Diff: Walk/Walk.h

Revision:

18:0033ef1814ba

Parent:

14:d7cb429946f4

Child:

19:1adc7302cfd9

diff -r ca18c5980a34 -r 0033ef1814ba Walk/Walk.h
--- a/Walk/Walk.h	Wed Feb 13 07:49:24 2019 +0000
+++ b/Walk/Walk.h	Thu Feb 14 09:04:25 2019 +0000
@@ -14,6 +14,7 @@
     float stride_m_;
     float height_m_;                                   //足の上げ幅
     float ground_m_;                                   //着地するときの高さ
+    float offset_x_m_;
     OneLeg StrideLine_(OneLeg leg, float phasetime_s); //時間をもとに位置を取得したインスタンスを直接返して代入させる
     OneLeg RiseEllipse_(OneLeg leg, float phasetime_s);
     OneLeg OrbitEllipse_(OneLeg leg, float phasetime_s); //Stride, Riseを組み合わせて周期を作る
@@ -24,8 +25,8 @@
     Orbit(OrbitPattern orbitType);
     //このクラスのメイン　privateへのアクセス関数
     OneLeg GetOrbit(OneLeg leg, float phasetime_s);
-
-    void SetStraightParam(float stridetime_s, float risetime_s, float stride_m, float height_m, float ground_m);
+void SetStraightParam(float stridetime_s, float risetime_s, float stride_m, float height_m, float ground_m);
+    void SetStraightParam(float stridetime_s, float risetime_s, float stride_m, float height_m, float ground_m, float offset_x_m);
     float GetOneWalkTime(); //足一周の時間
 };