File content as of revision 11:e81425872740:

#ifndef INCLUDED_WALK_H
#define INCLUDED_WALK_H
#include "OneLeg.h"

//足の軌道を設定するクラス。
class Orbit
{
    float stridetime_s_;
    float risetime_s_;
    float stride_m_;
    float height_m_; //足の上げ幅
    float ground_m_; //着地するときの高さ
    OneLeg StrideLine_(OneLeg leg, float phasetime_s);
    OneLeg RiseEllipse_(OneLeg leg, float phasetime_s);
    OneLeg OrbitEllipse_(OneLeg leg, float phasetime_s);

  public:
    Orbit(){};
    Orbit(float stridetime_s, float risetime_s, float stride_m, float height_m, float ground_m);
    OneLeg GetOrbit(OneLeg leg, float phasetime_s);
    float GetOneWalkTime(); //足一周の時間
};

//4足の足の動かし方を保存するクラス
class Walk
{
    float phasetime_s_;
    float offsettime_s_[4];

  public:
    Walk(Orbit orbit[4], float offsettime_s[4], float cycletime_s);
    float cycletime_s_;
    Orbit orbit_[4];
    void Cal4LegsPosi(OneLeg (&leg)[4]);
};
#endif