岡本 陸 / Mbed 2 deprecated 0311

test

Dependencies:   mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM

Walk/Walk.cpp@24:dec983da455c, 2019-02-18 (annotated)

Committer:
A0413
Date:
Mon Feb 18 10:20:09 2019 +0000
Revision:
24:dec983da455c
Parent:
23:97f34a7dc63c
Child:
26:24ae5a4f5b1f
change Walk.cpp StrideLineAccel;

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 23:97f34a7dc63c 38
shimizuta 23:97f34a7dc63c 39 //着地中の動き.直線軌道.加速
shimizuta 23:97f34a7dc63c 40 OneLeg Orbit::StrideLineAccel_(OneLeg leg, float phasetime_s)
shimizuta 23:97f34a7dc63c 41 {
shimizuta 23:97f34a7dc63c 42 ///////////x,yを計算.注：計算は正しくないので直す必要がある。
A0413 24:dec983da455c 43 float s0=stride_m_*0.5+ellipse_center_x_m_
A0413 24:dec983da455c 44 float s1=-stride_m_*0.5+ellipse_center_x_m_
A0413 24:dec983da455c 45
A0413 24:dec983da455c 46 float gravity=9.8;
A0413 24:dec983da455c 47 float g_h=sqrtf(gravity/ground_m_);
A0413 24:dec983da455c 48 float t=phasetime_s/stride_time_s_;
A0413 24:dec983da455c 49 float denominator=expf(g_h)-expf(-g_h);//分母
A0413 24:dec983da455c 50
A0413 24:dec983da455c 51 float x_m = -(s0*expf(-g_h)-s1)*expf(g_h*t)/denominator + (s0*expf(g_h)-s1)*expf(-g_h*t)/denominator;
A0413 24:dec983da455c 52 float y_m = ground_m_;
shimizuta 23:97f34a7dc63c 53 ///////////
shimizuta 23:97f34a7dc63c 54 //x,yを代入
shimizuta 23:97f34a7dc63c 55 leg.SetXY_m(x_m, y_m);
shimizuta 23:97f34a7dc63c 56 return leg;
shimizuta 23:97f34a7dc63c 57 }
shimizuta 23:97f34a7dc63c 58
shimizuta 21:61971fc18b90 59 //空中の動き.半分にきれいに切れる楕円軌道
shimizuta 11:e81425872740 60 OneLeg Orbit::RiseEllipse_(OneLeg leg, float phasetime_s)
shimizuta 11:e81425872740 61 {
shimizuta 14:d7cb429946f4 62 float rad = M_PI * (phasetime_s - stridetime_s_) / risetime_s_ + M_PI;
shimizuta 21:61971fc18b90 63 float x_m = stride_m_ * 0.5 * cos(rad) + ellipse_center_x_m_;
shimizuta 21:61971fc18b90 64 float y_m = height_m_ * sin(rad) + ellipse_center_y_m_;
shimizuta 21:61971fc18b90 65 leg.SetXY_m(x_m, y_m);
shimizuta 21:61971fc18b90 66 return leg;
shimizuta 21:61971fc18b90 67 }
shimizuta 21:61971fc18b90 68
shimizuta 21:61971fc18b90 69 //空中の動き.完全に半分には切れない楕円軌道
shimizuta 21:61971fc18b90 70 OneLeg Orbit::RiseEllipse2_(OneLeg leg, float phasetime_s)
shimizuta 21:61971fc18b90 71 {
shimizuta 21:61971fc18b90 72 ///////////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 73 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 74 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 75 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 76 float rad=(phasetime_s-stridetime_s_)*omega+theta2; //角度の基準はtheta1とする（適当）
A0413 22:787a764271dd 77 float x_m = ellipse_long_m_* cos(rad) + ellipse_center_x_m_;
A0413 22:787a764271dd 78 float y_m =ellipse_short_m_ * sin(rad) + ellipse_center_y_m_;
shimizuta 21:61971fc18b90 79 ///////////
shimizuta 21:61971fc18b90 80 //x,yを代入
shimizuta 11:e81425872740 81 leg.SetXY_m(x_m, y_m);
shimizuta 11:e81425872740 82 return leg;
shimizuta 11:e81425872740 83 }
shimizuta 11:e81425872740 84 //楕円軌道
shimizuta 11:e81425872740 85 OneLeg Orbit::OrbitEllipse_(OneLeg leg, float phasetime_s)
shimizuta 11:e81425872740 86 {
shimizuta 11:e81425872740 87 if (phasetime_s < stridetime_s_)
shimizuta 11:e81425872740 88 return StrideLine_(leg, phasetime_s);
shimizuta 11:e81425872740 89 else
shimizuta 11:e81425872740 90 return RiseEllipse_(leg, phasetime_s);
shimizuta 11:e81425872740 91 }
shimizuta 11:e81425872740 92 //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 93 OneLeg Orbit::GetOrbit(OneLeg leg, float phasetime_s)
shimizuta 11:e81425872740 94 {
shimizuta 11:e81425872740 95 return OrbitEllipse_(leg, phasetime_s);
shimizuta 11:e81425872740 96 }
shimizuta 11:e81425872740 97 float Orbit::GetOneWalkTime()
shimizuta 11:e81425872740 98 {
shimizuta 11:e81425872740 99 return stridetime_s_ + risetime_s_;
shimizuta 11:e81425872740 100 }
shimizuta 11:e81425872740 101
shimizuta 11:e81425872740 102 Walk::Walk(Orbit orbit[4], float offsettime_s[4], float cycletime_s)
shimizuta 11:e81425872740 103 {
shimizuta 11:e81425872740 104 for (int i = 0; i < 4; i++)
shimizuta 11:e81425872740 105 {
shimizuta 11:e81425872740 106 orbit_[i] = orbit[i];
shimizuta 11:e81425872740 107 offsettime_s_[i] = offsettime_s[i];
shimizuta 11:e81425872740 108 }
shimizuta 11:e81425872740 109 cycletime_s_ = cycletime_s;
shimizuta 11:e81425872740 110 }
shimizuta 11:e81425872740 111 void Walk::Cal4LegsPosi(OneLeg (&leg)[4])
shimizuta 11:e81425872740 112 {
shimizuta 11:e81425872740 113 phasetime_s_ += cycletime_s_;
shimizuta 14:d7cb429946f4 114 while (phasetime_s_ > orbit_[0].GetOneWalkTime())
shimizuta 14:d7cb429946f4 115 phasetime_s_ -= orbit_[0].GetOneWalkTime();
shimizuta 11:e81425872740 116 for (int i = 0; i < 4; i++)
shimizuta 11:e81425872740 117 {
shimizuta 11:e81425872740 118 float phasetime_s = phasetime_s_ + offsettime_s_[i];
shimizuta 11:e81425872740 119 while (phasetime_s > orbit_[i].GetOneWalkTime())
shimizuta 11:e81425872740 120 phasetime_s -= orbit_[i].GetOneWalkTime();
shimizuta 11:e81425872740 121 leg[i] = orbit_[i].GetOrbit(leg[i], phasetime_s);
shimizuta 11:e81425872740 122 }
shimizuta 11:e81425872740 123 }