Diff: Walk/change_walk.cpp

Revision:

45:0654364226c9

Parent:

44:4aac39b8670b

--- a/Walk/change_walk.cpp	Thu Mar 07 06:36:34 2019 +0000
+++ b/Walk/change_walk.cpp	Thu Mar 07 08:49:57 2019 +0000
@@ -3,6 +3,7 @@
 各パラメータの意味はOrbitクラスの基底クラスまで遡る必要があるので注意。
 */
 #include "change_walk.h"
+#include "OverCome.h"
 void SetOneLegStandParam(Walk &walk, int legnum, float x_m, float y_m, float time_s)
 {
     Orbit freeline(FREELINES);
@@ -35,4 +36,41 @@
     Orbit freeline(FREELINES);
     freeline.SetFreeLinesParam(lineparams, point_num);
     walk.orbit[legnum].Copy(freeline);
-}
\ No newline at end of file
+}
+
+void Turn(Walk &walk, int is_turnright, float start_x_m, float start_y_m,
+          float stride_m, float height_m, float stridetime_s, float risetime_s)
+{
+    LineParam lines_forward[] = {
+        {.time_s = 0, .x_m = start_x_m, .y_m = start_y_m},
+        {.time_s = stridetime_s, .x_m = start_x_m - stride_m, .y_m = start_y_m, .is_point_to_point = 0},                                                 //進む
+        {.time_s = stridetime_s + risetime_s * 0.66f, .x_m = start_x_m, .y_m = start_y_m - height_m, .is_point_to_point = 1},                             //上げる
+        {.time_s = stridetime_s + risetime_s, .x_m = start_x_m, .y_m = start_y_m, .is_point_to_point = 0},                                               //おろす
+        {.time_s = stridetime_s + risetime_s + stridetime_s, .x_m = start_x_m, .y_m = start_y_m, .is_point_to_point = 1},                                //着地したまま
+        {.time_s = stridetime_s + risetime_s + stridetime_s + risetime_s * 0.66f, .x_m = start_x_m, .y_m = start_y_m - height_m, .is_point_to_point = 1}, //   垂直上げ
+        {.time_s = (stridetime_s + risetime_s) * 2, .x_m = start_x_m, .y_m = start_y_m, .is_point_to_point = 0},                                         //おろす
+    };
+    LineParam lines_back[7];
+    for (unsigned int i = 0; i < sizeof(lines_back) / sizeof(lines_back[0]); i++)
+    {
+        lines_back[i].time_s = lines_forward[i].time_s;
+        lines_back[i].x_m = -lines_forward[i].x_m;
+        lines_back[i].y_m = lines_forward[i].y_m;
+        lines_back[i].is_point_to_point = lines_forward[i].is_point_to_point;
+    }
+    if (is_turnright)
+    {
+        SetOneLegFreeLinesParam(walk, LEFT_F, lines_forward, sizeof(lines_forward) / sizeof(lines_forward[0]));
+        SetOneLegFreeLinesParam(walk, LEFT_B, lines_forward, sizeof(lines_forward) / sizeof(lines_forward[0]));
+        SetOneLegFreeLinesParam(walk, RIGHT_F, lines_back, sizeof(lines_back) / sizeof(lines_back[0]));
+        SetOneLegFreeLinesParam(walk, RIGHT_B, lines_back, sizeof(lines_back) / sizeof(lines_back[0]));
+    }
+    else
+    {
+        SetOneLegFreeLinesParam(walk, RIGHT_F, lines_forward, sizeof(lines_forward) / sizeof(lines_forward[0]));
+        SetOneLegFreeLinesParam(walk, RIGHT_B, lines_forward, sizeof(lines_forward) / sizeof(lines_forward[0]));
+        SetOneLegFreeLinesParam(walk, LEFT_F, lines_back, sizeof(lines_back) / sizeof(lines_back[0]));
+        SetOneLegFreeLinesParam(walk, LEFT_B, lines_back, sizeof(lines_back) / sizeof(lines_back[0]));
+    }
+    walk.SetOffsetTime(0.5, 0.75, 0.25, 0);
+}