test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
OneLeg/OneLeg.cpp
- Committer:
- shimizuta
- Date:
- 2019-03-06
- Revision:
- 43:2ed84f3558c1
- Parent:
- 27:79b4b932a6dd
File content as of revision 43:2ed84f3558c1:
#define _USE_MATH_DEFINES #include "math.h" #include "OneLeg.h" #include "pi.h" #include "stdio.h" //注:未完成。本来ならradから計算したい。今のままだとradが更新されてもx,yが更新されない float OneLeg::GetX_m() { return x_m_; } float OneLeg::GetY_m() { return y_m_; } OneLeg::OneLeg(float between_servo_half_m, float leglength1[2], float leglength2[2]) { rad_[0] = 0; rad_[1] = M_PI; between_servo_half_m_ = between_servo_half_m; for (int i = 0; i < 2; i++) { leglength1_[i] = leglength1[i]; leglength2_[i] = leglength2[i]; } } int OneLeg::SetXY_m(float x_m, float y_m) { int is_error = 0; //対応する角度も同時に計算。 //処理を軽くするために共通部分は先に計算 float temp_x[] = { x_m + between_servo_half_m_, x_m - between_servo_half_m_, }; float temp_y2 = y_m * y_m; float temp_L[2]; for (int i = 0; i < 2; i++) temp_L[i] = leglength1_[i] * leglength1_[i] - leglength2_[i] * leglength2_[i]; float r1 = sqrt((temp_x[1]) * (temp_x[1]) + temp_y2); float r2 = sqrt((temp_x[0]) * (temp_x[0]) + temp_y2); float targetTheta[] = {atan2(y_m, temp_x[1]) - acos((temp_L[0] + r1 * r1) / (2.0f * r1 * leglength1_[0])), atan2(y_m, temp_x[0]) + acos((temp_L[1] + r2 * r2) / (2.0f * r2 * leglength1_[1]))}; if (isnan(targetTheta[0]) || isnan(targetTheta[1])) //解が出ないときは値を更新しない { printf("error:(x,y) = (%f,%f) is out of range\r\n", x_m, y_m); is_error = 1; } else //解が出るならrad, x, y を更新する { for (size_t i = 0; i < 2; i++) SetRad(targetTheta[i], i); x_m_ = x_m, y_m_ = y_m; } return is_error; } void OneLeg::SetRad(float rad, int servo_num) { rad_[servo_num] = rad; } float OneLeg::GetRad(int servo_num) { return rad_[servo_num]; }