change_walk.h

00001 /*walk設定用関数.
00002 param walk:結果を入れる箱
00003 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。
00004 */
00005 #ifndef INCLUDED_CHANGE_WALK_H
00006 #define INCLUDED_CHANGE_WALK_H
00007 #include "Walk.h"
00008 void SetOneLegStandParam(Walk &walk, int legnum, float x_m, float y_m, float time_s);
00009 
00010 void SetOneLegTriangleParam(Walk &walk, int legnum, float offset_x_m, float offset_y_m,
00011                             float stride_m, float height_m, float buffer_height_m,
00012                             float stridetime_s, float toptime_s, float buffer_time_s);
00013 void SetOneLegFourPointParam(Walk &walk, int legnum, float offset_x_m, float offset_y_m,
00014                              float stride_m, float height_m, float buffer_height_m,
00015                              float stridetime_s, float toptime_s, float buffer_time_s);
00016 void SetOneLegFreeLinesParam(Walk &walk, int legnum, LineParam lineparams[], int point_num);
00017 void Turn(Walk &walk, int is_turnright, float start_x_m, float start_y_m,
00018           float stride_m, float height_m, float stridetime_s, float risetime_s);
00019 
00020 #endif