Diff: Walk/change_walk.cpp

Revision:

35:b4e1b8f25cd7

Child:

39:87dcdff27797

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Walk/change_walk.cpp	Mon Mar 04 09:54:47 2019 +0000
@@ -0,0 +1,29 @@
+#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);
+}
+
+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)
+{
+    Orbit triangle(TRIANGLE);
+    triangle.SetTriangleParam(offset_x_m, offset_y_m, stride_m, height_m, buffer_height_m,
+                              stridetime_s, toptime_s, buffer_time_s);
+    walk.orbit[legnum].Copy(triangle);
+}
+void SetOneLegFreeLinesParam(Walk &walk, int legnum, LineParam lineparams[], int point_num)
+{
+    Orbit freeline(FREELINES);
+    freeline.SetFreeLinesParam(lineparams, point_num);
+    walk.orbit[legnum].Copy(freeline);
+}
\ No newline at end of file