test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Diff: Walk/orbit/orbit.cpp
- Revision:
- 39:87dcdff27797
- Parent:
- 35:b4e1b8f25cd7
--- a/Walk/orbit/orbit.cpp Mon Mar 04 10:51:46 2019 +0000 +++ b/Walk/orbit/orbit.cpp Mon Mar 04 23:41:48 2019 +0000 @@ -12,6 +12,9 @@ case FREELINES: time_s = FreeLines::GetOneWalkTime(); break; + case FOURPOINT: + time_s = FourPoint::GetOneWalkTime(); + break; default: time_s = Triangle::GetOneWalkTime(); break; @@ -26,19 +29,26 @@ case FREELINES: ret = FreeLines::GetOrbit(leg, phasetime_s); break; + case FOURPOINT: + ret = FourPoint::GetOrbit(leg, phasetime_s); + break; default: ret = Triangle::GetOrbit(leg, phasetime_s); break; } return ret; } -void Orbit::Copy(const Orbit &origin){ +void Orbit::Copy(const Orbit &origin) +{ pattern_ = origin.pattern_; switch (pattern_) { case FREELINES: FreeLines::Copy((FreeLines)origin); break; + case FOURPOINT: + FourPoint::Copy((FourPoint)origin); + break; default: Triangle::Copy((Triangle)origin); break;