File content as of revision 11:e81425872740:

#include "OneLeg.h"
#include "mbed.h"
const float M_PI = 3.141592;
//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];
}