test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Walk/change_walk.h
- Committer:
- shimizuta
- Date:
- 2019-03-07
- Revision:
- 45:0654364226c9
- Parent:
- 44:4aac39b8670b
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。 */ #ifndef INCLUDED_CHANGE_WALK_H #define INCLUDED_CHANGE_WALK_H #include "Walk.h" void SetOneLegStandParam(Walk &walk, int legnum, float x_m, float y_m, float 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); 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); void SetOneLegFreeLinesParam(Walk &walk, int legnum, LineParam lineparams[], int point_num); 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); #endif