File content as of revision 34:89d701e15cdf:

#define _USE_MATH_DEFINES
#include "math.h"
#include <stdio.h>
#include "stdlib.h"
#include "Walk.h"
#include "pi.h"
//Orbitは足毎の軌道をあらわす。
const float kGravity = 9.8;

Orbit::Orbit(OrbitPattern pattern)
{
    pattern_ = pattern;
}
float Orbit::GetOneWalkTime()
{
    float time_s;
    switch (pattern_)
    {
    case FREELINES:
        time_s = FreeLineOrbit::GetOneWalkTime();
        break;
    default:
        time_s = TriangleOrbit::GetOneWalkTime();
        break;
    }
    return time_s;
}
int Orbit::GetOrbit(OneLeg &leg, float phasetime_s)
{
    int ret;
    switch (pattern_)
    {
    case FREELINES:
        ret = FreeLineOrbit::GetOrbit(leg, phasetime_s);
        break;
    default:
        ret = TriangleOrbit::GetOrbit(leg, phasetime_s);
        break;
    }
    return ret;
}

Walk::Walk()
{
    for (int i = 0; i < 4; i++)
        offset_multi_[i] = 0;
}
float Walk::calctime_s_;
int Walk::Cal4LegsPosi(OneLeg leg[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(leg[i], phasetime_s_[i]) == 1)
        {
            printf("error:leg %d in Cal4LegsPosi\r\n", i);
            is_out = 1;
        }
    }
    return is_out;
}
float Walk::GetOneWalkTime()
{
    return orbit_[0].GetOneWalkTime(); //4足全て同じ時間のはずなので一例としてorbit_[0]のものを返している.
};
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(OneLeg templateleg)
{
    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 = GetOneWalkTime();
        float step = calctime_s_ * 0.1;
        for (float j = 0; j < one_walk_time; j += step)
        {
            if (orbit_[i].GetOrbit(templateleg, j) == 1)
            {
                printf("error:leg %d, time %f", i, j);
                return 1; //解が出ないときは1を返す
            }
        }
        phasetime_s_[i] = one_walk_time * offset_multi_[i];
    }
    return 0;
}
void Walk::SetOneOrbit(int legnum, Orbit orbit)
{
    orbit_[legnum] = orbit;
}
void Walk::SetAllOrbit(Orbit orbit)
{
    for (int i = 0; i < 4; i++)
        SetOneOrbit(i, orbit);
}
void Walk::SetOneLegStandParam(int legnum, float x_m, float y_m, float time_s)
{
    Orbit triangle(TRIANGLE);
    triangle.SetTriangleParam(x_m, y_m, 0, 0, 0, time_s, 0, 0);
    SetOneOrbit(legnum, triangle);
}
void Walk::SetAllLegStandParam(float x_m, float y_m, float time_s)
{
    for (int i = 0; i < 4; i++)
        SetOneLegStandParam(i, x_m, y_m, time_s);
}
void Walk::SetOneLegTriangleParam(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)
{
    Orbit triangle(TRIANGLE);
    triangle.SetTriangleParam(offset_x_m, offset_y_m, stride_m, height_m, buffer_height_m,
                              stridetime_s, toptime_s, buffer_time_s);
    SetOneOrbit(legnum, triangle);
}
void Walk::SetAllLegTriangleParam(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)
{
    for (int i = 0; i < 4; i++)
        SetOneLegTriangleParam(i, offset_x_m, offset_y_m, stride_m, height_m, buffer_height_m,
                               stridetime_s, toptime_s, buffer_time_s);
}

void Walk::SetOneLegFreeLinesParam(int legnum, LineParam lineparams[], int point_num)
{
    Orbit freeline(FREELINES);
    freeline.SetFreeLinesParam(lineparams, point_num);
    SetOneOrbit(legnum, freeline);
}
void Walk::SetAllLegFreeLinesParam(LineParam lineparams[], int point_num)
{
    for (int i = 0; i < 4; i++)
        SetOneLegFreeLinesParam(i, lineparams, point_num);
}
void Walk::ChangeOneParam(int legnum, TriangleParams param, float val)
{
    orbit_[legnum].ChangeOneParam(param, val);
}
void TriangleOrbit::SetTriangleParam(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)
{
    reverse_tanbeta_ = 1.0 / tan(81.0 / 180.0 * M_PI); //論文よりこれが最適らしい
    offset_x_m_ = offset_x_m;
    offset_y_m_ = offset_y_m;
    stride_m_ = stride_m;
    height_m_ = height_m;               //足上げ幅
    buffer_height_m_ = buffer_height_m; //着地直前で止める高さ
    stridetime_s_ = stridetime_s;
    toptime_s_ = toptime_s;         //頂点に行くまでの時間
    buffer_time_s_ = buffer_time_s; //頂点から一時停止点までの時間.

    //事前に計算しておく
    CalOtherParam();
}
void TriangleOrbit::CalOtherParam()
{
    top_x_m_ = offset_x_m_ + stride_m_ * 0.5 - height_m_ * reverse_tanbeta_;
    top_y_m_ = -height_m_ + offset_y_m_;
    buffer_x_m_ = offset_x_m_ + stride_m_ * 0.5 - buffer_height_m_ * reverse_tanbeta_;
    buffer_y_m_ = -buffer_height_m_ + offset_y_m_;
}
//足一周の時間
float TriangleOrbit::GetOneWalkTime()
{
    return stridetime_s_ + toptime_s_ + buffer_time_s_;
};
int TriangleOrbit::GetOrbit(OneLeg &leg, float phasetime_s)
{
    int ret = 0;
    if (phasetime_s < stridetime_s_)
        ret = StrideLineAccel_(leg, phasetime_s);
    else if (phasetime_s < stridetime_s_ + toptime_s_)
        ret = leg.SetXY_m(top_x_m_, top_y_m_);
    else
        ret = leg.SetXY_m(buffer_x_m_, buffer_y_m_);
    return ret;
};
int TriangleOrbit::StrideLine_(OneLeg &leg, float phasetime_s)
{
    float x_m = -stride_m_ * phasetime_s / stridetime_s_ + stride_m_ * 0.5 + offset_x_m_;
    float y_m = offset_y_m_;
    return leg.SetXY_m(x_m, y_m);
}
int TriangleOrbit::StrideLineAccel_(OneLeg &leg, float phasetime_s)
{
    ///////////x,yを計算
    float s0 = stride_m_ * 0.5 + offset_x_m_;
    float s1 = offset_x_m_ - stride_m_ * 0.5;
    float g_h = sqrtf(kGravity / offset_y_m_);
    float t = phasetime_s / stridetime_s_;
    float denominator = expf(g_h) - expf(-g_h); //分母

    float x_m = -(s0 * expf(-g_h) - s1) * expf(g_h * t) / denominator + (s0 * expf(g_h) - s1) * expf(-g_h * t) / denominator;
    float y_m = offset_y_m_;
    //x,yを代入
    return leg.SetXY_m(x_m, y_m);
}
void TriangleOrbit::ChangeOneParam(TriangleParams param, float val)
{
    switch (param)
    {
    case OFFSET_X_M:
        offset_x_m_ = val;
        break;
    case OFFSET_Y_M:
        offset_y_m_ = val;
        break;
    case STRIDE_M:
        stride_m_ = val;
        break;
    case HEIGHT_M:
        height_m_ = val;
        break;
    case BUFFER_HEIGHT_M:
        buffer_height_m_ = val;
        break;
    }
    CalOtherParam();
}

void FreeLineOrbit::SetFreeLinesParam(LineParam lineparams[], int point_num)
{
    point_num_ = point_num;
    for (int i = 0; i < point_num_; i++)
        lineparams_[i] = lineparams[i];
}
int FreeLineOrbit::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;
    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 FreeLineOrbit::GetOneWalkTime() //足一周の時間
{
    return lineparams_[point_num_ - 1].time_s;
}
void FreeLineOrbit::SetStandParam(float x_m, float y_m, float time_s)
{
    point_num_ = 2;
    lineparams_[0].x_m = x_m;
    lineparams_[0].y_m = y_m;
    lineparams_[0].time_s = 0;
    lineparams_[1].x_m = x_m;
    lineparams_[1].y_m = y_m;
    lineparams_[1].time_s = time_s;
}
OverCome::OverCome(float start_x_m[4], float start_y_m[4],
                   float d_x_m, float goal_y_m[4], float height_m[4], float gravity_dist[4])
{
    for (int i = 0; i < 4; i++)
    {
        start_x_m_[i] = start_x_m[i]; //足のスタートx
        start_y_m_[i] = start_y_m[i]; //足のスタートy
        goal_y_m_[i] = goal_y_m[i];   //目標地点までのy
        gravity_dist_[i] = gravity_dist[i];
        height_m_[i] = height_m[i];
    }
    d_x_m_ = d_x_m; //目標地点までのx

    d_time_ = 0.5; //各動きの時間
    d_time_slow_ = 0.5;
    next_point_ = 0; //次のparamのindex
    GetLine();
    for (int i = 0; i < 4; i++)
        walk.SetOneLegFreeLinesParam(i, legs_[i], next_point_);
}

void OverCome::Rise(int legnum)
{
    for (int i = 0; i < 4; i++)
    {
        legs_[i][next_point_].time_s = legs_[i][next_point_ - 1].time_s + d_time_;
        legs_[i][next_point_].x_m = legs_[i][next_point_ - 1].x_m;
        legs_[i][next_point_].y_m = legs_[i][next_point_ - 1].y_m;
    }
    legs_[legnum][next_point_].y_m -= height_m_[legnum];
    next_point_++;
}
void OverCome::Forward(int legnum)
{
    for (int i = 0; i < 4; i++)
    {
        legs_[i][next_point_].time_s = legs_[i][next_point_ - 1].time_s + d_time_;
        legs_[i][next_point_].x_m = legs_[i][next_point_ - 1].x_m;
        legs_[i][next_point_].y_m = legs_[i][next_point_ - 1].y_m;
    }
    legs_[legnum][next_point_].x_m += d_x_m_;
    next_point_++;
}
void OverCome::Land(int legnum)
{
    for (int i = 0; i < 4; i++)
    {
        legs_[i][next_point_].time_s = legs_[i][next_point_ - 1].time_s + d_time_slow_;
        legs_[i][next_point_].x_m = legs_[i][next_point_ - 1].x_m;
        legs_[i][next_point_].y_m = legs_[i][next_point_ - 1].y_m;
    }
    legs_[legnum][next_point_].y_m = goal_y_m_[legnum]; //着地
    next_point_++;
}
void OverCome::Step(int legnum)
{
    Rise(legnum);
    Forward(legnum);
    Land(legnum);
}
//重心移動、param direct:動く正負。+-1を入れる
void OverCome::GravityMove(int legnum)
{
    for (int i = 0; i < 4; i++)
    {
        legs_[i][next_point_].time_s = legs_[i][next_point_ - 1].time_s + d_time_;
        legs_[i][next_point_].x_m = legs_[i][next_point_ - 1].x_m - gravity_dist_[legnum];
        legs_[i][next_point_].y_m = legs_[i][next_point_ - 1].y_m;
    }
    ++next_point_;
}
void OverCome::StartPoint()
{
    for (int i = 0; i < 4; i++)
    {
        legs_[i][next_point_].time_s = 0;
        legs_[i][next_point_].x_m = start_x_m_[i];
        legs_[i][next_point_].y_m = start_y_m_[i];
    }
    ++next_point_;
}
void OverCome::GoalPoint()
{
    for (int i = 0; i < 4; i++)
    {
        legs_[i][next_point_].time_s = legs_[i][next_point_ - 1].time_s + d_time_;
        legs_[i][next_point_].x_m = start_x_m_[i];
        legs_[i][next_point_].y_m = goal_y_m_[i];
    }
    ++next_point_;
}
void OverCome::GetLine()
{
    StartPoint(); //スタート時点
    GravityMove(RIGHT_F);
    Step(RIGHT_F);
    GravityMove(LEFT_B);
    Step(LEFT_B);
    GravityMove(LEFT_F);
    Step(LEFT_F);
    GravityMove(RIGHT_B);
    Step(RIGHT_B);
    GoalPoint();
    /*   GravityMove(1);
    Step(RIGHT_B);
    GravityMove(-1);
    Step(RIGHT_F);
    GravityMove(1);
    Step(LEFT_B);
    GravityMove(-1);
    Step(LEFT_F);
    GravityMove(1);
*/
}