File content as of revision 45:0654364226c9:

/*walk設定用関数.
param walk:結果を入れる箱
各パラメータの意味はOrbitクラスの基底クラスまで遡る必要があるので注意。
*/
#include "change_walk.h"
#include "OverCome.h"
void SetOneLegStandParam(Walk &walk, int legnum, float x_m, float y_m, float time_s)
{
    Orbit freeline(FREELINES);
    LineParam line[]{
        {.time_s = 0, .x_m = x_m, .y_m = y_m, .is_point_to_point = 0},
        {.time_s = time_s, .x_m = x_m, .y_m = y_m, .is_point_to_point = 0},
    };
    freeline.SetFreeLinesParam(line, sizeof(line) / sizeof(line[0]));
    walk.orbit[legnum].Copy(freeline);
}
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 SetOneLegFourPointParam(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 four(FOURPOINT);
    four.SetFourPointParam(offset_x_m, offset_y_m, stride_m, height_m, buffer_height_m,
                           stridetime_s, toptime_s, buffer_time_s);
    walk.orbit[legnum].Copy(four);
}
void SetOneLegFreeLinesParam(Walk &walk, int legnum, LineParam lineparams[], int point_num)
{
    Orbit freeline(FREELINES);
    freeline.SetFreeLinesParam(lineparams, point_num);
    walk.orbit[legnum].Copy(freeline);
}

void Turn(Walk &walk, int is_turnright, float start_x_m, float start_y_m,
          float stride_m, float height_m, float stridetime_s, float risetime_s)
{
    LineParam lines_forward[] = {
        {.time_s = 0, .x_m = start_x_m, .y_m = start_y_m},
        {.time_s = stridetime_s, .x_m = start_x_m - stride_m, .y_m = start_y_m, .is_point_to_point = 0},                                                 //進む
        {.time_s = stridetime_s + risetime_s * 0.66f, .x_m = start_x_m, .y_m = start_y_m - height_m, .is_point_to_point = 1},                             //上げる
        {.time_s = stridetime_s + risetime_s, .x_m = start_x_m, .y_m = start_y_m, .is_point_to_point = 0},                                               //おろす
        {.time_s = stridetime_s + risetime_s + stridetime_s, .x_m = start_x_m, .y_m = start_y_m, .is_point_to_point = 1},                                //着地したまま
        {.time_s = stridetime_s + risetime_s + stridetime_s + risetime_s * 0.66f, .x_m = start_x_m, .y_m = start_y_m - height_m, .is_point_to_point = 1}, //   垂直上げ
        {.time_s = (stridetime_s + risetime_s) * 2, .x_m = start_x_m, .y_m = start_y_m, .is_point_to_point = 0},                                         //おろす
    };
    LineParam lines_back[7];
    for (unsigned int i = 0; i < sizeof(lines_back) / sizeof(lines_back[0]); i++)
    {
        lines_back[i].time_s = lines_forward[i].time_s;
        lines_back[i].x_m = -lines_forward[i].x_m;
        lines_back[i].y_m = lines_forward[i].y_m;
        lines_back[i].is_point_to_point = lines_forward[i].is_point_to_point;
    }
    if (is_turnright)
    {
        SetOneLegFreeLinesParam(walk, LEFT_F, lines_forward, sizeof(lines_forward) / sizeof(lines_forward[0]));
        SetOneLegFreeLinesParam(walk, LEFT_B, lines_forward, sizeof(lines_forward) / sizeof(lines_forward[0]));
        SetOneLegFreeLinesParam(walk, RIGHT_F, lines_back, sizeof(lines_back) / sizeof(lines_back[0]));
        SetOneLegFreeLinesParam(walk, RIGHT_B, lines_back, sizeof(lines_back) / sizeof(lines_back[0]));
    }
    else
    {
        SetOneLegFreeLinesParam(walk, RIGHT_F, lines_forward, sizeof(lines_forward) / sizeof(lines_forward[0]));
        SetOneLegFreeLinesParam(walk, RIGHT_B, lines_forward, sizeof(lines_forward) / sizeof(lines_forward[0]));
        SetOneLegFreeLinesParam(walk, LEFT_F, lines_back, sizeof(lines_back) / sizeof(lines_back[0]));
        SetOneLegFreeLinesParam(walk, LEFT_B, lines_back, sizeof(lines_back) / sizeof(lines_back[0]));
    }
    walk.SetOffsetTime(0.5, 0.75, 0.25, 0);
}