岡本 陸 / Mbed 2 deprecated 0311

test

Dependencies:   mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM

Walk/Walk.cpp@18:0033ef1814ba, 2019-02-14 (annotated)

Committer:
yuto17320508
Date:
Thu Feb 14 09:04:25 2019 +0000
Revision:
18:0033ef1814ba
Parent:
14:d7cb429946f4
Child:
19:1adc7302cfd9
move

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimizuta 11:e81425872740 1 #include "Walk.h"
shimizuta 11:e81425872740 2 #include "math.h"
shimizuta 14:d7cb429946f4 3 #include "pi.h"
yuto17320508 13:e7ecdb20665a 4 //Orbitは足毎の軌道をあらわす。
yuto17320508 13:e7ecdb20665a 5
shimizuta 14:d7cb429946f4 6 Orbit::Orbit(OrbitPattern orbitType)
shimizuta 11:e81425872740 7 {
yuto17320508 13:e7ecdb20665a 8 orbitType_ = orbitType;
shimizuta 11:e81425872740 9 }
yuto17320508 18:0033ef1814ba 10
shimizuta 14:d7cb429946f4 11 void Orbit::SetStraightParam(float stridetime_s, float risetime_s, float stride_m, float height_m, float ground_m)
shimizuta 14:d7cb429946f4 12 {
shimizuta 14:d7cb429946f4 13 stridetime_s_ = stridetime_s;
shimizuta 14:d7cb429946f4 14 risetime_s_ = risetime_s;
shimizuta 14:d7cb429946f4 15 stride_m_ = stride_m;
shimizuta 14:d7cb429946f4 16 height_m_ = height_m;
shimizuta 14:d7cb429946f4 17 ground_m_ = ground_m;
yuto17320508 18:0033ef1814ba 18 offset_x_m_ = 0;
yuto17320508 18:0033ef1814ba 19 }
yuto17320508 18:0033ef1814ba 20 void Orbit::SetStraightParam(float stridetime_s, float risetime_s, float stride_m, float height_m, float ground_m, float offset_x_m)
yuto17320508 18:0033ef1814ba 21 {
yuto17320508 18:0033ef1814ba 22 stridetime_s_ = stridetime_s;
yuto17320508 18:0033ef1814ba 23 risetime_s_ = risetime_s;
yuto17320508 18:0033ef1814ba 24 stride_m_ = stride_m;
yuto17320508 18:0033ef1814ba 25 height_m_ = height_m;
yuto17320508 18:0033ef1814ba 26 ground_m_ = ground_m;
yuto17320508 18:0033ef1814ba 27 offset_x_m_ = offset_x_m;
shimizuta 14:d7cb429946f4 28 }
shimizuta 14:d7cb429946f4 29
shimizuta 11:e81425872740 30 //着地中の動き.直線軌道.等速
shimizuta 11:e81425872740 31 OneLeg Orbit::StrideLine_(OneLeg leg, float phasetime_s)
shimizuta 11:e81425872740 32 {
yuto17320508 18:0033ef1814ba 33 float x_m = -stride_m_ * phasetime_s / stridetime_s_ + stride_m_ * 0.5 - offset_x_m_;
shimizuta 11:e81425872740 34 float y_m = ground_m_;
shimizuta 11:e81425872740 35 leg.SetXY_m(x_m, y_m);
shimizuta 11:e81425872740 36 return leg;
shimizuta 11:e81425872740 37 }
shimizuta 11:e81425872740 38 //空中の動き.楕円軌道
shimizuta 11:e81425872740 39 OneLeg Orbit::RiseEllipse_(OneLeg leg, float phasetime_s)
shimizuta 11:e81425872740 40 {
shimizuta 14:d7cb429946f4 41 float rad = M_PI * (phasetime_s - stridetime_s_) / risetime_s_ + M_PI;
yuto17320508 18:0033ef1814ba 42 float x_m = stride_m_ * 0.5 * cos(rad) - offset_x_m_;
shimizuta 11:e81425872740 43 float y_m = height_m_ * sin(rad) + ground_m_;
shimizuta 11:e81425872740 44 leg.SetXY_m(x_m, y_m);
shimizuta 11:e81425872740 45 return leg;
shimizuta 11:e81425872740 46 }
shimizuta 11:e81425872740 47 //楕円軌道
shimizuta 11:e81425872740 48 OneLeg Orbit::OrbitEllipse_(OneLeg leg, float phasetime_s)
shimizuta 11:e81425872740 49 {
shimizuta 11:e81425872740 50 if (phasetime_s < stridetime_s_)
shimizuta 11:e81425872740 51 return StrideLine_(leg, phasetime_s);
shimizuta 11:e81425872740 52 else
shimizuta 11:e81425872740 53 return RiseEllipse_(leg, phasetime_s);
shimizuta 11:e81425872740 54 }
shimizuta 11:e81425872740 55 //将来的には引数などで軌道の種類を変えて出力できるようにしたい。
shimizuta 11:e81425872740 56 OneLeg Orbit::GetOrbit(OneLeg leg, float phasetime_s)
shimizuta 11:e81425872740 57 {
shimizuta 11:e81425872740 58 return OrbitEllipse_(leg, phasetime_s);
shimizuta 11:e81425872740 59 }
shimizuta 11:e81425872740 60 float Orbit::GetOneWalkTime()
shimizuta 11:e81425872740 61 {
shimizuta 11:e81425872740 62 return stridetime_s_ + risetime_s_;
shimizuta 11:e81425872740 63 }
shimizuta 11:e81425872740 64
shimizuta 11:e81425872740 65 Walk::Walk(Orbit orbit[4], float offsettime_s[4], float cycletime_s)
shimizuta 11:e81425872740 66 {
shimizuta 11:e81425872740 67 for (int i = 0; i < 4; i++)
shimizuta 11:e81425872740 68 {
shimizuta 11:e81425872740 69 orbit_[i] = orbit[i];
shimizuta 11:e81425872740 70 offsettime_s_[i] = offsettime_s[i];
shimizuta 11:e81425872740 71 }
shimizuta 11:e81425872740 72 cycletime_s_ = cycletime_s;
shimizuta 11:e81425872740 73 }
shimizuta 11:e81425872740 74 void Walk::Cal4LegsPosi(OneLeg (&leg)[4])
shimizuta 11:e81425872740 75 {
shimizuta 11:e81425872740 76 phasetime_s_ += cycletime_s_;
shimizuta 14:d7cb429946f4 77 while (phasetime_s_ > orbit_[0].GetOneWalkTime())
shimizuta 14:d7cb429946f4 78 phasetime_s_ -= orbit_[0].GetOneWalkTime();
shimizuta 11:e81425872740 79 for (int i = 0; i < 4; i++)
shimizuta 11:e81425872740 80 {
shimizuta 11:e81425872740 81 float phasetime_s = phasetime_s_ + offsettime_s_[i];
shimizuta 11:e81425872740 82 while (phasetime_s > orbit_[i].GetOneWalkTime())
shimizuta 11:e81425872740 83 phasetime_s -= orbit_[i].GetOneWalkTime();
shimizuta 11:e81425872740 84 leg[i] = orbit_[i].GetOrbit(leg[i], phasetime_s);
shimizuta 11:e81425872740 85 }
shimizuta 11:e81425872740 86 }