test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Diff: Walk/Walk.h
- Revision:
- 19:1adc7302cfd9
- Parent:
- 18:0033ef1814ba
- Child:
- 21:61971fc18b90
diff -r 0033ef1814ba -r 1adc7302cfd9 Walk/Walk.h --- a/Walk/Walk.h Thu Feb 14 09:04:25 2019 +0000 +++ b/Walk/Walk.h Fri Feb 15 03:46:52 2019 +0000 @@ -13,20 +13,20 @@ float risetime_s_; 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_; + float offset_y_m_; //軌道の高さ + float offset_x_m_;//軌道のx方向のoffset 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 public: Orbit(){}; - //コンストラクタは代入のみ + //コンストラクタは代入のみ.現状パターンは未実装 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, float offset_x_m); + void SetStraightParam(float stridetime_s, float risetime_s, float stride_m, float height_m, float offset_x_m, float offset_y_m); + void SetStandParam(float offset_y_m); float GetOneWalkTime(); //足一周の時間 };