test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Walk/orbit/triangle/triangle.cpp@35:b4e1b8f25cd7, 2019-03-04 (annotated)
- Committer:
- shimizuta
- Date:
- Mon Mar 04 09:54:47 2019 +0000
- Revision:
- 35:b4e1b8f25cd7
- Child:
- 39:87dcdff27797
new MR2;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimizuta | 35:b4e1b8f25cd7 | 1 | #include "triangle.h" |
shimizuta | 35:b4e1b8f25cd7 | 2 | #include "pi.h" |
shimizuta | 35:b4e1b8f25cd7 | 3 | #include <math.h> |
shimizuta | 35:b4e1b8f25cd7 | 4 | void Triangle::SetTriangleParam(float offset_x_m, float offset_y_m, float stride_m, float height_m, float buffer_height_m, |
shimizuta | 35:b4e1b8f25cd7 | 5 | float stridetime_s, float toptime_s, float buffer_time_s) |
shimizuta | 35:b4e1b8f25cd7 | 6 | { |
shimizuta | 35:b4e1b8f25cd7 | 7 | reverse_tanbeta_ = 1.0 / tan(81.0 / 180.0 * M_PI); //論文よりこれが最適らしい |
shimizuta | 35:b4e1b8f25cd7 | 8 | offset_x_m_ = offset_x_m; |
shimizuta | 35:b4e1b8f25cd7 | 9 | offset_y_m_ = offset_y_m; |
shimizuta | 35:b4e1b8f25cd7 | 10 | stride_m_ = stride_m; |
shimizuta | 35:b4e1b8f25cd7 | 11 | height_m_ = height_m; //足上げ幅 |
shimizuta | 35:b4e1b8f25cd7 | 12 | buffer_height_m_ = buffer_height_m; //着地直前で止める高さ |
shimizuta | 35:b4e1b8f25cd7 | 13 | stridetime_s_ = stridetime_s; |
shimizuta | 35:b4e1b8f25cd7 | 14 | toptime_s_ = toptime_s; //頂点に行くまでの時間 |
shimizuta | 35:b4e1b8f25cd7 | 15 | buffer_time_s_ = buffer_time_s; //頂点から一時停止点までの時間. |
shimizuta | 35:b4e1b8f25cd7 | 16 | |
shimizuta | 35:b4e1b8f25cd7 | 17 | //事前に計算しておく |
shimizuta | 35:b4e1b8f25cd7 | 18 | CalOtherParam(); |
shimizuta | 35:b4e1b8f25cd7 | 19 | } |
shimizuta | 35:b4e1b8f25cd7 | 20 | void Triangle::CalOtherParam() |
shimizuta | 35:b4e1b8f25cd7 | 21 | { |
shimizuta | 35:b4e1b8f25cd7 | 22 | top_x_m_ = offset_x_m_ + stride_m_ * 0.5 - height_m_ * reverse_tanbeta_; |
shimizuta | 35:b4e1b8f25cd7 | 23 | top_y_m_ = -height_m_ + offset_y_m_; |
shimizuta | 35:b4e1b8f25cd7 | 24 | buffer_x_m_ = offset_x_m_ + stride_m_ * 0.5 - buffer_height_m_ * reverse_tanbeta_; |
shimizuta | 35:b4e1b8f25cd7 | 25 | buffer_y_m_ = -buffer_height_m_ + offset_y_m_; |
shimizuta | 35:b4e1b8f25cd7 | 26 | } |
shimizuta | 35:b4e1b8f25cd7 | 27 | //足一周の時間 |
shimizuta | 35:b4e1b8f25cd7 | 28 | float Triangle::GetOneWalkTime() |
shimizuta | 35:b4e1b8f25cd7 | 29 | { |
shimizuta | 35:b4e1b8f25cd7 | 30 | return stridetime_s_ + toptime_s_ + buffer_time_s_; |
shimizuta | 35:b4e1b8f25cd7 | 31 | }; |
shimizuta | 35:b4e1b8f25cd7 | 32 | int Triangle::GetOrbit(OneLeg &leg, float phasetime_s) |
shimizuta | 35:b4e1b8f25cd7 | 33 | { |
shimizuta | 35:b4e1b8f25cd7 | 34 | int ret = 0; |
shimizuta | 35:b4e1b8f25cd7 | 35 | if (phasetime_s < stridetime_s_) |
shimizuta | 35:b4e1b8f25cd7 | 36 | ret = StrideLineAccel_(leg, phasetime_s); |
shimizuta | 35:b4e1b8f25cd7 | 37 | else if (phasetime_s < stridetime_s_ + toptime_s_) |
shimizuta | 35:b4e1b8f25cd7 | 38 | ret = leg.SetXY_m(top_x_m_, top_y_m_); |
shimizuta | 35:b4e1b8f25cd7 | 39 | else |
shimizuta | 35:b4e1b8f25cd7 | 40 | ret = leg.SetXY_m(buffer_x_m_, buffer_y_m_); |
shimizuta | 35:b4e1b8f25cd7 | 41 | return ret; |
shimizuta | 35:b4e1b8f25cd7 | 42 | }; |
shimizuta | 35:b4e1b8f25cd7 | 43 | int Triangle::StrideLine_(OneLeg &leg, float phasetime_s) |
shimizuta | 35:b4e1b8f25cd7 | 44 | { |
shimizuta | 35:b4e1b8f25cd7 | 45 | float x_m = -stride_m_ * phasetime_s / stridetime_s_ + stride_m_ * 0.5 + offset_x_m_; |
shimizuta | 35:b4e1b8f25cd7 | 46 | float y_m = offset_y_m_; |
shimizuta | 35:b4e1b8f25cd7 | 47 | return leg.SetXY_m(x_m, y_m); |
shimizuta | 35:b4e1b8f25cd7 | 48 | } |
shimizuta | 35:b4e1b8f25cd7 | 49 | int Triangle::StrideLineAccel_(OneLeg &leg, float phasetime_s) |
shimizuta | 35:b4e1b8f25cd7 | 50 | { |
shimizuta | 35:b4e1b8f25cd7 | 51 | ///////////x,yを計算 |
shimizuta | 35:b4e1b8f25cd7 | 52 | float s0 = stride_m_ * 0.5 + offset_x_m_; |
shimizuta | 35:b4e1b8f25cd7 | 53 | float s1 = offset_x_m_ - stride_m_ * 0.5; |
shimizuta | 35:b4e1b8f25cd7 | 54 | float g_h = sqrtf(kGravity / offset_y_m_); |
shimizuta | 35:b4e1b8f25cd7 | 55 | float t = phasetime_s / stridetime_s_; |
shimizuta | 35:b4e1b8f25cd7 | 56 | float denominator = expf(g_h) - expf(-g_h); //分母 |
shimizuta | 35:b4e1b8f25cd7 | 57 | |
shimizuta | 35:b4e1b8f25cd7 | 58 | float x_m = -(s0 * expf(-g_h) - s1) * expf(g_h * t) / denominator + (s0 * expf(g_h) - s1) * expf(-g_h * t) / denominator; |
shimizuta | 35:b4e1b8f25cd7 | 59 | float y_m = offset_y_m_; |
shimizuta | 35:b4e1b8f25cd7 | 60 | //x,yを代入 |
shimizuta | 35:b4e1b8f25cd7 | 61 | return leg.SetXY_m(x_m, y_m); |
shimizuta | 35:b4e1b8f25cd7 | 62 | } |
shimizuta | 35:b4e1b8f25cd7 | 63 | void Triangle::ChangeOneParam(TriangleParams param, float val) |
shimizuta | 35:b4e1b8f25cd7 | 64 | { |
shimizuta | 35:b4e1b8f25cd7 | 65 | switch (param) |
shimizuta | 35:b4e1b8f25cd7 | 66 | { |
shimizuta | 35:b4e1b8f25cd7 | 67 | case OFFSET_X_M: |
shimizuta | 35:b4e1b8f25cd7 | 68 | offset_x_m_ = val; |
shimizuta | 35:b4e1b8f25cd7 | 69 | break; |
shimizuta | 35:b4e1b8f25cd7 | 70 | case OFFSET_Y_M: |
shimizuta | 35:b4e1b8f25cd7 | 71 | offset_y_m_ = val; |
shimizuta | 35:b4e1b8f25cd7 | 72 | break; |
shimizuta | 35:b4e1b8f25cd7 | 73 | case STRIDE_M: |
shimizuta | 35:b4e1b8f25cd7 | 74 | stride_m_ = val; |
shimizuta | 35:b4e1b8f25cd7 | 75 | break; |
shimizuta | 35:b4e1b8f25cd7 | 76 | case HEIGHT_M: |
shimizuta | 35:b4e1b8f25cd7 | 77 | height_m_ = val; |
shimizuta | 35:b4e1b8f25cd7 | 78 | break; |
shimizuta | 35:b4e1b8f25cd7 | 79 | case BUFFER_HEIGHT_M: |
shimizuta | 35:b4e1b8f25cd7 | 80 | buffer_height_m_ = val; |
shimizuta | 35:b4e1b8f25cd7 | 81 | break; |
shimizuta | 35:b4e1b8f25cd7 | 82 | } |
shimizuta | 35:b4e1b8f25cd7 | 83 | CalOtherParam(); |
shimizuta | 35:b4e1b8f25cd7 | 84 | } |
shimizuta | 35:b4e1b8f25cd7 | 85 | void Triangle::Copy(const Triangle & origin){ |
shimizuta | 35:b4e1b8f25cd7 | 86 | *this = origin; |
shimizuta | 35:b4e1b8f25cd7 | 87 | } |