岡本 陸 / Mbed 2 deprecated 0311

test

Dependencies:   mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM

Walk/Walk.cpp@22:787a764271dd, 2019-02-17 (annotated)

Committer:
A0413
Date:
Sun Feb 17 14:20:06 2019 +0000
Revision:
22:787a764271dd
Parent:
21:61971fc18b90
Child:
23:97f34a7dc63c
change Walk.cpp & Walk.h ; OneLeg Orbit :: RiseEllipse2; by Inoue

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 21:61971fc18b90 6 void Orbit::SetStraightParam(float stridetime_s, float risetime_s,
shimizuta 21:61971fc18b90 7 float stride_m, float height_m, float ground_m,
shimizuta 21:61971fc18b90 8 float ellipse_center_x_m, float ellipse_center_y_m)
shimizuta 14:d7cb429946f4 9 {
shimizuta 14:d7cb429946f4 10 stridetime_s_ = stridetime_s;
shimizuta 14:d7cb429946f4 11 risetime_s_ = risetime_s;
shimizuta 14:d7cb429946f4 12 stride_m_ = stride_m;
shimizuta 14:d7cb429946f4 13 height_m_ = height_m;
shimizuta 21:61971fc18b90 14 ground_m_ = ground_m;
shimizuta 21:61971fc18b90 15 ellipse_center_x_m_ = ellipse_center_x_m;
shimizuta 21:61971fc18b90 16 ellipse_center_y_m_ = ellipse_center_y_m;
yuto17320508 18:0033ef1814ba 17 }
shimizuta 19:1adc7302cfd9 18
shimizuta 21:61971fc18b90 19 void Orbit::SetStandParam(float ground_m)
yuto17320508 18:0033ef1814ba 20 {
shimizuta 19:1adc7302cfd9 21 stridetime_s_ = 1;
shimizuta 19:1adc7302cfd9 22 risetime_s_ = 0;
shimizuta 19:1adc7302cfd9 23 stride_m_ = 0;
shimizuta 19:1adc7302cfd9 24 height_m_ = 0;
shimizuta 21:61971fc18b90 25 ground_m_ = ground_m;
shimizuta 21:61971fc18b90 26 ellipse_center_x_m_ = 0;
shimizuta 21:61971fc18b90 27 ellipse_center_y_m_ = ground_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 {
shimizuta 21:61971fc18b90 33 float x_m = -stride_m_ * phasetime_s / stridetime_s_ + stride_m_ * 0.5 + ellipse_center_x_m_;
shimizuta 21:61971fc18b90 34 float y_m = ellipse_center_y_m_;
shimizuta 11:e81425872740 35 leg.SetXY_m(x_m, y_m);
shimizuta 11:e81425872740 36 return leg;
shimizuta 11:e81425872740 37 }
shimizuta 21:61971fc18b90 38 //空中の動き.半分にきれいに切れる楕円軌道
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;
shimizuta 21:61971fc18b90 42 float x_m = stride_m_ * 0.5 * cos(rad) + ellipse_center_x_m_;
shimizuta 21:61971fc18b90 43 float y_m = height_m_ * sin(rad) + ellipse_center_y_m_;
shimizuta 21:61971fc18b90 44 leg.SetXY_m(x_m, y_m);
shimizuta 21:61971fc18b90 45 return leg;
shimizuta 21:61971fc18b90 46 }
shimizuta 21:61971fc18b90 47
shimizuta 21:61971fc18b90 48 //空中の動き.完全に半分には切れない楕円軌道
shimizuta 21:61971fc18b90 49 OneLeg Orbit::RiseEllipse2_(OneLeg leg, float phasetime_s)
shimizuta 21:61971fc18b90 50 {
shimizuta 21:61971fc18b90 51 ///////////x,yを計算.注：計算は正しくないので直す必要がある。
A0413 22:787a764271dd 52 float theta1=acosf(stride_m_/ellipse_long_m_*0.5); //stride の始まりの位置の角度（数学基準）
A0413 22:787a764271dd 53 float theta2=acosf(-stride_m_/ellipse_long_m_*0.5); //stride の終わりの位置の角度（数学基準）
A0413 22:787a764271dd 54 float omega=(2*M_PI-theta2+theta1)/risetime_s_; //楕円軌道における角速度、一定の値とする（適当）
A0413 22:787a764271dd 55 float rad=(phasetime_s-stridetime_s_)*omega+theta2; //角度の基準はtheta1とする（適当）
A0413 22:787a764271dd 56 float x_m = ellipse_long_m_* cos(rad) + ellipse_center_x_m_;
A0413 22:787a764271dd 57 float y_m =ellipse_short_m_ * sin(rad) + ellipse_center_y_m_;
shimizuta 21:61971fc18b90 58 ///////////
shimizuta 21:61971fc18b90 59 //x,yを代入
shimizuta 11:e81425872740 60 leg.SetXY_m(x_m, y_m);
shimizuta 11:e81425872740 61 return leg;
shimizuta 11:e81425872740 62 }
shimizuta 11:e81425872740 63 //楕円軌道
shimizuta 11:e81425872740 64 OneLeg Orbit::OrbitEllipse_(OneLeg leg, float phasetime_s)
shimizuta 11:e81425872740 65 {
shimizuta 11:e81425872740 66 if (phasetime_s < stridetime_s_)
shimizuta 11:e81425872740 67 return StrideLine_(leg, phasetime_s);
shimizuta 11:e81425872740 68 else
shimizuta 11:e81425872740 69 return RiseEllipse_(leg, phasetime_s);
shimizuta 11:e81425872740 70 }
shimizuta 11:e81425872740 71 //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 72 OneLeg Orbit::GetOrbit(OneLeg leg, float phasetime_s)
shimizuta 11:e81425872740 73 {
shimizuta 11:e81425872740 74 return OrbitEllipse_(leg, phasetime_s);
shimizuta 11:e81425872740 75 }
shimizuta 11:e81425872740 76 float Orbit::GetOneWalkTime()
shimizuta 11:e81425872740 77 {
shimizuta 11:e81425872740 78 return stridetime_s_ + risetime_s_;
shimizuta 11:e81425872740 79 }
shimizuta 11:e81425872740 80
shimizuta 11:e81425872740 81 Walk::Walk(Orbit orbit[4], float offsettime_s[4], float cycletime_s)
shimizuta 11:e81425872740 82 {
shimizuta 11:e81425872740 83 for (int i = 0; i < 4; i++)
shimizuta 11:e81425872740 84 {
shimizuta 11:e81425872740 85 orbit_[i] = orbit[i];
shimizuta 11:e81425872740 86 offsettime_s_[i] = offsettime_s[i];
shimizuta 11:e81425872740 87 }
shimizuta 11:e81425872740 88 cycletime_s_ = cycletime_s;
shimizuta 11:e81425872740 89 }
shimizuta 11:e81425872740 90 void Walk::Cal4LegsPosi(OneLeg (&leg)[4])
shimizuta 11:e81425872740 91 {
shimizuta 11:e81425872740 92 phasetime_s_ += cycletime_s_;
shimizuta 14:d7cb429946f4 93 while (phasetime_s_ > orbit_[0].GetOneWalkTime())
shimizuta 14:d7cb429946f4 94 phasetime_s_ -= orbit_[0].GetOneWalkTime();
shimizuta 11:e81425872740 95 for (int i = 0; i < 4; i++)
shimizuta 11:e81425872740 96 {
shimizuta 11:e81425872740 97 float phasetime_s = phasetime_s_ + offsettime_s_[i];
shimizuta 11:e81425872740 98 while (phasetime_s > orbit_[i].GetOneWalkTime())
shimizuta 11:e81425872740 99 phasetime_s -= orbit_[i].GetOneWalkTime();
shimizuta 11:e81425872740 100 leg[i] = orbit_[i].GetOrbit(leg[i], phasetime_s);
shimizuta 11:e81425872740 101 }
shimizuta 11:e81425872740 102 }