岡本 陸
test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Walk/orbit/freeline/freeline.h@42:982064594ba6, 2019-03-05 (annotated)
- Committer:
- shimizuta
- Date:
- Tue Mar 05 09:08:40 2019 +0000
- Revision:
- 42:982064594ba6
- Parent:
- 41:38d79b6513c0
- Child:
- 43:2ed84f3558c1
overcome ok
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| shimizuta | 35:b4e1b8f25cd7 | 1 | #ifndef INCLUDED_FREELINE_H |
| shimizuta | 35:b4e1b8f25cd7 | 2 | #define INCLUDED_FREELINE_H |
| shimizuta | 35:b4e1b8f25cd7 | 3 | #include "OneLeg.h" |
| shimizuta | 35:b4e1b8f25cd7 | 4 | struct LineParam |
| shimizuta | 35:b4e1b8f25cd7 | 5 | { |
| shimizuta | 42:982064594ba6 | 6 | float time_s; //x_m,y_mにいる時間 |
| shimizuta | 42:982064594ba6 | 7 | float x_m; |
| shimizuta | 42:982064594ba6 | 8 | float y_m; |
| shimizuta | 42:982064594ba6 | 9 | int is_point_to_point; //点の間を最短で経過するなら1,直線を維持するなら0 |
| shimizuta | 35:b4e1b8f25cd7 | 10 | }; |
| shimizuta | 35:b4e1b8f25cd7 | 11 | //複数の直線で軌道構成.理論もへったくれもなく自由に線を書く |
| shimizuta | 35:b4e1b8f25cd7 | 12 | class FreeLines |
| shimizuta | 35:b4e1b8f25cd7 | 13 | { |
| shimizuta | 42:982064594ba6 | 14 | public: |
| shimizuta | 42:982064594ba6 | 15 | void SetFreeLinesParam(LineParam lineparams[], int point_num); //任意の直線の軌道を設定 |
| shimizuta | 42:982064594ba6 | 16 | int GetOrbit(OneLeg &leg, float phasetime_s); |
| shimizuta | 42:982064594ba6 | 17 | float GetOneWalkTime(); //足一周の時間 |
| shimizuta | 42:982064594ba6 | 18 | void Copy(const FreeLines &origin); |
| shimizuta | 42:982064594ba6 | 19 | LineParam lineparams_[20]; //pointの数は多めにとっている。 |
| shimizuta | 42:982064594ba6 | 20 | int point_num_; //pointの数 |
| shimizuta | 35:b4e1b8f25cd7 | 21 | }; |
| shimizuta | 35:b4e1b8f25cd7 | 22 | |
| shimizuta | 35:b4e1b8f25cd7 | 23 | #endif |