岡本 陸
test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Diff: Walk/Walk.cpp
- Revision:
- 13:e7ecdb20665a
- Parent:
- 12:2ac37fe6c3bb
- Child:
- 14:d7cb429946f4
--- a/Walk/Walk.cpp Mon Feb 11 13:32:46 2019 +0000
+++ b/Walk/Walk.cpp Tue Feb 12 07:51:07 2019 +0000
@@ -1,13 +1,12 @@
#include "Walk.h"
#include "math.h"
const float M_PI = 3.141592;
-Orbit::Orbit(float stridetime_s, float risetime_s, float stride_m, float height_m, float ground_m)
+
+//Orbitは足毎の軌道をあらわす。
+
+Orbit::Orbit(int orbitType)
{
- stridetime_s_ = stridetime_s;
- risetime_s_ = risetime_s;
- stride_m_ = stride_m;
- height_m_ = height_m;
- ground_m_ = ground_m;
+ orbitType_ = orbitType;
}
//着地中の動き.直線軌道.等速
OneLeg Orbit::StrideLine_(OneLeg leg, float phasetime_s)