yuki honma
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
Diff: Bezier.h
- Revision:
- 0:62707e16531a
- Child:
- 1:698586aa0c5a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Bezier.h Sat Sep 01 09:07:35 2018 +0000
@@ -0,0 +1,33 @@
+#ifndef BEZIER_H
+#define BEZIER_H
+
+#include "mbed.h"
+
+#define WIDTH 0.0005
+
+class BezierCurve{
+public:
+ //BezierCurve(double pX[4],double pY[4]);
+ BezierCurve();
+
+ void set(double (&pX)[4],double (&pY)[4],double (&pT)[4]);
+ double callX(double ratio);
+ double callY(double ratio);
+ double callT(double ratio);
+ double aimPoint(double dist, double crrX, double crrY, double (&tgtPosi)[3]);
+
+ double range(double start, double stop);
+
+ double length;
+
+private:
+
+
+ double pointX[4];
+ double pointY[4];
+ double pointT[4];
+
+};
+
+
+#endif
\ No newline at end of file