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

Committer:
yuki17100
Date:
2018-09-01
Revision:
0:62707e16531a
Child:
1:698586aa0c5a

File content as of revision 0:62707e16531a:

#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