test
Dependencies: mbed ros_lib_kinetic nhk19mr2_can_info splitData SerialHalfDuplex_HM
OverCome.h
00001 #ifndef INCLUDED_OVERCOME_H 00002 #define INCLUDED_OVERCOME_H 00003 #include "Walk.h" 00004 enum LegNum //足とシリアルサーボの番号 00005 { 00006 RIGHT_B, 00007 RIGHT_F, 00008 LEFT_B, 00009 LEFT_F, 00010 }; 00011 class OverCome 00012 { 00013 float start_x_m_[4]; //足のスタートx 00014 float start_y_m_[4]; //足のスタートy 00015 float d_x_m_; //目標地点までのx 00016 float goal_y_m_[4]; //目標地点までのy 00017 float height_m_[4]; 00018 float gravity_dist_[4]; //重心ずらし距離 00019 float d_time_; //各動きの時間 00020 float d_time_slow_; 00021 float raise_offset_x_m_[4]; //raiseするときにずらすx_m 00022 int next_point_; //次のparamのindex 00023 LineParam legs_[4][30]; //多めに 00024 void Rise(int legnum); 00025 void Land(int legnum); 00026 void Forward(int legnum); 00027 void Step(int legnum); 00028 void GravityMove(int legnum); 00029 void StartPoint(); 00030 void GoalPoint(); 00031 void GetLine(); 00032 00033 public: 00034 Walk walk; 00035 OverCome(float start_x_m[4], float start_y_m[4], 00036 float d_x_m, float goal_y_m[4], float height_m[4], float gravity_dist[4], 00037 OneLeg legs[4], float raise_offset_x_m[4], float d_time, float d_time_slow); 00038 }; 00039 #endif
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