test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Diff: Walk/Walk.cpp
- Revision:
- 44:4aac39b8670b
- Parent:
- 43:2ed84f3558c1
--- a/Walk/Walk.cpp Wed Mar 06 12:13:46 2019 +0000 +++ b/Walk/Walk.cpp Thu Mar 07 06:36:34 2019 +0000 @@ -2,7 +2,8 @@ #include <stdio.h> Walk::Walk(OneLeg legs[4]) { - for (int i = 0; i < 4; i++){ + for (int i = 0; i < 4; i++) + { offset_multi[i] = 0; leg[i] = legs[i]; } @@ -48,17 +49,21 @@ return 1; //解が出ないときは1を返す } } - phasetime_s_[i] = one_walk_time * offset_multi[i]; } + ResetPhase(); return 0; } void Walk::Copy(Walk &walk) { for (int i = 0; i < 4; i++) - { - orbit[i].Copy(walk.orbit[i]); + { + orbit[i].Copy(walk.orbit[i]); phasetime_s_[i] = walk.phasetime_s_[i]; offset_multi[i] = walk.offset_multi[i]; leg[i] = walk.leg[i]; - } + } +} +void Walk::ResetPhase(){ + for (int i = 0; i < 4; i++) + phasetime_s_[i] = orbit[i].GetOneWalkTime() * offset_multi[i]; } \ No newline at end of file