岡本 陸 / Mbed 2 deprecated 0311

test

Dependencies:   mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM

Walk/Walk.cpp@23:97f34a7dc63c, 2019-02-18 (annotated)

Committer:
shimizuta
Date:
Mon Feb 18 03:05:27 2019 +0000
Revision:
23:97f34a7dc63c
Parent:
22:787a764271dd
Child:
24:dec983da455c
please change StrideLineAccel

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimizuta 11:e81425872740 1 #include "Walk.h"
shimizuta 11:e81425872740 2 #include "math.h"
shimizuta 14:d7cb429946f4 3 #include "pi.h"
yuto17320508 13:e7ecdb20665a 4 //Orbitは足毎の軌道をあらわす。
yuto17320508 13:e7ecdb20665a 5
shimizuta 21:61971fc18b90 6 void Orbit::SetStraightParam(float stridetime_s, float risetime_s,
shimizuta 21:61971fc18b90 7 float stride_m, float height_m, float ground_m,
shimizuta 21:61971fc18b90 8 float ellipse_center_x_m, float ellipse_center_y_m)
shimizuta 14:d7cb429946f4 9 {
shimizuta 14:d7cb429946f4 10 stridetime_s_ = stridetime_s;
shimizuta 14:d7cb429946f4 11 risetime_s_ = risetime_s;
shimizuta 14:d7cb429946f4 12 stride_m_ = stride_m;
shimizuta 14:d7cb429946f4 13 height_m_ = height_m;
shimizuta 21:61971fc18b90 14 ground_m_ = ground_m;
shimizuta 21:61971fc18b90 15 ellipse_center_x_m_ = ellipse_center_x_m;
shimizuta 21:61971fc18b90 16 ellipse_center_y_m_ = ellipse_center_y_m;
yuto17320508 18:0033ef1814ba 17 }
shimizuta 19:1adc7302cfd9 18
shimizuta 21:61971fc18b90 19 void Orbit::SetStandParam(float ground_m)
yuto17320508 18:0033ef1814ba 20 {
shimizuta 19:1adc7302cfd9 21 stridetime_s_ = 1;
shimizuta 19:1adc7302cfd9 22 risetime_s_ = 0;
shimizuta 19:1adc7302cfd9 23 stride_m_ = 0;
shimizuta 19:1adc7302cfd9 24 height_m_ = 0;
shimizuta 21:61971fc18b90 25 ground_m_ = ground_m;
shimizuta 21:61971fc18b90 26 ellipse_center_x_m_ = 0;
shimizuta 21:61971fc18b90 27 ellipse_center_y_m_ = ground_m;
shimizuta 14:d7cb429946f4 28 }
shimizuta 14:d7cb429946f4 29
shimizuta 11:e81425872740 30 //着地中の動き.直線軌道.等速
shimizuta 11:e81425872740 31 OneLeg Orbit::StrideLine_(OneLeg leg, float phasetime_s)
shimizuta 11:e81425872740 32 {
shimizuta 21:61971fc18b90 33 float x_m = -stride_m_ * phasetime_s / stridetime_s_ + stride_m_ * 0.5 + ellipse_center_x_m_;
shimizuta 21:61971fc18b90 34 float y_m = ellipse_center_y_m_;
shimizuta 11:e81425872740 35 leg.SetXY_m(x_m, y_m);
shimizuta 11:e81425872740 36 return leg;
shimizuta 11:e81425872740 37 }
shimizuta 23:97f34a7dc63c 38
shimizuta 23:97f34a7dc63c 39 //着地中の動き.直線軌道.加速
shimizuta 23:97f34a7dc63c 40 OneLeg Orbit::StrideLineAccel_(OneLeg leg, float phasetime_s)
shimizuta 23:97f34a7dc63c 41 {
shimizuta 23:97f34a7dc63c 42 ///////////x,yを計算.注：計算は正しくないので直す必要がある。
shimizuta 23:97f34a7dc63c 43 float x_m = -stride_m_ * phasetime_s / stridetime_s_ + stride_m_ * 0.5 + ellipse_center_x_m_;
shimizuta 23:97f34a7dc63c 44 float y_m = ellipse_center_y_m_;
shimizuta 23:97f34a7dc63c 45 ///////////
shimizuta 23:97f34a7dc63c 46 //x,yを代入
shimizuta 23:97f34a7dc63c 47 leg.SetXY_m(x_m, y_m);
shimizuta 23:97f34a7dc63c 48 return leg;
shimizuta 23:97f34a7dc63c 49 }
shimizuta 23:97f34a7dc63c 50
shimizuta 21:61971fc18b90 51 //空中の動き.半分にきれいに切れる楕円軌道
shimizuta 11:e81425872740 52 OneLeg Orbit::RiseEllipse_(OneLeg leg, float phasetime_s)
shimizuta 11:e81425872740 53 {
shimizuta 14:d7cb429946f4 54 float rad = M_PI * (phasetime_s - stridetime_s_) / risetime_s_ + M_PI;
shimizuta 21:61971fc18b90 55 float x_m = stride_m_ * 0.5 * cos(rad) + ellipse_center_x_m_;
shimizuta 21:61971fc18b90 56 float y_m = height_m_ * sin(rad) + ellipse_center_y_m_;
shimizuta 21:61971fc18b90 57 leg.SetXY_m(x_m, y_m);
shimizuta 21:61971fc18b90 58 return leg;
shimizuta 21:61971fc18b90 59 }
shimizuta 21:61971fc18b90 60
shimizuta 21:61971fc18b90 61 //空中の動き.完全に半分には切れない楕円軌道
shimizuta 21:61971fc18b90 62 OneLeg Orbit::RiseEllipse2_(OneLeg leg, float phasetime_s)
shimizuta 21:61971fc18b90 63 {
shimizuta 21:61971fc18b90 64 ///////////x,yを計算.注：計算は正しくないので直す必要がある。
A0413 22:787a764271dd 65 float theta1=acosf(stride_m_/ellipse_long_m_*0.5); //stride の始まりの位置の角度（数学基準）
A0413 22:787a764271dd 66 float theta2=acosf(-stride_m_/ellipse_long_m_*0.5); //stride の終わりの位置の角度（数学基準）
A0413 22:787a764271dd 67 float omega=(2*M_PI-theta2+theta1)/risetime_s_; //楕円軌道における角速度、一定の値とする（適当）
A0413 22:787a764271dd 68 float rad=(phasetime_s-stridetime_s_)*omega+theta2; //角度の基準はtheta1とする（適当）
A0413 22:787a764271dd 69 float x_m = ellipse_long_m_* cos(rad) + ellipse_center_x_m_;
A0413 22:787a764271dd 70 float y_m =ellipse_short_m_ * sin(rad) + ellipse_center_y_m_;
shimizuta 21:61971fc18b90 71 ///////////
shimizuta 21:61971fc18b90 72 //x,yを代入
shimizuta 11:e81425872740 73 leg.SetXY_m(x_m, y_m);
shimizuta 11:e81425872740 74 return leg;
shimizuta 11:e81425872740 75 }
shimizuta 11:e81425872740 76 //楕円軌道
shimizuta 11:e81425872740 77 OneLeg Orbit::OrbitEllipse_(OneLeg leg, float phasetime_s)
shimizuta 11:e81425872740 78 {
shimizuta 11:e81425872740 79 if (phasetime_s < stridetime_s_)
shimizuta 11:e81425872740 80 return StrideLine_(leg, phasetime_s);
shimizuta 11:e81425872740 81 else
shimizuta 11:e81425872740 82 return RiseEllipse_(leg, phasetime_s);
shimizuta 11:e81425872740 83 }
shimizuta 11:e81425872740 84 //将来的には引数などで軌道の種類を変えて出力できるようにしたい。
shimizuta 11:e81425872740 85 OneLeg Orbit::GetOrbit(OneLeg leg, float phasetime_s)
shimizuta 11:e81425872740 86 {
shimizuta 11:e81425872740 87 return OrbitEllipse_(leg, phasetime_s);
shimizuta 11:e81425872740 88 }
shimizuta 11:e81425872740 89 float Orbit::GetOneWalkTime()
shimizuta 11:e81425872740 90 {
shimizuta 11:e81425872740 91 return stridetime_s_ + risetime_s_;
shimizuta 11:e81425872740 92 }
shimizuta 11:e81425872740 93
shimizuta 11:e81425872740 94 Walk::Walk(Orbit orbit[4], float offsettime_s[4], float cycletime_s)
shimizuta 11:e81425872740 95 {
shimizuta 11:e81425872740 96 for (int i = 0; i < 4; i++)
shimizuta 11:e81425872740 97 {
shimizuta 11:e81425872740 98 orbit_[i] = orbit[i];
shimizuta 11:e81425872740 99 offsettime_s_[i] = offsettime_s[i];
shimizuta 11:e81425872740 100 }
shimizuta 11:e81425872740 101 cycletime_s_ = cycletime_s;
shimizuta 11:e81425872740 102 }
shimizuta 11:e81425872740 103 void Walk::Cal4LegsPosi(OneLeg (&leg)[4])
shimizuta 11:e81425872740 104 {
shimizuta 11:e81425872740 105 phasetime_s_ += cycletime_s_;
shimizuta 14:d7cb429946f4 106 while (phasetime_s_ > orbit_[0].GetOneWalkTime())
shimizuta 14:d7cb429946f4 107 phasetime_s_ -= orbit_[0].GetOneWalkTime();
shimizuta 11:e81425872740 108 for (int i = 0; i < 4; i++)
shimizuta 11:e81425872740 109 {
shimizuta 11:e81425872740 110 float phasetime_s = phasetime_s_ + offsettime_s_[i];
shimizuta 11:e81425872740 111 while (phasetime_s > orbit_[i].GetOneWalkTime())
shimizuta 11:e81425872740 112 phasetime_s -= orbit_[i].GetOneWalkTime();
shimizuta 11:e81425872740 113 leg[i] = orbit_[i].GetOrbit(leg[i], phasetime_s);
shimizuta 11:e81425872740 114 }
shimizuta 11:e81425872740 115 }