test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Diff: Walk/change_walk.cpp
- Revision:
- 39:87dcdff27797
- Parent:
- 35:b4e1b8f25cd7
- Child:
- 42:982064594ba6
--- a/Walk/change_walk.cpp Mon Mar 04 10:51:46 2019 +0000 +++ b/Walk/change_walk.cpp Mon Mar 04 23:41:48 2019 +0000 @@ -1,18 +1,14 @@ #include "change_walk.h" void SetOneLegStandParam(Walk &walk, int legnum, float x_m, float y_m, float time_s) { - Orbit triangle(TRIANGLE); - triangle.SetTriangleParam(x_m, y_m, 0, 0, 0, time_s, 0, 0); - walk.orbit[legnum].Copy(triangle); + Orbit freeline(FREELINES); + LineParam line[]{ + {.time_s = 0, .x_m = x_m, .y_m = y_m}, + {.time_s = time_s, .x_m = x_m, .y_m = y_m}, + }; + freeline.SetFreeLinesParam(line, sizeof(line)/sizeof(line[0])); + walk.orbit[legnum].Copy(freeline); } - -void SetAllLegsTriangleParam(Walk &walk, float offset_x_m[4], float offset_y_m[4], - float stride_m[4], float height_m, float buffer_height_m, - float stridetime_s, float toptime_s, float buffer_time_s) -{ - -} - void SetOneLegTriangleParam(Walk &walk, int legnum, float offset_x_m, float offset_y_m, float stride_m, float height_m, float buffer_height_m, float stridetime_s, float toptime_s, float buffer_time_s) { @@ -21,6 +17,15 @@ stridetime_s, toptime_s, buffer_time_s); walk.orbit[legnum].Copy(triangle); } + +void SetOneLegFourPointParam(Walk &walk, int legnum, float offset_x_m, float offset_y_m, float stride_m, float height_m, float buffer_height_m, + float stridetime_s, float toptime_s, float buffer_time_s) +{ + Orbit four(FOURPOINT); + four.SetFourPointParam(offset_x_m, offset_y_m, stride_m, height_m, buffer_height_m, + stridetime_s, toptime_s, buffer_time_s); + walk.orbit[legnum].Copy(four); +} void SetOneLegFreeLinesParam(Walk &walk, int legnum, LineParam lineparams[], int point_num) { Orbit freeline(FREELINES);