岡本 陸 / Mbed 2 deprecated 0311

test

Dependencies:   mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM

Walk/Walk.h@11:e81425872740, 2019-02-11 (annotated)

Committer:
shimizuta
Date:
Mon Feb 11 12:56:00 2019 +0000
Revision:
11:e81425872740
Child:
13:e7ecdb20665a
ver2

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 11:e81425872740 4
shimizuta 11:e81425872740 5 //足の軌道を設定するクラス。
shimizuta 11:e81425872740 6 class Orbit
shimizuta 11:e81425872740 7 {
shimizuta 11:e81425872740 8 float stridetime_s_;
shimizuta 11:e81425872740 9 float risetime_s_;
shimizuta 11:e81425872740 10 float stride_m_;
shimizuta 11:e81425872740 11 float height_m_; //足の上げ幅
shimizuta 11:e81425872740 12 float ground_m_; //着地するときの高さ
shimizuta 11:e81425872740 13 OneLeg StrideLine_(OneLeg leg, float phasetime_s);
shimizuta 11:e81425872740 14 OneLeg RiseEllipse_(OneLeg leg, float phasetime_s);
shimizuta 11:e81425872740 15 OneLeg OrbitEllipse_(OneLeg leg, float phasetime_s);
shimizuta 11:e81425872740 16
shimizuta 11:e81425872740 17 public:
shimizuta 11:e81425872740 18 Orbit(){};
shimizuta 11:e81425872740 19 Orbit(float stridetime_s, float risetime_s, float stride_m, float height_m, float ground_m);
shimizuta 11:e81425872740 20 OneLeg GetOrbit(OneLeg leg, float phasetime_s);
shimizuta 11:e81425872740 21 float GetOneWalkTime(); //足一周の時間
shimizuta 11:e81425872740 22 };
shimizuta 11:e81425872740 23
shimizuta 11:e81425872740 24 //4足の足の動かし方を保存するクラス
shimizuta 11:e81425872740 25 class Walk
shimizuta 11:e81425872740 26 {
shimizuta 11:e81425872740 27 float phasetime_s_;
shimizuta 11:e81425872740 28 float offsettime_s_[4];
shimizuta 11:e81425872740 29
shimizuta 11:e81425872740 30 public:
shimizuta 11:e81425872740 31 Walk(Orbit orbit[4], float offsettime_s[4], float cycletime_s);
shimizuta 11:e81425872740 32 float cycletime_s_;
shimizuta 11:e81425872740 33 Orbit orbit_[4];
shimizuta 11:e81425872740 34 void Cal4LegsPosi(OneLeg (&leg)[4]);
shimizuta 11:e81425872740 35 };
shimizuta 11:e81425872740 36 #endif