test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
OneLeg/OneLeg.cpp
- Committer:
- shimizuta
- Date:
- 2019-02-12
- Revision:
- 14:d7cb429946f4
- Parent:
- 11:e81425872740
- Child:
- 19:1adc7302cfd9
File content as of revision 14:d7cb429946f4:
#include "OneLeg.h" #include "mbed.h" #include "pi.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_; } void OneLeg::SetXY_m(float x_m, float y_m) { CalServoRad(x_m, y_m); if (isnan(GetRad(0)) || isnan(GetRad(1))) printf("error:(x,y) = (%f,%f) is out of range ", x_m, y_m); else { x_m_ = x_m; y_m_ = y_m; } } OneLeg::OneLeg(float between_servo_half_m, float leglength1, float leglength2) { rad_[0] = 0; rad_[1] = M_PI; between_servo_half_m_ = between_servo_half_m; leglength1_ = leglength1; leglength2_ = leglength2; } void OneLeg::CalServoRad(float x_m, float y_m) { //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 = leglength1_ * leglength1_ - leglength2_ * leglength2_; 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 + r1 * r1) / (2.0f * r1 * leglength1_)), atan2(y_m, temp_x[0]) + acos((temp_L + r2 * r2) / (2.0f * r2 * leglength1_))}; for (size_t i = 0; i < 2; i++) SetRad(targetTheta[i], i); } void OneLeg::SetRad(float rad, int servo_num) { rad_[servo_num] = rad; } float OneLeg::GetRad(int servo_num) { return rad_[servo_num]; }