test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Diff: Walk/OverCome/OverCome.h
- Revision:
- 50:36741e8ab197
- Parent:
- 43:2ed84f3558c1
--- a/Walk/OverCome/OverCome.h Mon Mar 11 06:36:56 2019 +0000 +++ b/Walk/OverCome/OverCome.h Mon Mar 11 10:38:07 2019 +0000 @@ -18,9 +18,9 @@ float gravity_dist_[4]; //重心ずらし距離 float d_time_; //各動きの時間 float d_time_slow_; - float raise_offset_x_m_[4];//raiseするときにずらすx_m - int next_point_; //次のparamのindex - LineParam legs_[4][30]; //多めに + float raise_offset_x_m_[4]; //raiseするときにずらすx_m + int next_point_; //次のparamのindex + LineParam legs_[4][30]; //多めに void Rise(int legnum); void Land(int legnum); void Forward(int legnum); @@ -33,7 +33,7 @@ public: Walk walk; OverCome(float start_x_m[4], float start_y_m[4], - float d_x_m, float goal_y_m[4], float height_m[4], - float gravity_dist[4], OneLeg legs[4], float raise_offset_x_m[4]); + float d_x_m, float goal_y_m[4], float height_m[4], float gravity_dist[4], + OneLeg legs[4], float raise_offset_x_m[4], float d_time, float d_time_slow); }; #endif \ No newline at end of file