test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
Diff: Walk/orbit/orbit.h
- Revision:
- 35:b4e1b8f25cd7
- Child:
- 39:87dcdff27797
diff -r 89d701e15cdf -r b4e1b8f25cd7 Walk/orbit/orbit.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/Walk/orbit/orbit.h Mon Mar 04 09:54:47 2019 +0000 @@ -0,0 +1,24 @@ +#ifndef INCLUDED_ORBIT_H +#define INCLUDED_ORBIT_H +#include "freeline.h" +#include "triangle.h" +enum OrbitPattern +{ + TRIANGLE, + FREELINES, +}; +//足の軌道を設定するクラスの皮。全ての軌道クラスを継承して一つにまとめる。patternで使い分ける +//関数は継承元のものも使えるので、継承元のクラスも見てください +class Orbit : public Triangle, public FreeLines +{ + public: + Orbit(){}; //ただ宣言する用 + Orbit(OrbitPattern pattern); + float GetOneWalkTime(); //足一周の時間 + int GetOrbit(OneLeg &leg, float phasetime_s); //legに目標x,yを代入 + void Copy(const Orbit &origin); + + private: + OrbitPattern pattern_; +}; +#endif \ No newline at end of file