岡本 陸 / Mbed 2 deprecated 0311

test

Dependencies:   mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM

Walk/Walk.h@44:4aac39b8670b, 2019-03-07 (annotated)

Committer:
shimizuta
Date:
Thu Mar 07 06:36:34 2019 +0000
Revision:
44:4aac39b8670b
Parent:
35:b4e1b8f25cd7 
over come finished

Who changed what in which revision?

UserRevisionLine numberNew 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