岡本 陸 / Mbed 2 deprecated 0311

test

Dependencies:   mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM

Walk/change_walk.cpp@44:4aac39b8670b, 2019-03-07 (annotated)

Committer:
shimizuta
Date:
Thu Mar 07 06:36:34 2019 +0000
Revision:
44:4aac39b8670b
Parent:
42:982064594ba6
Child:
45:0654364226c9
over come finished

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimizuta 44:4aac39b8670b 1 /*walk設定用関数.
shimizuta 44:4aac39b8670b 2 param walk:結果を入れる箱
shimizuta 44:4aac39b8670b 3 各パラメータの意味はOrbitクラスの基底クラスまで遡る必要があるので注意。
shimizuta 44:4aac39b8670b 4 */
shimizuta 35:b4e1b8f25cd7 5 #include "change_walk.h"
shimizuta 35:b4e1b8f25cd7 6 void SetOneLegStandParam(Walk &walk, int legnum, float x_m, float y_m, float time_s)
shimizuta 35:b4e1b8f25cd7 7 {
shimizuta 39:87dcdff27797 8 Orbit freeline(FREELINES);
shimizuta 39:87dcdff27797 9 LineParam line[]{
shimizuta 42:982064594ba6 10 {.time_s = 0, .x_m = x_m, .y_m = y_m, .is_point_to_point = 0},
shimizuta 42:982064594ba6 11 {.time_s = time_s, .x_m = x_m, .y_m = y_m, .is_point_to_point = 0},
shimizuta 39:87dcdff27797 12 };
shimizuta 44:4aac39b8670b 13 freeline.SetFreeLinesParam(line, sizeof(line) / sizeof(line[0]));
shimizuta 39:87dcdff27797 14 walk.orbit[legnum].Copy(freeline);
shimizuta 35:b4e1b8f25cd7 15 }
shimizuta 35:b4e1b8f25cd7 16 void SetOneLegTriangleParam(Walk &walk, int legnum, float offset_x_m, float offset_y_m, float stride_m, float height_m, float buffer_height_m,
shimizuta 35:b4e1b8f25cd7 17 float stridetime_s, float toptime_s, float buffer_time_s)
shimizuta 35:b4e1b8f25cd7 18 {
shimizuta 35:b4e1b8f25cd7 19 Orbit triangle(TRIANGLE);
shimizuta 35:b4e1b8f25cd7 20 triangle.SetTriangleParam(offset_x_m, offset_y_m, stride_m, height_m, buffer_height_m,
shimizuta 35:b4e1b8f25cd7 21 stridetime_s, toptime_s, buffer_time_s);
shimizuta 35:b4e1b8f25cd7 22 walk.orbit[legnum].Copy(triangle);
shimizuta 35:b4e1b8f25cd7 23 }
shimizuta 39:87dcdff27797 24
shimizuta 39:87dcdff27797 25 void SetOneLegFourPointParam(Walk &walk, int legnum, float offset_x_m, float offset_y_m, float stride_m, float height_m, float buffer_height_m,
shimizuta 44:4aac39b8670b 26 float stridetime_s, float toptime_s, float buffer_time_s)
shimizuta 39:87dcdff27797 27 {
shimizuta 39:87dcdff27797 28 Orbit four(FOURPOINT);
shimizuta 39:87dcdff27797 29 four.SetFourPointParam(offset_x_m, offset_y_m, stride_m, height_m, buffer_height_m,
shimizuta 44:4aac39b8670b 30 stridetime_s, toptime_s, buffer_time_s);
shimizuta 39:87dcdff27797 31 walk.orbit[legnum].Copy(four);
shimizuta 39:87dcdff27797 32 }
shimizuta 35:b4e1b8f25cd7 33 void SetOneLegFreeLinesParam(Walk &walk, int legnum, LineParam lineparams[], int point_num)
shimizuta 35:b4e1b8f25cd7 34 {
shimizuta 35:b4e1b8f25cd7 35 Orbit freeline(FREELINES);
shimizuta 35:b4e1b8f25cd7 36 freeline.SetFreeLinesParam(lineparams, point_num);
shimizuta 35:b4e1b8f25cd7 37 walk.orbit[legnum].Copy(freeline);
shimizuta 35:b4e1b8f25cd7 38 }