岡本 陸 / Mbed 2 deprecated 0311

test

Dependencies:   mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM

Walk/Walk.h@32:dc684a0b8448, 2019-02-28 (annotated)

Committer:
shimizuta
Date:
Thu Feb 28 08:48:21 2019 +0000
Revision:
32:dc684a0b8448
Parent:
29:7d8b8011a88d
Child:
34:89d701e15cdf
a

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimizuta 11:e81425872740 1 #ifndef INCLUDED_WALK_H
shimizuta 11:e81425872740 2 #define INCLUDED_WALK_H
shimizuta 11:e81425872740 3 #include "OneLeg.h"
shimizuta 32:dc684a0b8448 4 enum TriangleParams
shimizuta 27:79b4b932a6dd 5 {
shimizuta 32:dc684a0b8448 6 OFFSET_X_M,
shimizuta 32:dc684a0b8448 7 OFFSET_Y_M,
shimizuta 32:dc684a0b8448 8 STRIDE_M,
shimizuta 32:dc684a0b8448 9 HEIGHT_M,
shimizuta 32:dc684a0b8448 10 BUFFER_HEIGHT_M,
shimizuta 27:79b4b932a6dd 11 };
shimizuta 29:7d8b8011a88d 12 //下記の論文を参照
shimizuta 29:7d8b8011a88d 13 //https://static1.squarespace.com/static/542ddec8e4b0158794bd1036/t/5a861d1cc83025f3d460dfc3/1518738728029/gait-design-optimization-Final.pdf
shimizuta 29:7d8b8011a88d 14 class TriangleOrbit
shimizuta 27:79b4b932a6dd 15 {
shimizuta 29:7d8b8011a88d 16 float reverse_tanbeta_; //論文のβのtan
shimizuta 32:dc684a0b8448 17 float offset_x_m_;
shimizuta 32:dc684a0b8448 18 float offset_y_m_;
shimizuta 29:7d8b8011a88d 19 float stride_m_;
shimizuta 29:7d8b8011a88d 20 float height_m_; //足上げ幅
shimizuta 29:7d8b8011a88d 21 float buffer_height_m_; //着地直前で止める高さ
shimizuta 29:7d8b8011a88d 22 float stridetime_s_;
shimizuta 29:7d8b8011a88d 23 float toptime_s_; //頂点に行くまでの時間
shimizuta 29:7d8b8011a88d 24 float buffer_time_s_; //一時停止点から着地するまでの時間.
shimizuta 29:7d8b8011a88d 25
shimizuta 29:7d8b8011a88d 26 float top_x_m_, top_y_m_, buffer_x_m_, buffer_y_m_; //事前に計算して保存しておく
shimizuta 29:7d8b8011a88d 27 int StrideLine_(OneLeg &leg, float phasetime_s); //着地している間の軌道
shimizuta 29:7d8b8011a88d 28 int StrideLineAccel_(OneLeg &leg, float phasetime_s); //着地中に慣性力を考慮して加減速
shimizuta 11:e81425872740 29
shimizuta 29:7d8b8011a88d 30 public:
shimizuta 32:dc684a0b8448 31 void SetTriangleParam(float offset_x_m, float offset_y_m, float stride_m, float height_m, float buffer_height_m,
shimizuta 29:7d8b8011a88d 32 float stridetime_s, float toptime_s, float buffer_time_s);
shimizuta 29:7d8b8011a88d 33 int GetOrbit(OneLeg &leg, float phasetime_s);
shimizuta 29:7d8b8011a88d 34 float GetOneWalkTime(); //足一周の時間
shimizuta 32:dc684a0b8448 35 void ChangeOneParam(TriangleParams param, float val);
shimizuta 29:7d8b8011a88d 36 };
shimizuta 29:7d8b8011a88d 37
shimizuta 32:dc684a0b8448 38 struct LineParam
shimizuta 32:dc684a0b8448 39 {
shimizuta 32:dc684a0b8448 40 float time_s; //次の点に到達するまでにかける時間
shimizuta 32:dc684a0b8448 41 float x_m;
shimizuta 32:dc684a0b8448 42 float y_m;
shimizuta 32:dc684a0b8448 43 };
shimizuta 32:dc684a0b8448 44 class FreeLineOrbit
shimizuta 32:dc684a0b8448 45 {
shimizuta 32:dc684a0b8448 46 LineParam lineparams_[10]; //pointの数はmax10としている。多めにとっているだけ。
shimizuta 32:dc684a0b8448 47 int point_num_; //pointの数
shimizuta 32:dc684a0b8448 48 public:
shimizuta 32:dc684a0b8448 49 void SetFreeLinesParam(LineParam lineparams[], int point_num); //任意の直線の軌道を設定
shimizuta 32:dc684a0b8448 50 int GetOrbit(OneLeg &leg, float phasetime_s);
shimizuta 32:dc684a0b8448 51 float GetOneWalkTime(); //足一周の時間
shimizuta 32:dc684a0b8448 52 //Standupのparam設定
shimizuta 32:dc684a0b8448 53 void SetStandParam(float x_m, float y_m, float time_s);
shimizuta 32:dc684a0b8448 54 };
shimizuta 32:dc684a0b8448 55 enum OrbitPattern
shimizuta 32:dc684a0b8448 56 {
shimizuta 32:dc684a0b8448 57 TRIANGLE,
shimizuta 32:dc684a0b8448 58 FREELINES,
shimizuta 32:dc684a0b8448 59 };
shimizuta 29:7d8b8011a88d 60 //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 32:dc684a0b8448 61 //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 32:dc684a0b8448 62 class Orbit : public TriangleOrbit, public FreeLineOrbit
shimizuta 29:7d8b8011a88d 63 {
shimizuta 29:7d8b8011a88d 64 OrbitPattern pattern_;
shimizuta 29:7d8b8011a88d 65
shimizuta 29:7d8b8011a88d 66 public:
shimizuta 29:7d8b8011a88d 67 Orbit(){}; //ただ宣言する用
shimizuta 29:7d8b8011a88d 68 Orbit(OrbitPattern pattern);
shimizuta 29:7d8b8011a88d 69 float GetOneWalkTime(); //足一周の時間
shimizuta 29:7d8b8011a88d 70 int GetOrbit(OneLeg &leg, float phasetime_s); //legに目標x,yを代入
shimizuta 27:79b4b932a6dd 71 };
shimizuta 11:e81425872740 72 class Walk
shimizuta 11:e81425872740 73 {
shimizuta 29:7d8b8011a88d 74 float offset_multi_[4];
shimizuta 11:e81425872740 75
shimizuta 29:7d8b8011a88d 76 public:
shimizuta 29:7d8b8011a88d 77 Walk();
shimizuta 32:dc684a0b8448 78 Orbit orbit_[4];
shimizuta 29:7d8b8011a88d 79 static float calctime_s_; //計算周期
shimizuta 29:7d8b8011a88d 80 float phasetime_s_[4];
shimizuta 29:7d8b8011a88d 81 //参照渡しされたonelegそれぞれにorbit_::GetOrbit関数を代入
shimizuta 29:7d8b8011a88d 82 //GetOrbit関数にて軌道, 時間をもとに位置を決める
shimizuta 29:7d8b8011a88d 83 //直接参照しているのはこの関数だけ
shimizuta 29:7d8b8011a88d 84 int Cal4LegsPosi(OneLeg leg[4]); //失敗したら1を返す。成功なら0
shimizuta 29:7d8b8011a88d 85 //足一周の時間
shimizuta 29:7d8b8011a88d 86 float GetOneWalkTime();
shimizuta 29:7d8b8011a88d 87 //位相ずれの程度(値域[0,1])を入れる。
shimizuta 29:7d8b8011a88d 88 void SetOffsetTime(float offset_multi0, float offset_multi1, float offset_multi2, float offset_multi3);
shimizuta 29:7d8b8011a88d 89 //軌道がリンク定義外になっていないかチェック。reutn 0:ok 1:out
shimizuta 29:7d8b8011a88d 90 // またoffsetの設定はここで行うので必ず呼び出す。
shimizuta 29:7d8b8011a88d 91 int CheckOrbit(OneLeg templateleg);
shimizuta 29:7d8b8011a88d 92 //一つの足の軌道を設定.軌道の代入にはこの関数を必ず通るようにする。
shimizuta 29:7d8b8011a88d 93 void SetOneOrbit(int legnum, Orbit orbit);
shimizuta 29:7d8b8011a88d 94 void SetAllOrbit(Orbit orbit); //全足の軌道を一括で設定.
shimizuta 29:7d8b8011a88d 95 //stand用
shimizuta 29:7d8b8011a88d 96 void SetOneLegStandParam(int legnum, float x_m, float y_m, float time_s);
shimizuta 29:7d8b8011a88d 97 void SetAllLegStandParam(float x_m, float y_m, float time_s); // 4足一括で設定できる
shimizuta 29:7d8b8011a88d 98 //triangle
shimizuta 32:dc684a0b8448 99 void SetOneLegTriangleParam(int legnum, float offset_x_m, float offset_y_m, float stride_m, float height_m, float buffer_height_m,
shimizuta 32:dc684a0b8448 100 float stridetime_s, float toptime_s, float buffer_time_s);
shimizuta 32:dc684a0b8448 101 void SetAllLegTriangleParam(float offset_x_m, float offset_y_m, float stride_m, float height_m, float buffer_height_m,
shimizuta 29:7d8b8011a88d 102 float stridetime_s, float toptime_s, float buffer_time_s);
shimizuta 32:dc684a0b8448 103 void ChangeOneParam(int legnum, TriangleParams param, float val);
shimizuta 32:dc684a0b8448 104
shimizuta 32:dc684a0b8448 105 //freeline
shimizuta 32:dc684a0b8448 106 void SetOneLegFreeLinesParam(int legnum, LineParam lineparams[], int point_num);
shimizuta 32:dc684a0b8448 107 void SetAllLegFreeLinesParam(LineParam lineparams[], int point_num);
shimizuta 11:e81425872740 108 };
shimizuta 32:dc684a0b8448 109
shimizuta 11:e81425872740 110 #endif