test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Walk/Walk.h@50:36741e8ab197, 2019-03-11 (annotated)
- Committer:
- shimizuta
- Date:
- Mon Mar 11 10:38:07 2019 +0000
- Revision:
- 50:36741e8ab197
- Parent:
- 44:4aac39b8670b
a
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimizuta | 11:e81425872740 | 1 | #ifndef INCLUDED_WALK_H |
shimizuta | 11:e81425872740 | 2 | #define INCLUDED_WALK_H |
shimizuta | 11:e81425872740 | 3 | #include "OneLeg.h" |
shimizuta | 35:b4e1b8f25cd7 | 4 | #include "orbit.h" |
shimizuta | 11:e81425872740 | 5 | class Walk |
shimizuta | 11:e81425872740 | 6 | { |
shimizuta | 29:7d8b8011a88d | 7 | public: |
shimizuta | 35:b4e1b8f25cd7 | 8 | Walk(OneLeg legs[4]); |
shimizuta | 35:b4e1b8f25cd7 | 9 | Orbit orbit[4]; |
shimizuta | 29:7d8b8011a88d | 10 | static float calctime_s_; //計算周期 |
shimizuta | 29:7d8b8011a88d | 11 | float phasetime_s_[4]; |
shimizuta | 35:b4e1b8f25cd7 | 12 | float offset_multi[4]; |
shimizuta | 35:b4e1b8f25cd7 | 13 | OneLeg leg[4]; |
shimizuta | 29:7d8b8011a88d | 14 | //参照渡しされたonelegそれぞれにorbit_::GetOrbit関数を代入 |
shimizuta | 29:7d8b8011a88d | 15 | //GetOrbit関数にて軌道, 時間をもとに位置を決める |
shimizuta | 29:7d8b8011a88d | 16 | //直接参照しているのはこの関数だけ |
shimizuta | 35:b4e1b8f25cd7 | 17 | int Cal4LegsPosi(OneLeg legs[4]); //失敗したら1を返す。成功なら0 |
shimizuta | 29:7d8b8011a88d | 18 | //位相ずれの程度(値域[0,1])を入れる。 |
shimizuta | 29:7d8b8011a88d | 19 | void SetOffsetTime(float offset_multi0, float offset_multi1, float offset_multi2, float offset_multi3); |
shimizuta | 29:7d8b8011a88d | 20 | //軌道がリンク定義外になっていないかチェック。reutn 0:ok 1:out |
shimizuta | 29:7d8b8011a88d | 21 | // またoffsetの設定はここで行うので必ず呼び出す。 |
shimizuta | 35:b4e1b8f25cd7 | 22 | int CheckOrbit(); |
shimizuta | 44:4aac39b8670b | 23 | void ResetPhase(); |
shimizuta | 35:b4e1b8f25cd7 | 24 | void Copy(Walk &walk); |
shimizuta | 44:4aac39b8670b | 25 | }; |
shimizuta | 11:e81425872740 | 26 | #endif |