Diff: Walk/orbit/triangle/triangle.h

Revision:

39:87dcdff27797

Parent:

35:b4e1b8f25cd7

--- a/Walk/orbit/triangle/triangle.h	Mon Mar 04 10:51:46 2019 +0000
+++ b/Walk/orbit/triangle/triangle.h	Mon Mar 04 23:41:48 2019 +0000
@@ -13,7 +13,8 @@
 //https://static1.squarespace.com/static/542ddec8e4b0158794bd1036/t/5a861d1cc83025f3d460dfc3/1518738728029/gait-design-optimization-Final.pdf
 class Triangle
 {
-    float reverse_tanbeta_; //論文のβのtan
+  protected:
+    float beta_degree_; //論文のβ
     float offset_x_m_;
     float offset_y_m_;
     float stride_m_;
@@ -23,6 +24,7 @@
     float toptime_s_;     //頂点に行くまでの時間
     float buffer_time_s_; //一時停止点から着地するまでの時間.
 
+    float reverse_tanbeta_;                               //論文のβのtan
     float top_x_m_, top_y_m_, buffer_x_m_, buffer_y_m_;   //事前に計算して保存しておく
     int StrideLine_(OneLeg &leg, float phasetime_s);      //着地している間の軌道
     int StrideLineAccel_(OneLeg &leg, float phasetime_s); //着地中に慣性力を考慮して加減速
@@ -37,4 +39,12 @@
     void Copy(const Triangle &origin);
 };
 
+class FourPoint : public Triangle
+{
+    void CalOtherParam();
+
+  public:
+    void SetFourPointParam(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);
+};
 #endif
\ No newline at end of file