Diff: Walk/Walk.cpp

Revision:

44:4aac39b8670b

Parent:

43:2ed84f3558c1

diff -r 2ed84f3558c1 -r 4aac39b8670b Walk/Walk.cpp
--- a/Walk/Walk.cpp	Wed Mar 06 12:13:46 2019 +0000
+++ b/Walk/Walk.cpp	Thu Mar 07 06:36:34 2019 +0000
@@ -2,7 +2,8 @@
 #include <stdio.h>
 Walk::Walk(OneLeg legs[4])
 {
-    for (int i = 0; i < 4; i++){
+    for (int i = 0; i < 4; i++)
+    {
         offset_multi[i] = 0;
         leg[i] = legs[i];
     }
@@ -48,17 +49,21 @@
                 return 1; //解が出ないときは1を返す
             }
         }
-        phasetime_s_[i] = one_walk_time * offset_multi[i];
     }
+    ResetPhase();
     return 0;
 }
 void Walk::Copy(Walk &walk)
 {
     for (int i = 0; i < 4; i++)
-       { 
-           orbit[i].Copy(walk.orbit[i]);
+    {
+        orbit[i].Copy(walk.orbit[i]);
         phasetime_s_[i] = walk.phasetime_s_[i];
         offset_multi[i] = walk.offset_multi[i];
         leg[i] = walk.leg[i];
-       }
+    }
+}
+void Walk::ResetPhase(){
+    for (int i = 0; i < 4; i++)
+        phasetime_s_[i] = orbit[i].GetOneWalkTime() * offset_multi[i];
 }
\ No newline at end of file