岡本 陸
test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Diff: Walk/Walk.cpp
- Revision:
- 23:97f34a7dc63c
- Parent:
- 22:787a764271dd
- Child:
- 24:dec983da455c
diff -r 787a764271dd -r 97f34a7dc63c Walk/Walk.cpp
--- a/Walk/Walk.cpp Sun Feb 17 14:20:06 2019 +0000
+++ b/Walk/Walk.cpp Mon Feb 18 03:05:27 2019 +0000
@@ -35,6 +35,19 @@
leg.SetXY_m(x_m, y_m);
return leg;
}
+
+//着地中の動き.直線軌道.加速
+OneLeg Orbit::StrideLineAccel_(OneLeg leg, float phasetime_s)
+{
+ ///////////x,yを計算.注：計算は正しくないので直す必要がある。
+ float x_m = -stride_m_ * phasetime_s / stridetime_s_ + stride_m_ * 0.5 + ellipse_center_x_m_;
+ float y_m = ellipse_center_y_m_;
+ ///////////
+ //x,yを代入
+ leg.SetXY_m(x_m, y_m);
+ return leg;
+}
+
//空中の動き.半分にきれいに切れる楕円軌道
OneLeg Orbit::RiseEllipse_(OneLeg leg, float phasetime_s)
{