岡本 陸 / Mbed 2 deprecated 0311

test

Dependencies:   mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM

Walk/orbit/orbit.cpp@39:87dcdff27797, 2019-03-04 (annotated)

Committer:
shimizuta
Date:
Mon Mar 04 23:41:48 2019 +0000
Revision:
39:87dcdff27797
Parent:
35:b4e1b8f25cd7 
made FourPoint at OVERCOME;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimizuta 35:b4e1b8f25cd7 1 #include "orbit.h"
shimizuta 35:b4e1b8f25cd7 2
shimizuta 35:b4e1b8f25cd7 3 Orbit::Orbit(OrbitPattern pattern)
shimizuta 35:b4e1b8f25cd7 4 {
shimizuta 35:b4e1b8f25cd7 5 pattern_ = pattern;
shimizuta 35:b4e1b8f25cd7 6 }
shimizuta 35:b4e1b8f25cd7 7 float Orbit::GetOneWalkTime()
shimizuta 35:b4e1b8f25cd7 8 {
shimizuta 35:b4e1b8f25cd7 9 float time_s;
shimizuta 35:b4e1b8f25cd7 10 switch (pattern_)
shimizuta 35:b4e1b8f25cd7 11 {
shimizuta 35:b4e1b8f25cd7 12 case FREELINES:
shimizuta 35:b4e1b8f25cd7 13 time_s = FreeLines::GetOneWalkTime();
shimizuta 35:b4e1b8f25cd7 14 break;
shimizuta 39:87dcdff27797 15 case FOURPOINT:
shimizuta 39:87dcdff27797 16 time_s = FourPoint::GetOneWalkTime();
shimizuta 39:87dcdff27797 17 break;
shimizuta 35:b4e1b8f25cd7 18 default:
shimizuta 35:b4e1b8f25cd7 19 time_s = Triangle::GetOneWalkTime();
shimizuta 35:b4e1b8f25cd7 20 break;
shimizuta 35:b4e1b8f25cd7 21 }
shimizuta 35:b4e1b8f25cd7 22 return time_s;
shimizuta 35:b4e1b8f25cd7 23 }
shimizuta 35:b4e1b8f25cd7 24 int Orbit::GetOrbit(OneLeg &leg, float phasetime_s)
shimizuta 35:b4e1b8f25cd7 25 {
shimizuta 35:b4e1b8f25cd7 26 int ret;
shimizuta 35:b4e1b8f25cd7 27 switch (pattern_)
shimizuta 35:b4e1b8f25cd7 28 {
shimizuta 35:b4e1b8f25cd7 29 case FREELINES:
shimizuta 35:b4e1b8f25cd7 30 ret = FreeLines::GetOrbit(leg, phasetime_s);
shimizuta 35:b4e1b8f25cd7 31 break;
shimizuta 39:87dcdff27797 32 case FOURPOINT:
shimizuta 39:87dcdff27797 33 ret = FourPoint::GetOrbit(leg, phasetime_s);
shimizuta 39:87dcdff27797 34 break;
shimizuta 35:b4e1b8f25cd7 35 default:
shimizuta 35:b4e1b8f25cd7 36 ret = Triangle::GetOrbit(leg, phasetime_s);
shimizuta 35:b4e1b8f25cd7 37 break;
shimizuta 35:b4e1b8f25cd7 38 }
shimizuta 35:b4e1b8f25cd7 39 return ret;
shimizuta 35:b4e1b8f25cd7 40 }
shimizuta 39:87dcdff27797 41 void Orbit::Copy(const Orbit &origin)
shimizuta 39:87dcdff27797 42 {
shimizuta 35:b4e1b8f25cd7 43 pattern_ = origin.pattern_;
shimizuta 35:b4e1b8f25cd7 44 switch (pattern_)
shimizuta 35:b4e1b8f25cd7 45 {
shimizuta 35:b4e1b8f25cd7 46 case FREELINES:
shimizuta 35:b4e1b8f25cd7 47 FreeLines::Copy((FreeLines)origin);
shimizuta 35:b4e1b8f25cd7 48 break;
shimizuta 39:87dcdff27797 49 case FOURPOINT:
shimizuta 39:87dcdff27797 50 FourPoint::Copy((FourPoint)origin);
shimizuta 39:87dcdff27797 51 break;
shimizuta 35:b4e1b8f25cd7 52 default:
shimizuta 35:b4e1b8f25cd7 53 Triangle::Copy((Triangle)origin);
shimizuta 35:b4e1b8f25cd7 54 break;
shimizuta 35:b4e1b8f25cd7 55 }
shimizuta 35:b4e1b8f25cd7 56 }