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