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00001 #ifndef _WALK_MOTION_MODEL_H_ 00002 #define _WALK_MOTION_MODEL_H_ 00003 00004 00005 #ifdef __cplusplus 00006 extern "C" { 00007 #endif 00008 00009 /* An ad-hoc motion model for the AIBO's walking motion as supplied by the 00010 * RoboSoccer team. dx, dy, and da are the velocities sent to the WalkMC 00011 * object and time is the duration of time (in milliseconds) that they 00012 * were executed. x, y, and theta describe the current position of the 00013 * AIBO and will be changed to reflect the AIBO's position after the move. 00014 * If you wish to compute relative changes in motion, simply point these 00015 * to variables you've set to 0. */ 00016 void WalkMotionModel(double *x, double *y, double *theta, 00017 double dx, double dy, double da, unsigned int time); 00018 #ifdef __cplusplus 00019 } 00020 #endif 00021 #endif
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