File content as of revision 50:36741e8ab197:

/*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