yuki honma / UnderBody

下半身制御用ライブラリ Odometry...自己位置推定 Mecanum...メカナムホイール用 Bezier...ベジエ曲線 RoboClaw...MD用

Dependents:   TOUTEKI_all_mbed mbed_test_program

Bezier.h@0:62707e16531a, 2018-09-01 (annotated)

Committer:
yuki17100
Date:
Sat Sep 01 09:07:35 2018 +0000
Revision:
0:62707e16531a
Child:
1:698586aa0c5a
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
yuki17100 0:62707e16531a 1 #ifndef BEZIER_H
yuki17100 0:62707e16531a 2 #define BEZIER_H
yuki17100 0:62707e16531a 3
yuki17100 0:62707e16531a 4 #include "mbed.h"
yuki17100 0:62707e16531a 5
yuki17100 0:62707e16531a 6 #define WIDTH 0.0005
yuki17100 0:62707e16531a 7
yuki17100 0:62707e16531a 8 class BezierCurve{
yuki17100 0:62707e16531a 9 public:
yuki17100 0:62707e16531a 10 //BezierCurve(double pX[4],double pY[4]);
yuki17100 0:62707e16531a 11 BezierCurve();
yuki17100 0:62707e16531a 12
yuki17100 0:62707e16531a 13 void set(double (&pX)[4],double (&pY)[4],double (&pT)[4]);
yuki17100 0:62707e16531a 14 double callX(double ratio);
yuki17100 0:62707e16531a 15 double callY(double ratio);
yuki17100 0:62707e16531a 16 double callT(double ratio);
yuki17100 0:62707e16531a 17 double aimPoint(double dist, double crrX, double crrY, double (&tgtPosi)[3]);
yuki17100 0:62707e16531a 18
yuki17100 0:62707e16531a 19 double range(double start, double stop);
yuki17100 0:62707e16531a 20
yuki17100 0:62707e16531a 21 double length;
yuki17100 0:62707e16531a 22
yuki17100 0:62707e16531a 23 private:
yuki17100 0:62707e16531a 24
yuki17100 0:62707e16531a 25
yuki17100 0:62707e16531a 26 double pointX[4];
yuki17100 0:62707e16531a 27 double pointY[4];
yuki17100 0:62707e16531a 28 double pointT[4];
yuki17100 0:62707e16531a 29
yuki17100 0:62707e16531a 30 };
yuki17100 0:62707e16531a 31
yuki17100 0:62707e16531a 32
yuki17100 0:62707e16531a 33 #endif