Diff: Walk/orbit/freeline/freeline.cpp

Revision:

42:982064594ba6

Parent:

41:38d79b6513c0

Child:

43:2ed84f3558c1

--- a/Walk/orbit/freeline/freeline.cpp	Tue Mar 05 01:45:03 2019 +0000
+++ b/Walk/orbit/freeline/freeline.cpp	Tue Mar 05 09:08:40 2019 +0000
@@ -7,7 +7,6 @@
 }
 int FreeLines::GetOrbit(OneLeg &leg, float phasetime_s)
 {
-    ;
     //現在の最終到達pointを決定
     int next_point;
     for (next_point = 0; next_point < point_num_ - 1; next_point++) // point_num - 1が配列の最大index.これを超えないようにしている
@@ -15,25 +14,23 @@
         if (phasetime_s < lineparams_[next_point].time_s)
             break;
     }
-    //x,yを計算
     float x_m, y_m;
-    float d_phase = phasetime_s - lineparams_[next_point - 1].time_s;
-    float d_time = lineparams_[next_point].time_s - lineparams_[next_point - 1].time_s;
-    float phase_rate = d_phase / d_time;
-    
-    if(lineparams_[next_point - 1].line_state == 1)
+    if (lineparams_[next_point - 1].is_point_to_point == 1)
     {
         x_m = lineparams_[next_point].x_m;
         y_m = lineparams_[next_point].y_m;
     }
     else
     {
+        //x,yを計算
+        float d_phase = phasetime_s - lineparams_[next_point - 1].time_s;
+        float d_time = lineparams_[next_point].time_s - lineparams_[next_point - 1].time_s;
+        float phase_rate = d_phase / d_time;
         x_m = lineparams_[next_point - 1].x_m +
               (lineparams_[next_point].x_m - lineparams_[next_point - 1].x_m) * phase_rate;
         y_m = lineparams_[next_point - 1].y_m +
               (lineparams_[next_point].y_m - lineparams_[next_point - 1].y_m) * phase_rate;
     }
-    
     return leg.SetXY_m(x_m, y_m);
 }
 float FreeLines::GetOneWalkTime() //足一周の時間
@@ -42,7 +39,7 @@
 }
 void FreeLines::Copy(const FreeLines &origin)
 {
-    point_num_ = origin.point_num_;            //pointの数
+    point_num_ = origin.point_num_; //pointの数
     for (int i = 0; i < point_num_; i++)
         lineparams_[i] = origin.lineparams_[i];
 }
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