Diff: workinfo/workinfo.cpp

Revision:

37:d4b711619962

Parent:

36:b8171eeefcd0

Child:

38:9bed85d32c97

--- a/workinfo/workinfo.cpp	Wed Sep 05 03:58:53 2018 +0000
+++ b/workinfo/workinfo.cpp	Wed Sep 05 09:37:41 2018 +0000
@@ -39,19 +39,19 @@
 };
 //workareaの補正値
 const int kWorkAreaCorrect[kWorkAreaNum][3] = {
-    {30,30,10},{0,20,10},{30,20,0},
-    {0+20,0+30,100},{0,0,0},{0,0,0},
+    {0,-20,10},{0,0,10},{30,0,10},
+    {0+20,0+30,100},{0,-20,0},{0,0,0},
 };
 const int kCommonAreaCorrect[kCommonAreaNum][3] = {
-    {60,30,0},{0,50,0},{30,50+20,0},{0,50,0},{0,50,0},{-30,50,0},
-    {0,50,0},{0,50,0},{0,50,0},{0,50,0},{0,50,0},
-    {10,50,20},{0,50,20},{30,50,20},{80,50,0},{0,50,0},{0,30,0},
+    {0,20,20},{0,0,0},{20,40,40},{-10,30,30},{-10,30,0},{-30,30,40},
+    {0,50,0},{0,50,20},{0,50,0},{0,50,20},{0,50,0},
+    {10,50,20},{0,50,20},{30,50,20},{20,50,0},{0,50,0},{-10,30,0},
 };
 const int kBoxCorrect[kBoxNum][3] = {
-    {-80,80,0},{-80,80,0},{-80,80,0},
-    {-80,160,0},{-80,160,0},{-80,160,0},
-    {-80,160,0},{-80,160,0},{-80,160,0},
-    {-80,160,0},{-80,160,0},{-80,160,0},
+{0,0,0},{0,0,0},{0,0,0},
+{0,0,0},{0,0,0},{0,0,0},
+{0,0,0},{0,0,0},{0,0,0},
+{0,0,0},{0,0,0},{0,0,0},
 };
 const int kHandCenter = 22;//想定先端と実際の先端位置のずれ
 
@@ -62,7 +62,7 @@
 
 const int kPitchWorkAreaDegree = -90;
 const int kPitchCommonAreaDegree = -5;
-const int kPitchBoxDegree = 10;
+const int kPitchBoxDegree = 0;
 //////////////////////////////
 //配列のスタート番号
 const int kWorkStart = 0;
@@ -144,14 +144,13 @@
         shootingbox[i+6].position[0]=240-80*i;
         shootingbox[i+9].position[0]=240-80*i;
     }
-    for(int i = 0; i < kBoxNum; i++) shootingbox[i].position[0] += kHandCenter;
     //y座標
     for(int i=0; i<4; i++) {
-        shootingbox[i*3].position[1]=160+80*i + kHandCenter;
-        shootingbox[i*3+1].position[1]=160+80*i + kHandCenter;
-        shootingbox[i*3+2].position[1]=160+80*i + kHandCenter;
+        shootingbox[i*3].position[1]=160+80*i;
+        shootingbox[i*3+1].position[1]=160+80*i;
+        shootingbox[i*3+2].position[1]=160+80*i;
     }
-    for(int i = 0; i < kBoxNum; i++) shootingbox[i].position[1] -= kArmLength[3] *(1 - cos(kPitchBoxDegree * kDegreeToRad));
+    for(int i = 0; i < kBoxNum; i++) shootingbox[i].position[1] += kArmLength[3] *(1 - cos(kPitchBoxDegree * kDegreeToRad));
     //z座標
     for(int i=0; i<sizeof(shootingbox)/sizeof(shootingbox[0]); i++) shootingbox[i].position[2]=125 + kArmLength[3] * sin(kPitchBoxDegree * kDegreeToRad);
     for(int i = 0; i < kBoxNum; i++) {
@@ -170,7 +169,7 @@
     Priority();
     DEBUG("SetupPosition() finish\r\n");
 }
-double GetIdealYawRad(const WorkState &state)
+double GetIdealYawRad(WorkState state)
 {
     double degree = 0;
     switch(state.areaname) {
@@ -193,7 +192,7 @@
     }
     return degree * kDegreeToRad;
 }
-double GetIdealPitchRad(const WorkState &state)
+double GetIdealPitchRad(WorkState state)
 {
     double degree = 0;
     switch(state.areaname) {