File content as of revision 41:38d79b6513c0:

#include "freeline.h"
void FreeLines::SetFreeLinesParam(LineParam lineparams[], int point_num)
{
    point_num_ = point_num;
    for (int i = 0; i < point_num_; i++)
        lineparams_[i] = lineparams[i];
}
int FreeLines::GetOrbit(OneLeg &leg, float phasetime_s)
{
    ;
    //現在の最終到達pointを決定
    int next_point;
    for (next_point = 0; next_point < point_num_ - 1; next_point++) // point_num - 1が配列の最大index.これを超えないようにしている
    {
        if (phasetime_s < lineparams_[next_point].time_s)
            break;
    }
    //x,yを計算
    float x_m, y_m;
    float d_phase = phasetime_s - lineparams_[next_point - 1].time_s;
    float d_time = lineparams_[next_point].time_s - lineparams_[next_point - 1].time_s;
    float phase_rate = d_phase / d_time;
    
    if(lineparams_[next_point - 1].line_state == 1)
    {
        x_m = lineparams_[next_point].x_m;
        y_m = lineparams_[next_point].y_m;
    }
    else
    {
        x_m = lineparams_[next_point - 1].x_m +
              (lineparams_[next_point].x_m - lineparams_[next_point - 1].x_m) * phase_rate;
        y_m = lineparams_[next_point - 1].y_m +
              (lineparams_[next_point].y_m - lineparams_[next_point - 1].y_m) * phase_rate;
    }
    
    return leg.SetXY_m(x_m, y_m);
}
float FreeLines::GetOneWalkTime() //足一周の時間
{
    return lineparams_[point_num_ - 1].time_s;
}
void FreeLines::Copy(const FreeLines &origin)
{
    point_num_ = origin.point_num_;            //pointの数
    for (int i = 0; i < point_num_; i++)
        lineparams_[i] = origin.lineparams_[i];
}