File content as of revision 50:36741e8ab197:

#include "Walk.h"
#include <stdio.h>
Walk::Walk(OneLeg legs[4])
{
    for (int i = 0; i < 4; i++)
    {
        offset_multi[i] = 0;
        leg[i] = legs[i];
    }
}
float Walk::calctime_s_;
int Walk::Cal4LegsPosi(OneLeg legs[4]) //失敗したら1を返す。成功なら0
{
    int is_out = 0;
    for (int i = 0; i < 4; i++)
    {
        float one_walk_time = orbit[i].GetOneWalkTime();
        phasetime_s_[i] += calctime_s_;
        while (phasetime_s_[i] > one_walk_time)
            phasetime_s_[i] -= one_walk_time;
        if (orbit[i].GetOrbit(legs[i], phasetime_s_[i]) == 1)
        {
            printf("error:leg %d in Cal4LegsPosi\r\n", i);
            is_out = 1;
        }
    }
    return is_out;
}
void Walk::SetOffsetTime(float offset_multi0, float offset_multi1, float offset_multi2, float offset_multi3)
{
    offset_multi[0] = offset_multi0;
    offset_multi[1] = offset_multi1;
    offset_multi[2] = offset_multi2;
    offset_multi[3] = offset_multi3;
}
//軌道がリンク定義外になっていないかチェック。reutn 0:ok 1:out
int Walk::CheckOrbit()
{
    for (int i = 0; i < 4; i++)
    {
        //軌道が値域の外に出ないか計算で確かめる
        float one_walk_time = orbit[i].GetOneWalkTime();
        float step = calctime_s_ * 0.1;
        for (float j = 0; j < one_walk_time; j += step)
        {
            if (orbit[i].GetOrbit(leg[i], j) == 1)
            {
                printf("error:leg %d, time %f\r\n", i, j);
                return 1; //解が出ないときは1を返す
            }
        }
    }
    ResetPhase();
    return 0;
}
void Walk::Copy(Walk &walk)
{
    for (int i = 0; i < 4; i++)
    {
        orbit[i].Copy(walk.orbit[i]);
        phasetime_s_[i] = walk.phasetime_s_[i];
        offset_multi[i] = walk.offset_multi[i];
        leg[i] = walk.leg[i];
    }
}
void Walk::ResetPhase(){
    for (int i = 0; i < 4; i++)
        phasetime_s_[i] = orbit[i].GetOneWalkTime() * offset_multi[i];
}