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@1:698586aa0c5a, 2018-09-02 (annotated)
- Committer:
- yuki17100
- Date:
- Sun Sep 02 10:47:46 2018 +0000
- Revision:
- 1:698586aa0c5a
- Parent:
- 0:62707e16531a
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Who changed what in which revision?
User | Revision | Line number | New 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(); |
yuki17100 | 0:62707e16531a | 11 | |
yuki17100 | 0:62707e16531a | 12 | void set(double (&pX)[4],double (&pY)[4],double (&pT)[4]); |
yuki17100 | 0:62707e16531a | 13 | double callX(double ratio); |
yuki17100 | 0:62707e16531a | 14 | double callY(double ratio); |
yuki17100 | 0:62707e16531a | 15 | double callT(double ratio); |
yuki17100 | 0:62707e16531a | 16 | |
yuki17100 | 0:62707e16531a | 17 | double range(double start, double stop); |
yuki17100 | 0:62707e16531a | 18 | |
yuki17100 | 0:62707e16531a | 19 | double length; |
yuki17100 | 0:62707e16531a | 20 | |
yuki17100 | 0:62707e16531a | 21 | private: |
yuki17100 | 0:62707e16531a | 22 | |
yuki17100 | 0:62707e16531a | 23 | |
yuki17100 | 0:62707e16531a | 24 | double pointX[4]; |
yuki17100 | 0:62707e16531a | 25 | double pointY[4]; |
yuki17100 | 0:62707e16531a | 26 | double pointT[4]; |
yuki17100 | 0:62707e16531a | 27 | |
yuki17100 | 0:62707e16531a | 28 | }; |
yuki17100 | 0:62707e16531a | 29 | |
yuki17100 | 0:62707e16531a | 30 | |
yuki17100 | 0:62707e16531a | 31 | #endif |