岡本 陸 / Mbed 2 deprecated 0311

test

Dependencies:   mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM

Walk/orbit/orbit.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 "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 35:b4e1b8f25cd7 15 default:
shimizuta 35:b4e1b8f25cd7 16 time_s = Triangle::GetOneWalkTime();
shimizuta 35:b4e1b8f25cd7 17 break;
shimizuta 35:b4e1b8f25cd7 18 }
shimizuta 35:b4e1b8f25cd7 19 return time_s;
shimizuta 35:b4e1b8f25cd7 20 }
shimizuta 35:b4e1b8f25cd7 21 int Orbit::GetOrbit(OneLeg &leg, float phasetime_s)
shimizuta 35:b4e1b8f25cd7 22 {
shimizuta 35:b4e1b8f25cd7 23 int ret;
shimizuta 35:b4e1b8f25cd7 24 switch (pattern_)
shimizuta 35:b4e1b8f25cd7 25 {
shimizuta 35:b4e1b8f25cd7 26 case FREELINES:
shimizuta 35:b4e1b8f25cd7 27 ret = FreeLines::GetOrbit(leg, phasetime_s);
shimizuta 35:b4e1b8f25cd7 28 break;
shimizuta 35:b4e1b8f25cd7 29 default:
shimizuta 35:b4e1b8f25cd7 30 ret = Triangle::GetOrbit(leg, phasetime_s);
shimizuta 35:b4e1b8f25cd7 31 break;
shimizuta 35:b4e1b8f25cd7 32 }
shimizuta 35:b4e1b8f25cd7 33 return ret;
shimizuta 35:b4e1b8f25cd7 34 }
shimizuta 35:b4e1b8f25cd7 35 void Orbit::Copy(const Orbit &origin){
shimizuta 35:b4e1b8f25cd7 36 pattern_ = origin.pattern_;
shimizuta 35:b4e1b8f25cd7 37 switch (pattern_)
shimizuta 35:b4e1b8f25cd7 38 {
shimizuta 35:b4e1b8f25cd7 39 case FREELINES:
shimizuta 35:b4e1b8f25cd7 40 FreeLines::Copy((FreeLines)origin);
shimizuta 35:b4e1b8f25cd7 41 break;
shimizuta 35:b4e1b8f25cd7 42 default:
shimizuta 35:b4e1b8f25cd7 43 Triangle::Copy((Triangle)origin);
shimizuta 35:b4e1b8f25cd7 44 break;
shimizuta 35:b4e1b8f25cd7 45 }
shimizuta 35:b4e1b8f25cd7 46 }