Diff: Walk/change_walk.cpp

Revision:

44:4aac39b8670b

Parent:

42:982064594ba6

Child:

45:0654364226c9

diff -r 2ed84f3558c1 -r 4aac39b8670b Walk/change_walk.cpp
--- a/Walk/change_walk.cpp	Wed Mar 06 12:13:46 2019 +0000
+++ b/Walk/change_walk.cpp	Thu Mar 07 06:36:34 2019 +0000
@@ -1,3 +1,7 @@
+/*walk設定用関数.
+param walk:結果を入れる箱
+各パラメータの意味はOrbitクラスの基底クラスまで遡る必要があるので注意。
+*/
 #include "change_walk.h"
 void SetOneLegStandParam(Walk &walk, int legnum, float x_m, float y_m, float time_s)
 {
@@ -6,7 +10,7 @@
         {.time_s = 0, .x_m = x_m, .y_m = y_m, .is_point_to_point = 0},
         {.time_s = time_s, .x_m = x_m, .y_m = y_m, .is_point_to_point = 0},
     };
-    freeline.SetFreeLinesParam(line, sizeof(line)/sizeof(line[0]));
+    freeline.SetFreeLinesParam(line, sizeof(line) / sizeof(line[0]));
     walk.orbit[legnum].Copy(freeline);
 }
 void SetOneLegTriangleParam(Walk &walk, int legnum, float offset_x_m, float offset_y_m, float stride_m, float height_m, float buffer_height_m,
@@ -19,11 +23,11 @@
 }
 
 void SetOneLegFourPointParam(Walk &walk, int legnum, float offset_x_m, float offset_y_m, float stride_m, float height_m, float buffer_height_m,
-                            float stridetime_s, float toptime_s, float buffer_time_s)
+                             float stridetime_s, float toptime_s, float buffer_time_s)
 {
     Orbit four(FOURPOINT);
     four.SetFourPointParam(offset_x_m, offset_y_m, stride_m, height_m, buffer_height_m,
-                              stridetime_s, toptime_s, buffer_time_s);
+                           stridetime_s, toptime_s, buffer_time_s);
     walk.orbit[legnum].Copy(four);
 }
 void SetOneLegFreeLinesParam(Walk &walk, int legnum, LineParam lineparams[], int point_num)