岡本 陸 / Mbed 2 deprecated 0311

test

Dependencies:   mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM

Walk/change_walk.cpp@39:87dcdff27797, 2019-03-04 (annotated)

Committer:
shimizuta
Date:
Mon Mar 04 23:41:48 2019 +0000
Revision:
39:87dcdff27797
Parent:
35:b4e1b8f25cd7
Child:
42:982064594ba6
made FourPoint at OVERCOME;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimizuta 35:b4e1b8f25cd7 1 #include "change_walk.h"
shimizuta 35:b4e1b8f25cd7 2 void SetOneLegStandParam(Walk &walk, int legnum, float x_m, float y_m, float time_s)
shimizuta 35:b4e1b8f25cd7 3 {
shimizuta 39:87dcdff27797 4 Orbit freeline(FREELINES);
shimizuta 39:87dcdff27797 5 LineParam line[]{
shimizuta 39:87dcdff27797 6 {.time_s = 0, .x_m = x_m, .y_m = y_m},
shimizuta 39:87dcdff27797 7 {.time_s = time_s, .x_m = x_m, .y_m = y_m},
shimizuta 39:87dcdff27797 8 };
shimizuta 39:87dcdff27797 9 freeline.SetFreeLinesParam(line, sizeof(line)/sizeof(line[0]));
shimizuta 39:87dcdff27797 10 walk.orbit[legnum].Copy(freeline);
shimizuta 35:b4e1b8f25cd7 11 }
shimizuta 35:b4e1b8f25cd7 12 void SetOneLegTriangleParam(Walk &walk, int legnum, float offset_x_m, float offset_y_m, float stride_m, float height_m, float buffer_height_m,
shimizuta 35:b4e1b8f25cd7 13 float stridetime_s, float toptime_s, float buffer_time_s)
shimizuta 35:b4e1b8f25cd7 14 {
shimizuta 35:b4e1b8f25cd7 15 Orbit triangle(TRIANGLE);
shimizuta 35:b4e1b8f25cd7 16 triangle.SetTriangleParam(offset_x_m, offset_y_m, stride_m, height_m, buffer_height_m,
shimizuta 35:b4e1b8f25cd7 17 stridetime_s, toptime_s, buffer_time_s);
shimizuta 35:b4e1b8f25cd7 18 walk.orbit[legnum].Copy(triangle);
shimizuta 35:b4e1b8f25cd7 19 }
shimizuta 39:87dcdff27797 20
shimizuta 39:87dcdff27797 21 void SetOneLegFourPointParam(Walk &walk, int legnum, float offset_x_m, float offset_y_m, float stride_m, float height_m, float buffer_height_m,
shimizuta 39:87dcdff27797 22 float stridetime_s, float toptime_s, float buffer_time_s)
shimizuta 39:87dcdff27797 23 {
shimizuta 39:87dcdff27797 24 Orbit four(FOURPOINT);
shimizuta 39:87dcdff27797 25 four.SetFourPointParam(offset_x_m, offset_y_m, stride_m, height_m, buffer_height_m,
shimizuta 39:87dcdff27797 26 stridetime_s, toptime_s, buffer_time_s);
shimizuta 39:87dcdff27797 27 walk.orbit[legnum].Copy(four);
shimizuta 39:87dcdff27797 28 }
shimizuta 35:b4e1b8f25cd7 29 void SetOneLegFreeLinesParam(Walk &walk, int legnum, LineParam lineparams[], int point_num)
shimizuta 35:b4e1b8f25cd7 30 {
shimizuta 35:b4e1b8f25cd7 31 Orbit freeline(FREELINES);
shimizuta 35:b4e1b8f25cd7 32 freeline.SetFreeLinesParam(lineparams, point_num);
shimizuta 35:b4e1b8f25cd7 33 walk.orbit[legnum].Copy(freeline);
shimizuta 35:b4e1b8f25cd7 34 }