岡本 陸 / Mbed 2 deprecated 0311

test

Dependencies:   mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM

Walk/change_walk.cpp@35:b4e1b8f25cd7, 2019-03-04 (annotated)

Committer:
shimizuta
Date:
Mon Mar 04 09:54:47 2019 +0000
Revision:
35:b4e1b8f25cd7
Child:
39:87dcdff27797
new MR2;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimizuta 35:b4e1b8f25cd7 1 #include "change_walk.h"
shimizuta 35:b4e1b8f25cd7 2 void SetOneLegStandParam(Walk &walk, int legnum, float x_m, float y_m, float time_s)
shimizuta 35:b4e1b8f25cd7 3 {
shimizuta 35:b4e1b8f25cd7 4 Orbit triangle(TRIANGLE);
shimizuta 35:b4e1b8f25cd7 5 triangle.SetTriangleParam(x_m, y_m, 0, 0, 0, time_s, 0, 0);
shimizuta 35:b4e1b8f25cd7 6 walk.orbit[legnum].Copy(triangle);
shimizuta 35:b4e1b8f25cd7 7 }
shimizuta 35:b4e1b8f25cd7 8
shimizuta 35:b4e1b8f25cd7 9 void SetAllLegsTriangleParam(Walk &walk, float offset_x_m[4], float offset_y_m[4],
shimizuta 35:b4e1b8f25cd7 10 float stride_m[4], float height_m, float buffer_height_m,
shimizuta 35:b4e1b8f25cd7 11 float stridetime_s, float toptime_s, float buffer_time_s)
shimizuta 35:b4e1b8f25cd7 12 {
shimizuta 35:b4e1b8f25cd7 13
shimizuta 35:b4e1b8f25cd7 14 }
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 35:b4e1b8f25cd7 24 void SetOneLegFreeLinesParam(Walk &walk, int legnum, LineParam lineparams[], int point_num)
shimizuta 35:b4e1b8f25cd7 25 {
shimizuta 35:b4e1b8f25cd7 26 Orbit freeline(FREELINES);
shimizuta 35:b4e1b8f25cd7 27 freeline.SetFreeLinesParam(lineparams, point_num);
shimizuta 35:b4e1b8f25cd7 28 walk.orbit[legnum].Copy(freeline);
shimizuta 35:b4e1b8f25cd7 29 }