test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
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