6.5601, -6.5250, -6.4900, -6.4549, -6.4198, -6.3848, -6.3497, -6.3146, -6.2796, -6.2445, -6.2094, -6.1743, -6.1393, -6.1042, -6.0691, -6.0341, -5.9990, -5.9639, -5.9289, -5.8938, -5.8587, -5.8236, -5.7886, -5.7535, -5.7184, -5.6834, -5.6483, -5.6132, -5.5781, -5.5429, -5.5077, -5.4726, -5.4374, -5.4022, -5.3671, -5.3319, -5.2967, -5.2616, -5.2265, -5.1914, -5.1563, -5.1212, -5.0862, -5.0511, -5.0160, -4.9810, -4.9459, -4.9108, -4.8757, -4.8407, -4.8056, -4.7705, -4.7355, -4.7004, -4.6653, -4.6303, -4.5952, -4.5601, -4.5250, -4.4900, -4.4549, -4.4198, -4.3848, -4.3497, -4.3146, -4.2796, -4.2445, -4.2094, -4.1743, -4.1393, -4.1042, -4.0691, -4.0341, -3.9990, -3.9639, -3.9289, -3.8938, -3.8587, -3.8236, -3.7886, -3.7535, -3.7184, -3.6834, -3.6483, -3.6132, -3.5782, -3.5431, -3.5080, -3.4729, -3.4379, -3.4028, -3.3677, -3.3327, -3.2976, -3.2625, -3.2275, -3.1924, -3.1573, -3.1222, -3.0872, -3.0521, -3.0170, -2.9820, -2.9469, -2.9118, -2.8768, -2.8417, -2.8066, -2.7715, -2.7365, -2.7014, -2.6663, -2.6313, -2.5962, -2.5611, -2.5261, -2.4910, -2.4559, -2.4208, -2.3858, -2.3507, -2.3156, -2.2806, -2.2455, -2.2104, -2.1753, -2.1403, -2.1052, -2.0701, -2.0349, -1.9997, -1.9645, -1.9294, -1.8942, -1.8590, -1.8239, -1.7887, -1.7535, -1.7184, -1.6834, -1.6483, -1.6132, -1.5782, -1.5431, -1.5080, -1.4729, -1.4379, -1.4028, -1.3677, -1.3327, -1.2976, -1.2625, -1.2275, -1.1924, -1.1573, -1.1222, -1.0872, -1.0521, -1.0170, -0.9820, -0.9469, -0.9118, -0.8768, -0.8417, -0.8066, -0.7715, -0.7365, -0.7014, -0.6663, -0.6313, -0.5962, -0.5611, -0.5261, -0.4910, -0.4559, -0.4208, -0.3858, -0.3507, -0.3156, -0.2806, -0.2455, -0.2104, -0.1754, -0.1403, -0.1052, -0.0701, -0.0351, 0.0000 }; /*const float ref_sit2stand[] = { 115.0000,114.9990,114.9981,114.9971,114.9962,114.9952,114.9943,114.9933,114.9924,114.9914, 114.9905,114.9895,114.9886,114.9876,114.9867,114.9857,114.9848,114.9838,114.9829,114.9819, 114.9810,114.9800,114.9791,114.9781,114.9772,114.9762,114.9753,114.9743,114.9734,114.9724, 114.9715,114.9705,114.9696,114.9686,114.9677,114.9667,114.9658,114.9648,114.9639,114.9629, 114.9620,114.9610,114.9601,114.9591,114.9582,114.9572,114.9563,114.9553,114.9544,114.9534, 114.9525,114.9515,114.9506,114.9496,114.9487,114.9477,114.9468,114.9458,114.9449,114.9439, 114.9429,114.9401,114.9373,114.9344,114.9316,114.9288,114.9259,114.9231,114.9203,114.9174, 114.9146,114.9118,114.9089,114.9061,114.9033,114.9004,114.8976,114.8948,114.8919,114.8891, 114.8863,114.8834,114.8806,114.8778,114.8749,114.8721,114.8693,114.8664,114.8636,114.8607, 114.8579,114.8551,114.8522,114.8494,114.8466,114.8437,114.8409,114.8381,114.8352,114.8324, 114.8296,114.8267,114.8239,114.8211,114.8182,114.8154,114.8126,114.8097,114.8069,114.8041, 114.8012,114.7984,114.7956,114.7927,114.7899,114.7871,114.7842,114.7814,114.7786,114.7757, 114.7728,114.7681,114.7634,114.7587,114.7539,114.7492,114.7445,114.7398,114.7351,114.7303, 114.7256,114.7209,114.7162,114.7115,114.7068,114.7020,114.6973,114.6926,114.6879,114.6832, 114.6784,114.6737,114.6690,114.6643,114.6596,114.6549,114.6501,114.6454,114.6407,114.6360, 114.6313,114.6265,114.6218,114.6171,114.6124,114.6077,114.6030,114.5982,114.5935,114.5888, 114.5841,114.5794,114.5746,114.5699,114.5652,114.5605,114.5558,114.5511,114.5463,114.5416, 114.5369,114.5322,114.5275,114.5227,114.5180,114.5133,114.5086,114.5039,114.4992,114.4944, 114.4896,114.4830,114.4764,114.4698,114.4632,114.4566,114.4500,114.4434,114.4368,114.4302, 114.4236,114.4170,114.4104,114.4038,114.3972,114.3906,114.3840,114.3774,114.3708,114.3642, 114.3576,114.3510,114.3444,114.3378,114.3312,114.3245,114.3179,114.3113,114.3047,114.2981, 114.2915,114.2849,114.2783,114.2717,114.2651,114.2585,114.2519,114.2453,114.2387,114.2321, 114.2255,114.2189,114.2123,114.2057,114.1991,114.1925,114.1859,114.1793,114.1727,114.1661, 114.1595,114.1529,114.1463,114.1397,114.1331,114.1265,114.1199,114.1133,114.1067,114.1001, 114.0933,114.0849,114.0764,114.0679,114.0594,114.0510,114.0425,114.0340,114.0256,114.0171, 114.0086,114.0002,113.9917,113.9832,113.9747,113.9663,113.9578,113.9493,113.9409,113.9324, 113.9239,113.9155,113.9070,113.8985,113.8901,113.8816,113.8731,113.8646,113.8562,113.8477, 113.8392,113.8308,113.8223,113.8138,113.8054,113.7969,113.7884,113.7800,113.7715,113.7630, 113.7545,113.7461,113.7376,113.7291,113.7207,113.7122,113.7037,113.6953,113.6868,113.6783, 113.6698,113.6614,113.6529,113.6444,113.6360,113.6275,113.6190,113.6106,113.6021,113.5936, 113.5850,113.5746,113.5643,113.5539,113.5436,113.5332,113.5228,113.5125,113.5021,113.4918, 113.4814,113.4711,113.4607,113.4504,113.4400,113.4297,113.4193,113.4090,113.3986,113.3882, 113.3779,113.3675,113.3572,113.3468,113.3365,113.3261,113.3158,113.3054,113.2951,113.2847, 113.2744,113.2640,113.2537,113.2433,113.2329,113.2226,113.2122,113.2019,113.1915,113.1812, 113.1708,113.1605,113.1501,113.1398,113.1294,113.1191,113.1087,113.0984,113.0880,113.0776, 113.0673,113.0569,113.0466,113.0362,113.0259,113.0155,113.0052,112.9948,112.9845,112.9741, 112.9635,112.9513,112.9391,112.9269,112.9147,112.9025,112.8903,112.8781,112.8659,112.8537, 112.8415,112.8293,112.8171,112.8049,112.7927,112.7805,112.7683,112.7561,112.7439,112.7317, 112.7195,112.7073,112.6950,112.6828,112.6706,112.6584,112.6462,112.6340,112.6218,112.6096, 112.5974,112.5852,112.5730,112.5608,112.5486,112.5364,112.5242,112.5120,112.4998,112.4876, 112.4754,112.4632,112.4510,112.4388,112.4266,112.4144,112.4021,112.3899,112.3777,112.3655, 112.3533,112.3411,112.3289,112.3167,112.3045,112.2923,112.2801,112.2679,112.2557,112.2435, 112.2310,112.2170,112.2030,112.1889,112.1749,112.1608,112.1468,112.1328,112.1187,112.1047, 112.0907,112.0766,112.0626,112.0485,112.0345,112.0205,112.0064,111.9924,111.9784,111.9643, 111.9503,111.9362,111.9222,111.9082,111.8941,111.8801,111.8660,111.8520,111.8380,111.8239, 111.8099,111.7959,111.7818,111.7678,111.7537,111.7397,111.7257,111.7116,111.6976,111.6836, 111.6695,111.6555,111.6414,111.6274,111.6134,111.5993,111.5853,111.5712,111.5572,111.5432, 111.5291,111.5151,111.5011,111.4870,111.4730,111.4589,111.4449,111.4309,111.4168,111.4028, 111.3885,111.3726,111.3567,111.3408,111.3249,111.3090,111.2931,111.2772,111.2613,111.2455, 111.2296,111.2137,111.1978,111.1819,111.1660,111.1501,111.1342,111.1184,111.1025,111.0866, 111.0707,111.0548,111.0389,111.0230,111.0071,110.9912,110.9754,110.9595,110.9436,110.9277, 110.9118,110.8959,110.8800,110.8641,110.8482,110.8324,110.8165,110.8006,110.7847,110.7688, 110.7529,110.7370,110.7211,110.7052,110.6894,110.6735,110.6576,110.6417,110.6258,110.6099, 110.5940,110.5781,110.5622,110.5464,110.5305,110.5146,110.4987,110.4828,110.4669,110.4510, 110.4348,110.4171,110.3994,110.3817,110.3641,110.3464,110.3287,110.3110,110.2933,110.2756, 110.2579,110.2402,110.2225,110.2049,110.1872,110.1695,110.1518,110.1341,110.1164,110.0987, 110.0810,110.0633,110.0457,110.0280,110.0103,109.9926,109.9749,109.9572,109.9395,109.9218, 109.9041,109.8864,109.8688,109.8511,109.8334,109.8157,109.7980,109.7803,109.7626,109.7449, 109.7272,109.7096,109.6919,109.6742,109.6565,109.6388,109.6211,109.6034,109.5857,109.5680, 109.5504,109.5327,109.5150,109.4973,109.4796,109.4619,109.4442,109.4265,109.4088,109.3912, 109.3731,109.3536,109.3341,109.3146,109.2951,109.2757,109.2562,109.2367,109.2172,109.1977, 109.1782,109.1587,109.1392,109.1197,109.1002,109.0808,109.0613,109.0418,109.0223,109.0028, 108.9833,108.9638,108.9443,108.9248,108.9053,108.8859,108.8664,108.8469,108.8274,108.8079, 108.7884,108.7689,108.7494,108.7299,108.7104,108.6910,108.6715,108.6520,108.6325,108.6130, 108.5935,108.5740,108.5545,108.5350,108.5155,108.4961,108.4766,108.4571,108.4376,108.4181, 108.3986,108.3791,108.3596,108.3401,108.3207,108.3012,108.2817,108.2622,108.2427,108.2232, 108.2033,108.1820,108.1608,108.1395,108.1182,108.0970,108.0757,108.0544,108.0331,108.0119, 107.9906,107.9693,107.9480,107.9268,107.9055,107.8842,107.8629,107.8417,107.8204,107.7991, 107.7778,107.7566,107.7353,107.7140,107.6927,107.6715,107.6502,107.6289,107.6077,107.5864, 107.5651,107.5438,107.5226,107.5013,107.4800,107.4587,107.4375,107.4162,107.3949,107.3736, 107.3524,107.3311,107.3098,107.2885,107.2673,107.2460,107.2247,107.2035,107.1822,107.1609, 107.1396,107.1184,107.0971,107.0758,107.0545,107.0333,107.0120,106.9907,106.9694,106.9482, 106.9265,106.9034,106.8804,106.8574,106.8344,106.8114,106.7883,106.7653,106.7423,106.7193, 106.6962,106.6732,106.6502,106.6272,106.6041,106.5811,106.5581,106.5351,106.5120,106.4890, 106.4660,106.4430,106.4199,106.3969,106.3739,106.3509,106.3278,106.3048,106.2818,106.2588, 106.2357,106.2127,106.1897,106.1667,106.1436,106.1206,106.0976,106.0746,106.0515,106.0285, 106.0055,105.9825,105.9595,105.9364,105.9134,105.8904,105.8674,105.8443,105.8213,105.7983, 105.7753,105.7522,105.7292,105.7062,105.6832,105.6601,105.6371,105.6141,105.5911,105.5680, 105.5446,105.5198,105.4950,105.4703,105.4455,105.4208,105.3960,105.3713,105.3465,105.3217, 105.2970,105.2722,105.2475,105.2227,105.1979,105.1732,105.1484,105.1237,105.0989,105.0742, 105.0494,105.0246,104.9999,104.9751,104.9504,104.9256,104.9008,104.8761,104.8513,104.8266, 104.8018,104.7771,104.7523,104.7275,104.7028,104.6780,104.6533,104.6285,104.6037,104.5790, 104.5542,104.5295,104.5047,104.4800,104.4552,104.4304,104.4057,104.3809,104.3562,104.3314, 104.3067,104.2819,104.2571,104.2324,104.2076,104.1829,104.1581,104.1333,104.1086,104.0838, 104.0586,104.0321,104.0056,103.9792,103.9527,103.9262,103.8997,103.8733,103.8468,103.8203, 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9.2315, 9.1715, 9.1115, 9.0515, 8.9915, 8.9315, 8.8715, 8.8115, 8.7515, 8.6915, 8.6315, 8.5715, 8.5115, 8.4515, 8.3915, 8.3315, 8.2715, 8.2115, 8.1514, 8.0914, 8.0314, 7.9714, 7.9114, 7.8514, 7.7914, 7.7314, 7.6714, 7.6114, 7.5514, 7.4914, 7.4314, 7.3714, 7.3114, 7.2513, 7.1911, 7.1310, 7.0709, 7.0107, 6.9506, 6.8904, 6.8303, 6.7702, 6.7100, 6.6499, 6.5898, 6.5296, 6.4695, 6.4094, 6.3492, 6.2891, 6.2289, 6.1688, 6.1087, 6.0485, 5.9884, 5.9283, 5.8681, 5.8080, 5.7479, 5.6877, 5.6276, 5.5674, 5.5073, 5.4472, 5.3870, 5.3269, 5.2668, 5.2066, 5.1465, 5.0863, 5.0262, 4.9661, 4.9059, 4.8458, 4.7857, 4.7255, 4.6654, 4.6053, 4.5451, 4.4850, 4.4248, 4.3647, 4.3046, 4.2444, 4.1843, 4.1242, 4.0640, 4.0039, 3.9437, 3.8836, 3.8235, 3.7633, 3.7032, 3.6430, 3.5828, 3.5226, 3.4625, 3.4023, 3.3421, 3.2819, 3.2217, 3.1615, 3.1013, 3.0411, 2.9810, 2.9208, 2.8606, 2.8004, 2.7402, 2.6800, 2.6198, 2.5597, 2.4995, 2.4393, 2.3791, 2.3189, 2.2587, 2.1985, 2.1383, 2.0782, 2.0180, 1.9578, 1.8976, 1.8374, 1.7772, 1.7170, 1.6569, 1.5967, 1.5365, 1.4763, 1.4161, 1.3559, 1.2957, 1.2355, 1.1754, 1.1152, 1.0550, 0.9948, 0.9346, 0.8744, 0.8142, 0.7541, 0.6939, 0.6337, 0.5735, 0.5133, 0.4531, 0.3929, 0.3327, 0.2726, 0.2124, 0.1522, 0.0920 };*/ const float ref_stand2sit[] = { 0.0000, 0.0225, 0.0450, 0.0675, 0.0900, 0.1125, 0.1350, 0.1575, 0.1800, 0.2026, 0.2251, 0.2476, 0.2701, 0.2926, 0.3151, 0.3376, 0.3601, 0.3826, 0.4051, 0.4276, 0.4501, 0.4726, 0.4951, 0.5176, 0.5401, 0.5626, 0.5851, 0.6077, 0.6302, 0.6527, 0.6752, 0.6977, 0.7202, 0.7427, 0.7652, 0.7877, 0.8102, 0.8327, 0.8552, 0.8777, 0.9002, 0.9227, 0.9452, 0.9677, 0.9902, 1.0128, 1.0353, 1.0578, 1.0803, 1.1028, 1.1253, 1.1478, 1.1703, 1.1928, 1.2153, 1.2378, 1.2603, 1.2828, 1.3053, 1.3278, 1.3503, 1.3728, 1.3953, 1.4179, 1.4404, 1.4629, 1.4854, 1.5079, 1.5304, 1.5529, 1.5754, 1.5979, 1.6204, 1.6429, 1.6654, 1.6879, 1.7104, 1.7329, 1.7554, 1.7779, 1.8005, 1.8230, 1.8455, 1.8680, 1.8905, 1.9130, 1.9355, 1.9580, 1.9805, 2.0030, 2.0255, 2.0480, 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float standingAngle=ref_stance_FTG[FTG_time-1]; float sittingAngle = 79; //default 79 float tSittingDown = 4 ; //default 4 int trajectoryLength = 51; float bentAngle = 115; //default 115 //bentAngle = 115;