Diff: Walk/Walk.h

Revision:

32:dc684a0b8448

Parent:

29:7d8b8011a88d

Child:

34:89d701e15cdf

--- a/Walk/Walk.h	Thu Feb 28 03:52:09 2019 +0000
+++ b/Walk/Walk.h	Thu Feb 28 08:48:21 2019 +0000
@@ -1,17 +1,21 @@
 #ifndef INCLUDED_WALK_H
 #define INCLUDED_WALK_H
 #include "OneLeg.h"
-enum OrbitPattern
+enum TriangleParams
 {
-  TRIANGLE,
+  OFFSET_X_M,
+  OFFSET_Y_M,
+  STRIDE_M,
+  HEIGHT_M,
+  BUFFER_HEIGHT_M,
 };
 //下記の論文を参照
 //https://static1.squarespace.com/static/542ddec8e4b0158794bd1036/t/5a861d1cc83025f3d460dfc3/1518738728029/gait-design-optimization-Final.pdf
 class TriangleOrbit
 {
   float reverse_tanbeta_; //論文のβのtan
-  float start_x_m_;
-  float start_y_m_;
+  float offset_x_m_;
+  float offset_y_m_;
   float stride_m_;
   float height_m_;        //足上げ幅
   float buffer_height_m_; //着地直前で止める高さ
@@ -24,14 +28,38 @@
   int StrideLineAccel_(OneLeg &leg, float phasetime_s); //着地中に慣性力を考慮して加減速
 
 public:
-  void SetTriangleParam(float start_x_m, float start_y_m, float stride_m, float height_m, float buffer_height_m,
+  void SetTriangleParam(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);
   int GetOrbit(OneLeg &leg, float phasetime_s);
   float GetOneWalkTime(); //足一周の時間
+  void ChangeOneParam(TriangleParams param, float val);
 };
 
+struct LineParam
+{
+  float time_s; //次の点に到達するまでにかける時間
+  float x_m;
+  float y_m;
+};
+class FreeLineOrbit
+{
+  LineParam lineparams_[10]; //pointの数はmax10としている。多めにとっているだけ。
+  int point_num_;            //pointの数
+public:
+  void SetFreeLinesParam(LineParam lineparams[], int point_num); //任意の直線の軌道を設定
+  int GetOrbit(OneLeg &leg, float phasetime_s);
+  float GetOneWalkTime(); //足一周の時間
+                          //Standupのparam設定
+  void SetStandParam(float x_m, float y_m, float time_s);
+};
+enum OrbitPattern
+{
+  TRIANGLE,
+  FREELINES,
+};
 //足の軌道を設定するクラスの皮。全ての軌道クラスを継承して一つにまとめる。patternで使い分ける
-class Orbit : public TriangleOrbit
+//関数は継承元のものも使えるので、継承元のクラスも見てください
+class Orbit : public TriangleOrbit, public FreeLineOrbit
 {
   OrbitPattern pattern_;
 
@@ -43,11 +71,11 @@
 };
 class Walk
 {
-  Orbit orbit_[4];
   float offset_multi_[4];
 
 public:
   Walk();
+  Orbit orbit_[4];
   static float calctime_s_; //計算周期
   float phasetime_s_[4];
   //参照渡しされたonelegそれぞれにorbit_::GetOrbit関数を代入
@@ -68,9 +96,15 @@
   void SetOneLegStandParam(int legnum, float x_m, float y_m, float time_s);
   void SetAllLegStandParam(float x_m, float y_m, float time_s); // 4足一括で設定できる
   //triangle
-  void SetOneLegTriangleParam(int legnum, float start_x_m, float start_y_m, float stride_m, float height_m, float buffer_height_m,
+  void SetOneLegTriangleParam(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);
+  void SetAllLegTriangleParam(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);
-  void SetAllLegTriangleParam(float start_x_m, float start_y_m, float stride_m, float height_m, float buffer_height_m,
-                              float stridetime_s, float toptime_s, float buffer_time_s);
+  void ChangeOneParam(int legnum, TriangleParams param, float val);
+
+  //freeline
+  void SetOneLegFreeLinesParam(int legnum, LineParam lineparams[], int point_num);
+  void SetAllLegFreeLinesParam(LineParam lineparams[], int point_num);
 };
+
 #endif
\ No newline at end of file