岡本 陸 / Mbed 2 deprecated 0311

test

Dependencies:   mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM

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

Committer:
shimizuta
Date:
Mon Mar 04 23:41:48 2019 +0000
Revision:
39:87dcdff27797
Parent:
35:b4e1b8f25cd7
Child:
44:4aac39b8670b
made FourPoint at OVERCOME;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimizuta 35:b4e1b8f25cd7 1 #ifndef INCLUDED_ORBIT_H
shimizuta 35:b4e1b8f25cd7 2 #define INCLUDED_ORBIT_H
shimizuta 35:b4e1b8f25cd7 3 #include "freeline.h"
shimizuta 35:b4e1b8f25cd7 4 #include "triangle.h"
shimizuta 35:b4e1b8f25cd7 5 enum OrbitPattern
shimizuta 35:b4e1b8f25cd7 6 {
shimizuta 35:b4e1b8f25cd7 7 TRIANGLE,
shimizuta 35:b4e1b8f25cd7 8 FREELINES,
shimizuta 39:87dcdff27797 9 FOURPOINT,
shimizuta 35:b4e1b8f25cd7 10 };
shimizuta 35:b4e1b8f25cd7 11 //足の軌道を設定するクラスの皮。全ての軌道クラスを継承して一つにまとめる。patternで使い分ける
shimizuta 35:b4e1b8f25cd7 12 //関数は継承元のものも使えるので、継承元のクラスも見てください
shimizuta 39:87dcdff27797 13 class Orbit : public FreeLines, public FourPoint
shimizuta 35:b4e1b8f25cd7 14 {
shimizuta 35:b4e1b8f25cd7 15 public:
shimizuta 35:b4e1b8f25cd7 16 Orbit(){}; //ただ宣言する用
shimizuta 35:b4e1b8f25cd7 17 Orbit(OrbitPattern pattern);
shimizuta 35:b4e1b8f25cd7 18 float GetOneWalkTime(); //足一周の時間
shimizuta 35:b4e1b8f25cd7 19 int GetOrbit(OneLeg &leg, float phasetime_s); //legに目標x,yを代入
shimizuta 35:b4e1b8f25cd7 20 void Copy(const Orbit &origin);
shimizuta 35:b4e1b8f25cd7 21
shimizuta 35:b4e1b8f25cd7 22 private:
shimizuta 35:b4e1b8f25cd7 23 OrbitPattern pattern_;
shimizuta 35:b4e1b8f25cd7 24 };
shimizuta 35:b4e1b8f25cd7 25 #endif