岡本 陸 / Mbed 2 deprecated 0311

test

Dependencies:   mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM

Walk/Walk.cpp@14:d7cb429946f4, 2019-02-12 (annotated)

Committer:
shimizuta
Date:
Tue Feb 12 12:50:45 2019 +0000
Revision:
14:d7cb429946f4
Parent:
13:e7ecdb20665a
Child:
18:0033ef1814ba
sorry, there're compile errors

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 14:d7cb429946f4 6 Orbit::Orbit(OrbitPattern orbitType)
shimizuta 11:e81425872740 7 {
yuto17320508 13:e7ecdb20665a 8 orbitType_ = orbitType;
shimizuta 11:e81425872740 9 }
shimizuta 14:d7cb429946f4 10 void Orbit::SetStraightParam(float stridetime_s, float risetime_s, float stride_m, float height_m, float ground_m)
shimizuta 14:d7cb429946f4 11 {
shimizuta 14:d7cb429946f4 12 stridetime_s_ = stridetime_s;
shimizuta 14:d7cb429946f4 13 risetime_s_ = risetime_s;
shimizuta 14:d7cb429946f4 14 stride_m_ = stride_m;
shimizuta 14:d7cb429946f4 15 height_m_ = height_m;
shimizuta 14:d7cb429946f4 16 ground_m_ = ground_m;
shimizuta 14:d7cb429946f4 17 }
shimizuta 14:d7cb429946f4 18
shimizuta 11:e81425872740 19 //着地中の動き.直線軌道.等速
shimizuta 11:e81425872740 20 OneLeg Orbit::StrideLine_(OneLeg leg, float phasetime_s)
shimizuta 11:e81425872740 21 {
shimizuta 11:e81425872740 22 float x_m = -stride_m_ * phasetime_s / stridetime_s_ + stride_m_ * 0.5;
shimizuta 11:e81425872740 23 float y_m = ground_m_;
shimizuta 11:e81425872740 24 leg.SetXY_m(x_m, y_m);
shimizuta 11:e81425872740 25 return leg;
shimizuta 11:e81425872740 26 }
shimizuta 11:e81425872740 27 //空中の動き.楕円軌道
shimizuta 11:e81425872740 28 OneLeg Orbit::RiseEllipse_(OneLeg leg, float phasetime_s)
shimizuta 11:e81425872740 29 {
shimizuta 14:d7cb429946f4 30 float rad = M_PI * (phasetime_s - stridetime_s_) / risetime_s_ + M_PI;
shimizuta 11:e81425872740 31 float x_m = stride_m_ * 0.5 * cos(rad);
shimizuta 11:e81425872740 32 float y_m = height_m_ * sin(rad) + ground_m_;
shimizuta 11:e81425872740 33 leg.SetXY_m(x_m, y_m);
shimizuta 11:e81425872740 34 return leg;
shimizuta 11:e81425872740 35 }
shimizuta 11:e81425872740 36 //楕円軌道
shimizuta 11:e81425872740 37 OneLeg Orbit::OrbitEllipse_(OneLeg leg, float phasetime_s)
shimizuta 11:e81425872740 38 {
shimizuta 11:e81425872740 39 if (phasetime_s < stridetime_s_)
shimizuta 11:e81425872740 40 return StrideLine_(leg, phasetime_s);
shimizuta 11:e81425872740 41 else
shimizuta 11:e81425872740 42 return RiseEllipse_(leg, phasetime_s);
shimizuta 11:e81425872740 43 }
shimizuta 11:e81425872740 44 //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 45 OneLeg Orbit::GetOrbit(OneLeg leg, float phasetime_s)
shimizuta 11:e81425872740 46 {
shimizuta 11:e81425872740 47 return OrbitEllipse_(leg, phasetime_s);
shimizuta 11:e81425872740 48 }
shimizuta 11:e81425872740 49 float Orbit::GetOneWalkTime()
shimizuta 11:e81425872740 50 {
shimizuta 11:e81425872740 51 return stridetime_s_ + risetime_s_;
shimizuta 11:e81425872740 52 }
shimizuta 11:e81425872740 53
shimizuta 11:e81425872740 54 Walk::Walk(Orbit orbit[4], float offsettime_s[4], float cycletime_s)
shimizuta 11:e81425872740 55 {
shimizuta 11:e81425872740 56 for (int i = 0; i < 4; i++)
shimizuta 11:e81425872740 57 {
shimizuta 11:e81425872740 58 orbit_[i] = orbit[i];
shimizuta 11:e81425872740 59 offsettime_s_[i] = offsettime_s[i];
shimizuta 11:e81425872740 60 }
shimizuta 11:e81425872740 61 cycletime_s_ = cycletime_s;
shimizuta 11:e81425872740 62 }
shimizuta 11:e81425872740 63 void Walk::Cal4LegsPosi(OneLeg (&leg)[4])
shimizuta 11:e81425872740 64 {
shimizuta 11:e81425872740 65 phasetime_s_ += cycletime_s_;
shimizuta 14:d7cb429946f4 66 while (phasetime_s_ > orbit_[0].GetOneWalkTime())
shimizuta 14:d7cb429946f4 67 phasetime_s_ -= orbit_[0].GetOneWalkTime();
shimizuta 11:e81425872740 68 for (int i = 0; i < 4; i++)
shimizuta 11:e81425872740 69 {
shimizuta 11:e81425872740 70 float phasetime_s = phasetime_s_ + offsettime_s_[i];
shimizuta 11:e81425872740 71 while (phasetime_s > orbit_[i].GetOneWalkTime())
shimizuta 11:e81425872740 72 phasetime_s -= orbit_[i].GetOneWalkTime();
shimizuta 11:e81425872740 73 leg[i] = orbit_[i].GetOrbit(leg[i], phasetime_s);
shimizuta 11:e81425872740 74 }
shimizuta 11:e81425872740 75 }