diff --git a/index.html b/index.html
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@@ -217,5 +217,5 @@ <h4 id="important-note">Important Note</h4>
 
 <!--
 MkDocs version : 1.1.2
-Build Date UTC : 2024-07-13 16:01:44.416950+00:00
+Build Date UTC : 2024-07-13 16:03:42.563615+00:00
 -->
diff --git a/search/search_index.json b/search/search_index.json
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--- a/search/search_index.json
+++ b/search/search_index.json
@@ -1 +1 @@
-{"config":{"lang":["en"],"min_search_length":3,"prebuild_index":false,"separator":"[\\s\\-]+"},"docs":[{"location":"","text":"Welcome to MkDocs For full documentation visit mkdocs.org . Commands mkdocs new [dir-name] - Create a new project. mkdocs serve - Start the live-reloading docs server. mkdocs build - Build the documentation site. mkdocs help - Print this help message. Project layout 1 2 3 4 mkdocs.yml # The configuration file. docs/ index.md # The documentation homepage. ... # Other markdown pages, images and other files. Examples Important Note We installed admonition for the important message such as cautions, note, and remarks. E.g.) Note This is an important message. Tip \u30d2\u30f3\u30c8\u3067\u3059\u3002 Warning \u3053\u308c\u306f\u8b66\u544a\u3067\u3059 Danger \u3053\u308c\u306f\u5371\u967a\u3067\u3059\u3002","title":"Documentation using MkDocs"},{"location":"#welcome-to-mkdocs","text":"For full documentation visit mkdocs.org .","title":"Welcome to MkDocs"},{"location":"#commands","text":"mkdocs new [dir-name] - Create a new project. mkdocs serve - Start the live-reloading docs server. mkdocs build - Build the documentation site. mkdocs help - Print this help message.","title":"Commands"},{"location":"#project-layout","text":"1 2 3 4 mkdocs.yml # The configuration file. docs/ index.md # The documentation homepage. ... # Other markdown pages, images and other files.","title":"Project layout"},{"location":"#examples","text":"","title":"Examples"},{"location":"#important-note","text":"We installed admonition for the important message such as cautions, note, and remarks. E.g.) Note This is an important message. Tip \u30d2\u30f3\u30c8\u3067\u3059\u3002 Warning \u3053\u308c\u306f\u8b66\u544a\u3067\u3059 Danger \u3053\u308c\u306f\u5371\u967a\u3067\u3059\u3002","title":"Important Note"},{"location":"1_ClimbLab/","text":"1 ClimbLab\u3068\u306f 1.1 Overview ClimbLab(\u30af\u30e9\u30a4\u30e0\u30e9\u30dc)\u3068\u306f\uff0c\u672c\u7814\u7a76\u5ba4\u811a\u30ed\u30dc\u30c1\u30fc\u30e0\u3067\u958b\u767a\u3055\u308c\u305f\u300c\u811a\u578b\u30af\u30e9\u30a4\u30df\u30f3\u30b0\u30ed\u30dc\u30c3\u30c8(Climbing Robot)\u306e\u305f\u3081\u306eMATLAB\u306b\u3088\u308b\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u300d\u3067\u3042\u308b\uff0e\u5bfe\u8c61\u3068\u3059\u308b\u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u30fb\u5730\u5f62\u30fb\u74b0\u5883\u30fb\u6b69\u5bb9\u8a08\u753b(\u6b69\u304d\u65b9)\u30fb\u904b\u52d5\u8a08\u753b(\u52d5\u304d\u65b9)\u3092\u81ea\u7531\u306b\u8a2d\u8a08\u3057\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u304c\u3067\u304d\u308b\uff0e 1.2 Examples Fig. 1. Examples of ClimbLab applications \u5177\u4f53\u7684\u306aClimbLab\u306e\u9069\u7528\u4f8b\u3092Fig. 1\u306b\u793a\u3059\uff0eFig. 1\u306b\u793a\u3057\u305f\u3088\u3046\u306b\uff0c\u6606\u866b\u578b\u306e\u95a2\u7bc0\u914d\u7f6e\u306e\u30ed\u30dc\u30c3\u30c8\u3092\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u3082\uff0c\u54fa\u4e73\u985e\u578b\u306e\u95a2\u7bc0\u914d\u7f6e\u306e\u30ed\u30dc\u30c3\u30c8\u3092\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u3082\u3067\u304d\u308b\uff0e\u307e\u305f\u6b69\u884c\u3055\u305b\u308b\u5730\u5f62\u3084\uff0c\u305d\u306e\u659c\u5ea6\u3084\u91cd\u529b\u306a\u3069\u306e\u74b0\u5883\u3082\u5909\u66f4\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e 1.3 Open sourcing \u69d8\u3005\u306a\u30e2\u30c7\u30eb\u3092\u7528\u3044\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u6319\u52d5\u306e\u5206\u6790\u304c\u53ef\u80fd\u3068\u306a\u308b\uff0eGitHub\u306b\u3066\u5b66\u5916\u7684\u306b\u516c\u958b\u3057\u3066\u3044\u308b\uff0e","title":"1. ClimbLab"},{"location":"1_ClimbLab/#1-climblab","text":"","title":"1 ClimbLab\u3068\u306f"},{"location":"1_ClimbLab/#11-overview","text":"ClimbLab(\u30af\u30e9\u30a4\u30e0\u30e9\u30dc)\u3068\u306f\uff0c\u672c\u7814\u7a76\u5ba4\u811a\u30ed\u30dc\u30c1\u30fc\u30e0\u3067\u958b\u767a\u3055\u308c\u305f\u300c\u811a\u578b\u30af\u30e9\u30a4\u30df\u30f3\u30b0\u30ed\u30dc\u30c3\u30c8(Climbing Robot)\u306e\u305f\u3081\u306eMATLAB\u306b\u3088\u308b\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u300d\u3067\u3042\u308b\uff0e\u5bfe\u8c61\u3068\u3059\u308b\u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u30fb\u5730\u5f62\u30fb\u74b0\u5883\u30fb\u6b69\u5bb9\u8a08\u753b(\u6b69\u304d\u65b9)\u30fb\u904b\u52d5\u8a08\u753b(\u52d5\u304d\u65b9)\u3092\u81ea\u7531\u306b\u8a2d\u8a08\u3057\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u304c\u3067\u304d\u308b\uff0e","title":"1.1 Overview"},{"location":"1_ClimbLab/#12-examples","text":"","title":"1.2 Examples"},{"location":"1_ClimbLab/#fig-1-examples-of-climblab-applications","text":"\u5177\u4f53\u7684\u306aClimbLab\u306e\u9069\u7528\u4f8b\u3092Fig. 1\u306b\u793a\u3059\uff0eFig. 1\u306b\u793a\u3057\u305f\u3088\u3046\u306b\uff0c\u6606\u866b\u578b\u306e\u95a2\u7bc0\u914d\u7f6e\u306e\u30ed\u30dc\u30c3\u30c8\u3092\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u3082\uff0c\u54fa\u4e73\u985e\u578b\u306e\u95a2\u7bc0\u914d\u7f6e\u306e\u30ed\u30dc\u30c3\u30c8\u3092\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u3082\u3067\u304d\u308b\uff0e\u307e\u305f\u6b69\u884c\u3055\u305b\u308b\u5730\u5f62\u3084\uff0c\u305d\u306e\u659c\u5ea6\u3084\u91cd\u529b\u306a\u3069\u306e\u74b0\u5883\u3082\u5909\u66f4\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e","title":"Fig. 1. Examples of ClimbLab applications"},{"location":"1_ClimbLab/#13-open-sourcing","text":"\u69d8\u3005\u306a\u30e2\u30c7\u30eb\u3092\u7528\u3044\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u6319\u52d5\u306e\u5206\u6790\u304c\u53ef\u80fd\u3068\u306a\u308b\uff0eGitHub\u306b\u3066\u5b66\u5916\u7684\u306b\u516c\u958b\u3057\u3066\u3044\u308b\uff0e","title":"1.3 Open sourcing"},{"location":"2_ClimbLab_simulation_flow/","text":"2. ClimbLab\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d5\u30ed\u30fc \u672c\u7ae0\u3067\u306f\uff0cClimbLab\u3067\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u6d41\u308c\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e MATLAB\u306f\uff0c\u5b9f\u884c\u3059\u308b\u30e1\u30a4\u30f3\u30d5\u30a1\u30a4\u30eb\u304c\u4e00\u3064\u3042\u308a\uff0c\u305d\u306e\u30e1\u30a4\u30f3\u30d5\u30a1\u30a4\u30eb\u306e\u4e2d\u3067\uff0c\u691c\u7d22\u30d1\u30b9\u304c\u901a\u3063\u3066\u3044\u308b\u30d5\u30a9\u30eb\u30c0\u5185\u306b\u3042\u308b\u3044\u304f\u3064\u3082\u306e\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u3092\u547c\u3073\u51fa\u3059\u3053\u3068\u3067\u8907\u96d1\u306a\u6f14\u7b97\u3092\u884c\u3046\uff0eClimbLab\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/src \u4e0b\u306b\u3042\u308b main_sim.m \u3068\u3044\u3046\u30e1\u30a4\u30f3\u30d5\u30a1\u30a4\u30eb\u3092\u5b9f\u884c\u3059\u308b\u3053\u3068\u3067\u6a5f\u80fd\u3057\uff0c\u30d5\u30a9\u30eb\u30c0 ../climblab/ \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u3092\u547c\u3073\u51fa\u3057\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u884c\u3046\uff0e ClimbLab\u5185\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308b\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u306b\u306f\u5927\u304d\u304f2\u7a2e\u985e\u3042\u308b\uff0e1\u3064\u76ee\u306f\uff0c\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306b\u9650\u3089\u305a\u4e00\u822c\u7684\u306a\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u30c0\u30a4\u30ca\u30df\u30af\u30b9\u8a08\u7b97\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u304c\u3067\u304d\u308b SpaceDyn \u3068\u3044\u3046\u4e00\u9023\u306e\u95a2\u6570\u7fa4\u3067\u3042\u308b\uff0e\u672c\u7814\u7a76\u5ba4\u3067\u958b\u767a\u3055\u308c\u305f\u3053\u306eSpaceDyn\u3068\u3044\u3046MATLAB\u30c4\u30fc\u30eb\u30dc\u30c3\u30af\u30b9\u306f\uff0c1999\u5e74\u304b\u3089\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u3068\u3057\u3066\u516c\u958b\u3055\u308c\u3066\u304a\u308a\uff0c\u73fe\u5728\u3067\u3082GitHub\u304b\u3089\u5229\u7528\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u3053\u306eSpaceDyn\u3082ClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u4e0b\u306b\u53ce\u5bb9\u3055\u308c\uff0cClimbLab\u306b\u6d3b\u7528\u3055\u308c\u3066\u3044\u308b\uff0eClimbLab\u5185\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308b2\u3064\u76ee\u306e\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u306f\uff0c\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u305f\u3081\u306b\u65b0\u305f\u306b\u958b\u767a\u3055\u308c\u3066\u304d\u305f\u95a2\u6570\u7fa4\u3067\u3042\u308a\uff0c\u3053\u308c\u3089\u306f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u69cb\u6210\u4e0a\u3055\u3089\u306b5\u3064\u306e\u7a2e\u985e\u306b\u5206\u985e\u3055\u308c\u3066\u3044\u308b\uff0e\u305d\u308c\u305e\u308c\uff0cConfiguration\u95a2\u6570\u30fbInitialize\u95a2\u6570\u30fbUpdate\u95a2\u6570\u30fbVisualize\u95a2\u6570\u30fbSave\u95a2\u6570\u3068\u547d\u540d\u3055\u308c\u3066\u3044\u308b\uff0e \u672c\u7ae0\u3067\u306f\uff0c\u307e\u305a main_sim.m \u306e\u69cb\u9020\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u7d9a\u3044\u3066\uff0c\u305d\u306e\u4e2d\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308bMATLAB class\u3068\u3044\u3046\u69cb\u9020\u4f53\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e\u305d\u3057\u3066\uff0c\u30c0\u30a4\u30ca\u30df\u30af\u30b9\u8a08\u7b97\u306e\u305f\u3081\u306eMATLAB\u30c4\u30fc\u30eb\u30dc\u30c3\u30af\u30b9\u3067\u3042\u308bSpaceDyn\u304cClimbLab\u5185\u3067\u3069\u3046\u5229\u7528\u3055\u308c\u3066\u3044\u308b\u304b\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e\u6700\u5f8c\u306b\uff0cClimbLab\u306e\u305f\u3081\u306b\u958b\u767a\u3055\u308c\u305f5\u7a2e\u985e\u306e\u95a2\u6570\u7fa4\u306b\u3064\u3044\u3066\u305d\u308c\u305e\u308c\u306e\u5f79\u5272\u3092\u7a2e\u985e\u3054\u3068\u306b\u8aac\u660e\u3059\u308b\uff0e 2.1. Overview of main function: main_sim.m ClimbLab\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u69cb\u6210\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\u305f\u3081\u306b\uff0c\u305d\u3082\u305d\u3082\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u3092\u7528\u3044\u3066\u304a\u3053\u306a\u308f\u308c\u308b\u5168\u3066\u306e\u6570\u5024\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u4ed5\u7d44\u307f\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u73fe\u5b9f\u4e16\u754c\u306e\u73fe\u8c61\u3067\u6642\u9593\u306f\u9023\u7d9a\u7684\u3067\u3042\u308a\uff0c\u5168\u3066\u306e\u5909\u6570\u304c\u9023\u7d9a\u6642\u9593\u306e\u3082\u3068\u306b\u5909\u5316\u3059\u308b\uff0e\u3057\u304b\u3057\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u4e0a\u306e\u8a08\u7b97\u51e6\u7406\u3067\u306f\u9023\u7d9a\u6642\u9593\u4e0a\u306e\u73fe\u8c61\u3092\u305d\u306e\u307e\u307e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u518d\u73fe\u3059\u308b\u3053\u3068\u306f\u3067\u304d\u306a\u3044\uff0e\u6642\u9593\u3092\u7d30\u304b\u3044\u5e45\u306b\u533a\u5207\u308a\u305d\u306e\u9593\u306e\u5909\u5316\u3092\u7a4d\u7b97\u3057\u3066\u3044\u304f\u3068\u3044\u3046\u96e2\u6563\u6642\u9593\u7684\u306a\u7e70\u308a\u8fd4\u3057\u8a08\u7b97\u306b\u3088\u3063\u3066\uff0c\u9023\u7d9a\u6642\u9593\u306e\u73fe\u8c61\u3092\u518d\u73fe\u3059\u308b\uff0e\u3064\u307e\u308a\uff0c\u3042\u308b\u6642\u523bt\u306e\u72b6\u614b\u306b\u3082\u3068\u3065\u304d\uff0c\u305d\u3053\u304b\u3089\u523b\u307f\u6642\u9593\u0394t \u79fb\u3063\u305f\u6642\u523bt+\u0394t \u306e\u72b6\u614b\u3092\u8a08\u7b97\u3059\u308b\uff0e\u6b21\u306b\uff0c\u305d\u306e\u6c42\u3081\u305ft+\u0394t \u306e\u72b6\u614b\u304b\u3089t+2\u0394t \u306e\u72b6\u614b\u3092\u6c42\u3081\u308b\u3068\u3044\u3046\u51e6\u7406\u3092\u7e70\u308a\u8fd4\u3057\u30eb\u30fc\u30d7\u3055\u305b\u308b\uff0e \u4ee5\u4e0a\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u3064\u3044\u3066\u306e\u57fa\u790e\u3092\u8e0f\u307e\u3048\u305f\u4e0a\u3067\uff0cClimbLab\u306e\u69cb\u6210\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0eClimbLab\u306e\u30e1\u30a4\u30f3\u30d5\u30a1\u30a4\u30eb main_sim.m \u306e\u30d5\u30ed\u30fc\u30c1\u30e3\u30fc\u30c8\u3092\u6b21\u306e\u56f3\u306b\u793a\u3059\uff0e \u307e\u305aConfiguration\u95a2\u6570\u3067\u5404\u7a2e\u8a2d\u5b9a\u3092\u8aad\u307f\u8fbc\u307f\uff0c\u3053\u308c\u304b\u3089\u304a\u3053\u306a\u3046\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\uff0e\u3053\u306e\u51e6\u7406\u306b\u3088\u308a\uff0c\u3069\u3093\u306a\u30ed\u30dc\u30c3\u30c8\u30fb\u5730\u5f62\u30fb\u74b0\u5883\u30fb\u7d4c\u8def\u8a08\u753b\u30fb\u6b69\u5bb9\u8a08\u753b\u30fb\u904b\u52d5\u8a08\u753b\u30fb\u5236\u5fa1\u624b\u6cd5\u3092\u9069\u7528\u3059\u308b\u304b\u304c\u6c7a\u5b9a\u3055\u308c\u308b\uff0e\u6b21\u306b\uff0cInitialize\u95a2\u6570\u306b\u3088\u308a\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30eb\u30fc\u30d7\u3092\u958b\u59cb\u3059\u308b\u305f\u3081\u306b\u5fc5\u8981\u306a\u5168\u3066\u306e\u5909\u6570\u3092\u7528\u610f\u3057\uff0c\u305d\u308c\u3089\u306e\u5909\u6570\u306b\u5bfe\u3057\u3066\u521d\u671f\u72b6\u614b\u3092\u8a2d\u5b9a\u3059\u308b\uff0e\u53b3\u5bc6\u306b\u306f\uff0c\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u6642\u523b0\u79d2\u304b\u3089\u59cb\u307e\u308b\u305f\u3081\uff0cInitialize\u95a2\u6570\u3067\u306f\u6642\u523b0 - \u0394t \u79d2\u306e\u72b6\u614b\u304c\u8a2d\u5b9a\u3055\u308c\u308b\u30a4\u30e1\u30fc\u30b8\u3067\u3042\u308b\uff0eInitialize\u95a2\u6570\u306b\u3088\u3063\u3066\u521d\u671f\u72b6\u614b\u304c\u8a2d\u5b9a\u3055\u308c\u305f\u305f\u3081\uff0c\u305d\u306e\u72b6\u614b\u3092\u8d77\u70b9\u3068\u3057\u3066\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u0394t \u79d2\u6bce\u306b\u96e2\u6563\u7684\u306b\u6642\u9593\u3092\u9032\u3081\u3066\u8a08\u7b97\u3057\uff0c\u5404\u5909\u6570\u306e\u5024\u3092\u66f4\u65b0(Update)\u3057\u3066\u3044\u304f\u3053\u3068\u3067\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u3059\u3081\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u5185\u3067\u306f\u8a08\u7b97\u51e6\u7406\u306b\u52a0\u3048\u3066\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u9032\u3093\u3067\u3044\u308b\u69d8\u5b50\u3092\u78ba\u8a8d\u3059\u308b\u305f\u3081\u306b\uff0cVisualize\u95a2\u6570\u306b\u3088\u3063\u3066\u305d\u306e\u6642\u306e\u30ed\u30dc\u30c3\u30c8\u306e\u72b6\u614b\u306a\u3069\u3092\u753b\u9762\u4e0a\u306b\u8868\u793a\u3055\u305b\u308b\uff0e\u305d\u3057\u3066\uff0c\u5404\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u306b\u304a\u3044\u3066\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u7d42\u4e86\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u3044\u308b\u304b\u3092\u78ba\u8a8d\u3059\u308b\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306f\uff0c\u4ee5\u4e0b\u306e\u6761\u4ef6\uff1a \u8a2d\u5b9a\u3057\u305f\u7d42\u4e86\u6642\u523b\u306b\u306a\u308b\u307e\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u6642\u9593\u304c\u9032\u3080\uff0e \u8a2d\u5b9a\u3057\u305f\u76ee\u7684\u5730\u70b9\u306b\u30ed\u30dc\u30c3\u30c8\u304c\u5230\u9054\u3059\u308b\uff0e \u30ed\u30dc\u30c3\u30c8\u304c\u8ee2\u5012\u3084\u6ed1\u843d\u306a\u3069\u3092\u5f15\u304d\u8d77\u3053\u3057\u3066\u6b69\u884c\u306e\u7d99\u7d9a\u304c\u4e0d\u53ef\u80fd\u3068\u306a\u308b\uff0e \u30ed\u30dc\u30c3\u30c8\u306e\u95a2\u7bc0\u89d2\u5ea6\u304c\u4e0a\u4e0b\u9650\u306b\u9054\u3059\u308b\u304b\u7279\u7570\u59ff\u52e2\u306b\u9665\u308b\uff0e \u306e\u3044\u305a\u308c\u304b\u3092\u6e80\u305f\u3057\u305f\u5834\u5408\uff0c\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u3092\u7d42\u4e86\u3059\u308b\uff0e\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u7d42\u4e86\u5f8c\uff0c\u6307\u5b9a\u3057\u305f\u5909\u6570\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u4e2d\u306e\u6642\u9593\u5c65\u6b74\u3092\u30d7\u30ed\u30c3\u30c8\u3059\u308b\uff0e\u307e\u305f\uff0c\u5f8c\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u7d50\u679c\u306e\u89e3\u6790\u3092\u3059\u308b\u305f\u3081\u306b\uff0cSave\u95a2\u6570\u306b\u3088\u3063\u3066\uff0c\u5185\u90e8\u3067\u66f4\u65b0\u3055\u308c\u3066\u3044\u3063\u305f\u5404\u5909\u6570\u306e\u6642\u9593\u5c65\u6b74\u3084\u521d\u671f\u8a2d\u5b9a\uff0c\u6b69\u884c\u3057\u3066\u3044\u308b\u69d8\u5b50\u306e\u52d5\u753b\u3092\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u306b\u81ea\u52d5\u3067\u4fdd\u5b58\u3059\u308b\uff0e \u3000\u4ee5\u4e0a\u304c main_sim.m \u306e\u69cb\u9020\u3067\u3042\u308b\uff0e 2.2. MATLAB class \u4e0a\u8ff0\u3057\u305f\u3088\u3046\u306bClimbLab\u5185\u3067\u306f\u69d8\u3005\u306a\u95a2\u6570\u304c\u4f7f\u7528\u3055\u308c\u3066\u3044\u308b\u304c\uff0c\u305d\u308c\u3089\u306e\u95a2\u6570\u306e\u5165\u51fa\u529b\u306b\u983b\u7e41\u306b\u7528\u3044\u3089\u308c\u3066\u3044\u308bclass\u3068\u3044\u3046\u6982\u5ff5\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0eclass\u3068\u306fMATLAB\u306b\u304a\u3051\u308b\u30c7\u30fc\u30bf\u69cb\u9020\u306e\u4e00\u3064\u3067\u3042\u308b\uff0e\u69d8\u3005\u306a\u6d3b\u7528\u65b9\u6cd5\u304c\u3042\u308b\u304c\uff0cClimbLab\u306b\u304a\u3051\u308bclass\u306e\u4f7f\u7528\u610f\u7fa9\u306f\uff0c\u3042\u308b\u5171\u901a\u306e\u76ee\u7684\u306b\u4f7f\u308f\u308c\u308b\u6570\u5024\u3084\u6587\u5b57\u30fb\u30d9\u30af\u30c8\u30eb\u306a\u3069\u306e\u591a\u69d8\u306a\u5909\u6570\u3092\u3072\u3068\u304f\u304f\u308a\u306b\u3057\u3066\u307e\u3068\u3081\u308b\u3053\u3068\u306b\u3042\u308b\uff0e\u3053\u3046\u3059\u308b\u3053\u3068\u3067\uff0cMATLAB\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\u3067\u6271\u308f\u308c\u308b\u5927\u91cf\u306e\u5909\u6570\u3092\u3042\u308b\u7a0b\u5ea6\u898b\u3084\u3059\u304f\u7406\u89e3\u3057\u3084\u3059\u3044\u5f62\u614b\u306b\u307e\u3068\u3081\u308b\u3053\u3068\u304c\u3067\u304d\uff0c\u307e\u305f\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u4f5c\u696d\u3092\u5358\u7d14\u5316\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0eClimbLab\u5185\u3067\u4f7f\u7528\u3055\u308c\u3066\u3044\u308bclass\u3068class\u5185\u306b\u683c\u7d0d\u3057\u3066\u3044\u308b\u5909\u6570\u306e\u201c\u304f\u304f\u308a\u201d\u3092\u4ee5\u4e0b\u306b\u5217\u6319\u3059\u308b\uff0e LP : \u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf(SpaceDyn) SV : \u72b6\u614b\u5909\u6570(State Variables, SpaceDyn) des_SV : \u76ee\u6a19\u72b6\u614b\u5909\u6570(Desired State Variables, SpaceDyn) robot_param : \u4f7f\u7528\u3059\u308b\u30ed\u30dc\u30c3\u30c8\u30bf\u30a4\u30d7\u3068\u305d\u306e\u521d\u671f\u914d\u7f6e environment_param : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883 surface_param : \u6b69\u884c\u3055\u305b\u308b\u5730\u8868 gait_planning_param : \u6b69\u5bb9\u8a08\u753b(gait planning) motion_planning_param : \u904b\u52d5\u8a08\u753b contorl_param : \u5236\u5fa1 equibilium_param : \u59ff\u52e2\u306e\u5b89\u5b9a\u6027\u8a55\u4fa1 ani_settings : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u4e2d\u306e\u52d5\u753b\u306e\u63cf\u753b plot_settings : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5f8c\u306b\u63cf\u753b\u3059\u308b\u7d50\u679c\u56f3 save_settings : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u5c65\u6b74\u306e\u4fdd\u5b58 sensing_camera_param : \u5730\u5f62\u30bb\u30f3\u30b7\u30f3\u30b0 gripper_param : \u628a\u6301\u5019\u88dc\u70b9\u691c\u51fa\u3067\u4f7f\u3046\u30b0\u30ea\u30c3\u30d1 map_param : \u628a\u6301\u5019\u88dc\u70b9\u691c\u51fa\u306b\u304a\u3051\u308b\u30de\u30c3\u30d7\u3078\u306e\u51e6\u7406 matching_settings : \u628a\u6301\u5019\u88dc\u70b9\u691c\u51fa\u624b\u6cd5\u306e\u8a2d\u5b9a variables_saved :\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5185\u306e\u5909\u6570\u5c65\u6b74 \u201c\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u6307\u5411\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u201d\u3068\u3044\u3046\u3088\u3046\u306a\u96e3\u89e3\u306a\u8a9e\u3092\u7528\u3044\u305aClimbLab\u306b\u304a\u3051\u308bclass\u306e\u5f79\u5272\u3092\u65e5\u5e38\u751f\u6d3b\u3092\u4f8b\u306b\u3057\u3066\u8aac\u660e\u3059\u308b\u3068\uff0c\u5bb6\u306e\u4e2d\u306b\u3042\u308b\u69d8\u3005\u306a\u751f\u6d3b\u7528\u54c1\u3092\u305d\u306e\u307e\u307e\u5168\u90e8\u5e8a\u306b\u7f6e\u304f\u306e\u3067\u306f\u306a\u304f\uff0c\u98df\u5668\u68da\u30fb\u8863\u88c5\u30b1\u30fc\u30b9\u30fb\u7b46\u7bb1\u306a\u3069\u306b\u6574\u7406\u3057\u3066\u5165\u308c\u308b\u69d8\u5b50\u306b\u4f8b\u3048\u3089\u308c\u308b\uff0e\u5bb6\u306e\u4e2d\u306b\u306f\u69d8\u3005\u306a\u3082\u306e\u304c\u3042\u308b\u304c\uff0c\u98df\u5668\u68da\u306b\u5165\u3063\u3066\u3044\u308b\u3082\u306e\u306f\u4f8b\u3048\u3069\u3093\u306a\u5f62\u72b6\u3084\u6750\u8cea\u3067\u3042\u308c\u98df\u4e8b\u306b\u95a2\u4fc2\u3059\u308b\u3082\u306e\u3067\u3042\u308b\uff0e\u305d\u308c\u3068\u540c\u3058\u3088\u3046\u306b\uff0c robot_param \u3068\u3044\u3046class\u306b\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\u5909\u6570\u306f\u3069\u3093\u306a\u3082\u306e\u3067\u3042\u308c\u30ed\u30dc\u30c3\u30c8\u306b\u95a2\u4fc2\u3057\u305f\u3082\u306e\u3067\u3042\u308a\uff0c environment_param \u306b\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\u5909\u6570\u306f\u30ed\u30dc\u30c3\u30c8\u3068\u306f\u95a2\u4fc2\u306a\u304f\u74b0\u5883\u306b\u95a2\u4fc2\u3059\u308b\u3082\u306e\u3067\u3042\u308b\uff0e \u3053\u3046\u3057\u305f\u69d8\u3005\u306aclass\u3092\u5165\u51fa\u529b\u306b\u7528\u3044\u3066ClimbLab\u5185\u306e\u95a2\u6570\u306f\u5b9f\u884c\u3055\u308c\u3066\u3044\u308b\uff0e 2.3. SpaceDyn ClimbLab\u5185\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308b\u95a2\u6570\u7fa4\u306e\u4e00\u3064\u3067\u3042\u308bSpaceDyn(\u30b9\u30da\u30fc\u30b9\u30c0\u30a4\u30f3)\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u305d\u306e\u5177\u4f53\u7684\u306a\u610f\u7fa9\u3084\u8a73\u7d30\u306b\u3064\u3044\u3066\u306f\uff0c\u3053\u308c\u307e\u3067\u767a\u8868\u3055\u308c\u305f\u6587\u732e\u3067\u8a73\u8aac\u3055\u308c\u3066\u3044\u308b\u305f\u3081\uff0c\u672c\u7bc0\u3067\u306fSpaceDyn\u306eClimbLab\u306b\u304a\u3051\u308b\u5f79\u5272\u306b\u7126\u70b9\u3092\u7d5e\u308a\u7c21\u5358\u306b\u8ff0\u3079\u308b\uff0e SpaceDyn\u3068\u306f\uff0c\u5fae\u5c0f\u91cd\u529b\u7a7a\u9593(Space)\u3092\u542b\u3080\u69d8\u3005\u306a\u74b0\u5883\u3067\u306e\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u306e\u904b\u52d5\u3084\u529b\u5b66\u89e3\u6790\u304c\u304a\u3053\u306a\u3048\u308bMATLAB\u306e\u30c4\u30fc\u30eb\u30dc\u30c3\u30af\u30b9\u3067\u3042\u308a\uff0cClimbLab\u5185\u3067\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/lib/spacedyn \u4ee5\u4e0b\u306b\u5168\u3066\u306e\u95a2\u6570\u304c\u4fdd\u5b58\u3055\u308c\u3066\u3044\u308b\uff0eDyn\u306fDynamics\u3092\u8868\u3059\uff0e\u30ed\u30dc\u30c3\u30c8\u306e\u6a5f\u69cb\u30fb\u529b\u5b66\u30fb\u5236\u5fa1\u306b\u95a2\u308f\u308b\u57fa\u672c\u7684\u306a\u95a2\u6570\u7fa4\u304c\u53ce\u5bb9\u3055\u308c\u3066\u304a\u308a\uff0c\u69d8\u3005\u306a\u30ed\u30dc\u30c3\u30c8\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u304c\u3067\u304d\u308b\uff0e SpaceDyn\u306e\u95a2\u6570\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308b\u91cd\u8981\u306aclass\u3068\u3057\u3066\u307e\u305a\u4ee5\u4e0b\u306e2\u3064\u304c\u3042\u308b\uff0e LP : Link Parameters \u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf \u30ed\u30dc\u30c3\u30c8\u306e\u5177\u4f53\u7684\u306a\u6a5f\u69cb\u3092\u8868\u3059\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u53ce\u5bb9\u3057\u3066\u304a\u308a\uff0c\u6642\u9593\u7684\u306b\u4e0d\u5909\u3067\u3042\u308b SV : State Variables \u72b6\u614b\u5909\u6570 \u30ed\u30dc\u30c3\u30c8\u306e\u305d\u306e\u6642\u523b\u3067\u306e\u72b6\u614b \uff08\u4f4d\u7f6e\u30fb\u901f\u5ea6\u30fb\u95a2\u7bc0\u89d2\u5ea6etc\uff09 \u3092\u8868\u3059\u5909\u6570\u3092\u53ce\u5bb9\u3057\u3066\u304a\u308a\uff0c\u5404\u6642\u9593\u6bce\u306b\u66f4\u65b0\u3055\u308c\u308b LP\u3068\u3044\u3046class\u3067\u5b9a\u7fa9\u3055\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u306b\u5bfe\u3057\u3066\uff0c\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u6559\u79d1\u66f8\u306b\u8f09\u3063\u3066\u3044\u308b\u3088\u3046\u306a\u5ea7\u6a19\u5909\u63db\u30fb\u9806\u904b\u52d5\u5b66\u30fb\u9806\u52d5\u529b\u5b66\u3092\u9069\u7528\u3057\uff0c\u305d\u306e\u6642\u523b\u3067\u306e\u72b6\u614b\u5024SV\u3092\u5f97\u308b\uff0c\u3068\u3044\u3046\u6d41\u308c\u3067\u3042\u308b\uff0e\u307e\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u904b\u52d5\u8a08\u753b\u3084\u5236\u5fa1\u3092\u3059\u308b\u305f\u3081\u306bSpaceDyn\u5185\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308b\u91cd\u8981\u306aclass\u304c\u3082\u30461\u3064\u3042\u308b\uff0e des_SV : desired state variables \u76ee\u6a19\u72b6\u614b\u5909\u6570 \u30ed\u30dc\u30c3\u30c8\u304c\u6b21\u306b\u76ee\u6307\u3059\u76ee\u6a19\u5024\u3092\u53ce\u5bb9\u3057\u3066\u304a\u308a\uff0c\u3053\u306e\u5024\u3092\u76ee\u6307\u3057\u3066\u904b\u52d5\u30fb\u5236\u5fa1\u3092\u304a\u3053\u306a\u3046 \u30ed\u30dc\u30c3\u30c8\u306b\u95a2\u3059\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u524d\u63d0\u3068\u3057\u3066\uff0c\u300c\u76ee\u6307\u3057\u305f\u3044\u201c\u72b6\u614b\u201d\u304c\u3042\u308a\uff0c\u305d\u306e\u72b6\u614b\u3068\u73fe\u5728\u306e\u72b6\u614b\u3092\u5e38\u306b\u6bd4\u8f03\u3057\u306a\u304c\u3089\u5236\u5fa1\u3059\u308b\u3053\u3068\u3067\uff0c\u76ee\u6307\u3059\u3079\u304d\u201c\u72b6\u614b\u201d\u306b\u8fd1\u3065\u3051\u52d5\u4f5c\u3092\u5b9f\u73fe\u3059\u308b\u300d\u3053\u3068\u304c\u76ee\u7684\u3067\u3042\u308b\uff0e\u3053\u306e\u201c\u6b21\u306e\u76ee\u6307\u3059\u3079\u304d\u72b6\u614b\u201d\u304cdes_SV\u3067\u3042\u308b\uff0e \u4e3b\u306b\u3053\u308c\u30893\u3064\u306eclass\u3092\u7528\u3044\u308b\u3053\u3068\u3067\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u6a5f\u69cb\u306e\u5b9a\u7fa9\u3084\u57fa\u672c\u7684\u306a\u529b\u5b66\u30fb\u5236\u5fa1\u30fb\u904b\u52d5\u8a08\u753b\u306e\u8a08\u7b97\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u308b\uff0e \u3000ClimbLab\u3067\u306f\uff0c\u4ee5\u4e0b\u306e3\u3064\u306e\u51e6\u7406\u3092SpaceDyn\u306e\u95a2\u6570\u3067\u304a\u3053\u306a\u3063\u3066\u3044\u308b\uff0e \u30ed\u30dc\u30c3\u30c8\u306e\u6a5f\u69cb\u3092LP\u3092\u4f7f\u3063\u3066\u5b9a\u7fa9\u3059\u308b\uff0e \u30ed\u30dc\u30c3\u30c8\u306e\u72b6\u614b\u5909\u6570\u3092SV\uff0cdes_SV\u3092\u4f7f\u3063\u3066\u5b9a\u7fa9\u3059\u308b\uff0e \u57fa\u672c\u7684\u306a\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u8a08\u7b97\u3084\uff0c\u30c0\u30a4\u30ca\u30df\u30af\u30b9\u8a08\u7b97\u3092SpaceDyn\u5185\u306e\u95a2\u6570\u3067\u304a\u3053\u306a\u3046\uff0e \u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u5bb9\u306b\u7279\u5316\u3057\u305f\u8a08\u7b97\u51e6\u7406\u306f\uff0cClimbLab\u306e\u305f\u3081\u306b\u65b0\u305f\u306b\u958b\u767a\u3055\u308c\u305f\u95a2\u6570\u7fa4\u3092\u7528\u3044\u3066\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308b\u304c\uff0c\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30c4\u30fc\u30eb\u3068\u3057\u3066\u571f\u53f0\u3068\u306a\u308b\u9818\u57df\u306bSpaceDyn\u3092\u7528\u3044\u3066\u3044\u308b\uff0e \u307e\u305f\uff0c\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306b\u95a2\u308f\u308b\u91cd\u8981\u306a\u9805\u76ee\u3068\u3057\u3066\u5ea7\u6a19\u7cfb\u306e\u53d6\u308a\u6271\u3044\u304c\u6319\u3052\u3089\u308c\u308b\uff0eSpaceDyn\u3092\u7528\u3044\u305fClimbLab\u306b\u304a\u3051\u308b\u5ea7\u6a19\u7cfb\u306e\u6271\u3044\u3068\uff0c\u305d\u306e\u6ce8\u610f\u70b9\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e SpaceDyn\u3067\u306f\u91cd\u529b\u3092\u4ed6\u306e\u5916\u529b\u3068\u533a\u5225\u305b\u305a\uff0c\u7279\u5225\u8996\u3057\u306a\u3044\uff0e\u3088\u3063\u3066\uff0cSpaceDyn\u3092\u6d3b\u7528\u3057\u3066\u3044\u308bClimbLab\u306b\u304a\u3044\u3066\u3082\uff0c\u91cd\u529b\u30d9\u30af\u30c8\u30eb\u306f\u305f\u3060\u306e\u5916\u529b\u3068\u3057\u3066\u53d6\u308a\u6271\u3046\uff0e\u3053\u308c\u306b\u3088\u308a\u8a08\u7b97\u51e6\u7406\u3092\u7c21\u6f54\u306b\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e \u4f8b\u3048\u3070\uff0c\u50be\u659c\u89d2\u03b1\u3092\u6301\u3064\u50be\u3044\u305f\u5730\u9762\u3092\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u304c\u767b\u6500\u3057\u3066\u3044\u308b\u69d8\u5b50\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u3068\u304d\uff0c\u6163\u6027\u5ea7\u6a19\u7cfb\u03a3~I~ (z\u8ef8\u8ca0\u65b9\u5411\u3068\u91cd\u529b\u304c\u540c\u3058\u5411\u304d\u306e\u5ea7\u6a19)\u3067\u8a08\u7b97\u3057\u3088\u3046\u3068\u3059\u308b\u3068\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u904b\u52d5\u3084\u5730\u5f62\u60c5\u5831\u306b\u95a2\u3059\u308b\u5168\u3066\u306e\u5ea7\u6a19\u7cfb\u3092\u5730\u9762\u306e\u50be\u304d\u306b\u5408\u308f\u305b\u3066\u305d\u306e\u90fd\u5ea6\u56de\u8ee2\u3055\u305b\u308b\u5fc5\u8981\u304c\u3042\u308a\uff0c\u8a08\u7b97\u306e\u51e6\u7406\u91cf\u304c\u591a\u304f\u306a\u308b\uff0e\u3053\u306e\u554f\u984c\u306f\uff0c\u91cd\u529b\u3092\u7279\u5225\u8996\u3057\uff0c\u03a3~I~\u306ez\u8ef8\u306e\u8ca0\u306e\u65b9\u5411\u306b\u91cd\u529b\u30d9\u30af\u30c8\u30eb\u3092\u5408\u308f\u305b\u3088\u3046\u3068\u3059\u308b\u305f\u3081\u306b\u767a\u751f\u3059\u308b\uff0e\u8a08\u7b97\u3059\u308b\u5ea7\u6a19\u7cfb\u3092\u6163\u6027\u5ea7\u6a19\u7cfb\u3067\u306f\u306a\u304f\uff0c\u50be\u3044\u305f\u5730\u9762\u306b\u56fa\u5b9a\u3055\u308c\u305f\u5730\u9762\u5ea7\u6a19\u7cfb\u03a3~g~(ground)\u3068\u3057\uff0c\u91cd\u529b\u3092\u5916\u529b\u3068\u3057\u3066\u89d2\u5ea6\u03b1\u50be\u3051\u3066\u30ed\u30dc\u30c3\u30c8\u306b\u4f5c\u7528\u3059\u308b\u3082\u306e\u3068\u3057\u3066\u8a08\u7b97\u3059\u308b\u3068\u8a08\u7b97\u8ca0\u8377\u306f\u8efd\u304f\u306a\u308b\uff0e\u3059\u306a\u308f\u3061 \u8a08\u7b97\u4e0a\u30ed\u30dc\u30c3\u30c8\u306f\uff0c\u50be\u659c\u3092\u6301\u3063\u305f\u5742\u3067\u306f\u306a\u304f\u5e73\u5730\u3092\u6b69\u884c\u3057\u3066\u304a\u308a\uff0c\u305d\u3053\u306b\u5730\u9762\u771f\u4e0b\u65b9\u5411\u304b\u3089\u50be\u3044\u305f\u5411\u304d\u306b\u5916\u529b(\u91cd\u529b)\u304c\u304b\u304b\u3063\u3066\u3044\u308b \u3068\u8003\u3048\u308b\uff0e\u305d\u306e\u5f8c\uff0c\u52d5\u753b\u3092\u63cf\u753b\u3059\u308b\u6642\u3060\u3051\uff0c\u3064\u3058\u3064\u307e\u5408\u308f\u305b\u3068\u3057\u3066\u63cf\u753b\u3092\u56de\u8ee2\u3055\u305b\u3066\u50be\u659c\u3084\u58c1\u3092\u767b\u3063\u3066\u3044\u308b\u3088\u3046\u306b\u8868\u793a\u3057\u3066\u3044\u308b\u306e\u3067\u3042\u308b\uff0e \u3053\u306e\u8003\u3048\u65b9\u306f\uff0c2.5\u7bc0\u3067\u8ff0\u3079\u308b ini_environment.m \u3067\u306e\u91cd\u529b\u30d9\u30af\u30c8\u30eb\u306e\u5b9a\u7fa9\u30842.6\u7bc0\u3067\u8ff0\u3079\u308bVisualize\u95a2\u6570\u3067\u306e\u50be\u304d\u306e\u53d6\u308a\u6271\u3044\u306b\u95a2\u4fc2\u3057\u3066\u3044\u308b\uff0e\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306b\u304a\u3044\u3066\u306f\uff0c\u6271\u3046\u5909\u6570\u3084\u30d9\u30af\u30c8\u30eb\u304c\u3069\u306e\u5ea7\u6a19\u7cfb\u3067\u8868\u8a18\u3055\u308c\u305f\u3082\u306e\u306a\u306e\u304b\u5e38\u306b\u6ce8\u610f\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\u305f\u3081\uff0c\u6163\u6027\u5ea7\u6a19\u7cfb\u3068\u5730\u9762\u5ea7\u6a19\u7cfb\u30fb\u30ed\u30dc\u30c3\u30c8\u30d9\u30fc\u30b9\u5ea7\u6a19\u7cfb\u3092\u610f\u8b58\u3057\u3066\u533a\u5225\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e 2.4. Configuration Functions \u3053\u3053\u304b\u3089\u306f\uff0cClimbLab\u306e\u305f\u3081\u306b\u5f53\u7814\u7a76\u30b0\u30eb\u30fc\u30d7\u3067\u65b0\u305f\u306b\u958b\u767a\u3055\u308c\u305f\u95a2\u6570\u7fa4\u306b\u3064\u3044\u3066\uff0c\u305d\u308c\u305e\u308c\u5206\u3051\u3066\u8aac\u660e\u3059\u308b\uff0e \u3000\u307e\u305a\u521d\u3081\u306b\u5b9f\u884c\u3055\u308c\u308b\u95a2\u6570\u7fa4\u3067\u3042\u308bConfiguration\u95a2\u6570\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0eConfiguration\u95a2\u6570\u3068\u306f\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u6761\u4ef6\u306e\u8a2d\u5b9a\u30fb\u69cb\u7bc9\u3092\u304a\u3053\u306a\u3046\u95a2\u6570\u7fa4\u3067\u3042\u308a\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/config \u4ee5\u4e0b\u306b\u7f6e\u304b\u308c\u308b\u63a5\u982d\u8f9e\u304c config_ \u3067\u59cb\u307e\u308b\u95a2\u6570\u306e\u7dcf\u79f0\u3067\u3042\u308b\uff0eClimbLab\u306f\u591a\u7a2e\u591a\u69d8\u306a\u74b0\u5883\u30fb\u30ed\u30dc\u30c3\u30c8\u30fb\u6b69\u5bb9\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c1\u3064\u306emain\u30d5\u30a1\u30a4\u30eb\u3067\u5b9f\u884c\u53ef\u80fd\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3067\u3042\u308b\u305f\u3081\uff0c\u3069\u3093\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u306e\u304b\u30e6\u30fc\u30b6\u30fc\u3084\u958b\u767a\u8005\u304c\u7d30\u304b\u304f\u8a2d\u5b9a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e \u3057\u304b\u3057\u65b0\u3057\u3044\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u308b\u5ea6\u306b\uff0c\u305d\u306e\u90fd\u5ea6\u5168\u3066\u306e\u5909\u6570\u3092\u8a2d\u5b9a\u3059\u308b\u306e\u306f\u975e\u5e38\u306b\u7169\u96d1\u3067\u3042\u308b\uff0e\u305d\u3053\u3067\uff0c\u307e\u305a\u306f\u81ea\u52d5\u3067\u5168\u3066\u306e\u5909\u6570\u3092\u8aad\u307f\u8fbc\u3093\u3067\u30c7\u30d5\u30a9\u30eb\u30c8\u3068\u3057\u3066\u8a2d\u5b9a\u3057\uff0c\u305d\u306e\u5f8c\uff0c\u30e6\u30fc\u30b6\u30fc\u304c\u671b\u3080\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3048\u308b\u3088\u3046\u306b\uff0c\u5909\u66f4\u3057\u305f\u3044\u5909\u6570\u306b\u3064\u3044\u3066\u3060\u3051\u8a2d\u5b9a\u3055\u308c\u305f\u5909\u6570\u306e\u4e2d\u8eab\u3092\u4e0a\u66f8\u304d\u3059\u308b\u3068\u3044\u30462\u6bb5\u968e\u306e\u624b\u6cd5\u3092\u63a1\u7528\u3057\u3066\u3044\u308b\uff0e\u305d\u306e\u305f\u3081\uff0cConfiguration\u95a2\u6570\u306b\u306f\u5927\u304d\u304f2\u7a2e\u985e\u3042\u308a\uff0c\u81ea\u52d5\u3067\u8aad\u307f\u8fbc\u3080\u305f\u3081\u306b\u5b58\u5728\u3059\u308b\u95a2\u6570\u3068\uff0c\u305d\u306e\u5f8c\u6307\u5b9a\u3057\u305f\u3044\u5185\u5bb9\u306b\u5024\u3092\u4e0a\u66f8\u304d\u3059\u308b\u95a2\u6570\u304c\u3042\u308b\uff0e \u4ee5\u4e0b\uff0cConfig\u95a2\u6570\u306e\u5177\u4f53\u7684\u306a\u69cb\u6210\u3092\u8ff0\u3079\u308b\uff0e\u307e\u305a main_sim \u5185\u3067\uff0cConfiguration\u3092\u8a2d\u5b9a\u3059\u308b\u95a2\u6570\u306e\u304a\u304a\u3082\u3068\u3068\u3057\u3066 config\\_simulation.m \u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e\u3053\u306e\u95a2\u6570\u306e\u4e2d\u3067\u4e0a\u8a18\u306e\u4e8c\u6bb5\u968e\u5f0f\u306econfig\u8a2d\u5b9a\u304c\u304a\u3053\u306a\u308f\u308c\u308b\uff0e\u307e\u305a\uff0c\u7b2c\u4e00\u6bb5\u968e\u3068\u3057\u3066 config\\_all\\_default\\_param.m \u306b\u3088\u3063\u3066\uff0c\u521d\u671f\u306e\u74b0\u5883\u69cb\u7bc9\u306e\u305f\u3081\u306b\u5fc5\u8981\u306a\u5168\u3066\u306eclass\u3068\u305d\u306e\u4e2d\u8eab\u306e\u5909\u6570\u304c\u30c7\u30d5\u30a9\u30eb\u30c8\u3068\u3057\u3066\u8a2d\u5b9a\u3055\u308c\u308b\uff0econfig_all_default_param.m\u306f\uff0c\u305d\u306e\u5185\u90e8\u3067\uff0c config/default \u4ee5\u4e0b\u306b\u5b58\u5728\u3059\u308b\u5404class\u3092\u5b9a\u7fa9\u3059\u308b\u4ee5\u4e0b\u306eConfig\u95a2\u6570\u7fa4\u3092\u5b9f\u884c\u3059\u308b\uff0e config_robot_param.m config_environment_param.m config_gait_planning_param.m config_control_param.m config_equilibrium_param.m config_animation_settings.m config_save_settings.m config_plot_settings.m config_target_detection_param.m : \u3053\u306e\u30d5\u30a1\u30a4\u30eb\u306e\u307f\u30d5\u30a9\u30eb\u30c0 /climblab/lib/target_detection \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b config_sensing_camera_param.m \u5404\u95a2\u6570\u540d\u306f\uff0c\u305d\u306e\u95a2\u6570\u3067\u8aad\u307f\u8fbc\u307e\u308c\u308bclass\u306e\u540d\u524d\u3068\u76f4\u63a5\u30ea\u30f3\u30af\u3057\u3066\u3044\u308b\uff0e \u305d\u306e\u5f8c\uff0c config_simulation.m \u306b\u3066\u7b2c\u4e8c\u6bb5\u968e\u3068\u3057\u3066\uff0c main_sim \u5185\u3067\u8a18\u8ff0\u3057\u3066\u6307\u5b9a\u3057\u305fconfig\u306b\u5fdc\u3058\u3066\uff0c\u5404\u5909\u6570\u306e\u4e0a\u66f8\u304d\u51e6\u7406\u304c\u304a\u3053\u306a\u308f\u308c\u308b\uff0econfig\u306e\u8a2d\u5b9a\u3092 \"default\" \u306b\u3059\u308b\u3068\uff0c\u5909\u6570\u306e\u4e0a\u66f8\u304d\u304c\u4e00\u5207\u304a\u3053\u306a\u308f\u308c\u305a\uff0c\u81ea\u52d5\u7684\u306b\u8a2d\u5b9a\u3055\u308c\u305f\u5909\u6570\u3092\u7528\u3044\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u958b\u59cb\u3059\u308b\uff0e\u8a2d\u5b9a\u3092 \"USER\" \u3059\u308b\u3068\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/config/USER \u4e0b\u306b\u3042\u308b config_USER_param.m \u3092\u53c2\u7167\u3057\u3066\u5909\u6570\u306e\u4e0a\u66f8\u304d\u3092\u304a\u3053\u306a\u3046\uff0e\u305d\u306e\u305f\u3081\uff0cdefault\u304b\u3089\u5909\u66f4\u3057\u305f\u3044\u5909\u6570\u3084\u8a2d\u5b9a\u304c\u3042\u308b\u5834\u5408\u306f\uff0c\u305d\u306e\u8a2d\u5b9a\u3060\u3051 config_USER_param.m \u5185\u3067\u540c\u540d\u306e\u5909\u6570\u3068\u3057\u3066\u65b0\u305f\u306b\u8a18\u8ff0\u3057\u3066\u3084\u308c\u3070\u3088\u3044\uff0e default \u3068 USER \u4ee5\u5916\u306econfig\u8a2d\u5b9a\u3068\u3057\u3066\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/config/preset \u4e0b\u306b\u3044\u304f\u3064\u304bConfig\u95a2\u6570\u304c\u4f5c\u6210\u3055\u308c\u3066\u3044\u308b\uff0e\u3053\u308c\u3089\u306e\u95a2\u6570\u306f\u30c7\u30d5\u30a9\u30eb\u30c8\u3068\u306f\u7570\u306a\u308b\u304c\u534a\u6c38\u4e45\u7684\u306b\u53c2\u8003\u3068\u3055\u308c\u308b\u30d5\u30a9\u30fc\u30de\u30c3\u30c8\u3067\u3042\u308b\uff0e\u3059\u306a\u308f\u3061\uff0cdefault\u4ee5\u5916\u306e\u57fa\u672c\u7684\u306aClimbLab\u306b\u3088\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u4f8b\u3084\uff0c\u307e\u305f\u3053\u308c\u307e\u3067\u306b\u672c\u7814\u7a76\u30c1\u30fc\u30e0\u304c\u6295\u7a3f\u3057\u305f\u8ad6\u6587\u30fb\u5b66\u4f1a\u767a\u8868\u3067\u306e\u7d50\u679c\u3092\u518d\u73fe\u3059\u308b\u305f\u3081\u306b\u4f5c\u6210\u3055\u308c\u3066\u4fdd\u7ba1\u3055\u308c\u3066\u3044\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3067\u3042\u308b\uff0e 2.5. Initialize Functions Configuration\u95a2\u6570\u306b\u3088\u3063\u3066\u74b0\u5883\u69cb\u7bc9\u306e\u305f\u3081\u306b\u5fc5\u8981\u306aclass\u3068\u5909\u6570\u304c\u8a2d\u5b9a\u3055\u308c\u305f\u3042\u3068\u306f\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30eb\u30fc\u30d7\u306e\u958b\u59cb\u306b\u5411\u3051\u3066t=0\u306e\u6642\u306e\u521d\u671f\u72b6\u614b\u3092\u660e\u78ba\u306b\u6307\u5b9a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e\u3053\u306e\u5f79\u5272\u3092\u62c5\u3063\u3066\u3044\u308b\u306e\u304cInitialize\u95a2\u6570\u3067\u3042\u308a\uff0c\u63a5\u982d\u8f9e ini_ \u3067\u59cb\u307e\u308b\u95a2\u6570\u3067\u3042\u308b\uff0eInitialize\u95a2\u6570\u7fa4\u306f\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/src \u4e0b\u306b\uff0c\u8a72\u5f53\u3059\u308b\u51e6\u7406\u6bce\u306b\u30d5\u30a9\u30eb\u30c0\u3092\u5206\u3051\u3066Update\u95a2\u6570\u306a\u3069\u3068\u3068\u3082\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0eInitialize\u95a2\u6570\u306b\u3088\u308a\uff0cConfig\u95a2\u6570\u3067\u6307\u5b9a\u3055\u308c\u305f\u5404\u30d1\u30e9\u30e1\u30fc\u30bf\u304b\u3089\uff0c\u5b9f\u969b\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5185\u3067\u5fc5\u8981\u3068\u306a\u308b\u5168\u5909\u6570\u3092\u8a2d\u5b9a\u3057\uff0c\u305d\u308c\u305e\u308c\u306eclass\u3078\u3068\u683c\u7d0d\u3059\u308b\uff0e Initialize\u95a2\u6570\u306e\u5f79\u5272\u3092\uff0c main_sim \u5185\u3067\u5b9f\u884c\u3055\u308c\u308b\u9806\u756a\u306b\u7c21\u5358\u306b\u8aac\u660e\u3059\u308b\uff0e \u307e\u305a\u5192\u982d\u3067\u5b9f\u884c\u3055\u308c\u308b ini_path.m \u306f\uff0c\u7279\u6b8a\u306ainitialize\u95a2\u6570\u3067\uff0c\u30d1\u30b9\u3068\u3088\u3070\u308c\u308bMATLAB\u306e\u691c\u7d22\u7bc4\u56f2\u306b main_sim \u3092\u5b9f\u884c\u3059\u308b\u305f\u3081\u306b\u5fc5\u8981\u306aClimbLab\u306e\u5185\u90e8\u30d5\u30a9\u30eb\u30c0\u3092\u8ffd\u52a0\u3059\u308b\uff0e\u307e\u305f main_sim \u3092\u5b9f\u884c\u3059\u308b\u969b\u306eMATLAB\u5185\u3067\u306e\u30d5\u30a9\u30eb\u30c0\u5834\u6240\u304c\u9055\u3046\u5834\u5408\u306f\uff0c\u5b9f\u884c\u5834\u6240\u304c\u9593\u9055\u3063\u3066\u308b\u65e8\u306e\u8b66\u544a\u3092\u51fa\u3059\uff0e\u30d5\u30a1\u30a4\u30eb\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/src \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e \u6b21\u306b\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/src/environment \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u4ee5\u4e0b\u306e\u95a2\u6570\u304c\u5b9f\u884c\u3055\u308c\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u3068\u5730\u5f62\u304c\u8a2d\u5b9a\u3055\u308c\u308b\uff0e ini_environment.m \u8a2d\u5b9a\u3055\u308c\u305f\u5730\u5f62\u50be\u659c\u03b1\u304b\u3089\u5730\u9762\u5ea7\u6a19\u7cfb\u306b\u304a\u3051\u308b\u91cd\u529b\u30d9\u30af\u30c8\u30eb\u306e\u5411\u304d\u3092\u5b9a\u7fa9\u3059\u308b\uff0e\u307e\u305f\u523b\u307f\u6642\u9593\u3092\u8a2d\u5b9a\u3059\u308b\uff0e ini_surface.m \u30d5\u30a9\u30eb\u30c0/climblab/src/environment\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u5730\u5f62\u30c7\u30fc\u30bf\u306e\u4e2d\u304b\u3089\uff0cconfig\u3067\u6307\u5b9a\u3055\u308c\u305f\u5730\u5f62\u60c5\u5831\u3092xyz\u306e\u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u3067\u8aad\u307f\u8fbc\u3080\uff0e ini_graspable_points.m xyz\u306e\u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u304b\u30893\u00d7N\u884c\u5217\u306e\u70b9\u7fa4\u5f62\u5f0f\u306b\u5909\u63db\u3057\uff0c\u305d\u306e\u4e2d\u304b\u3089\u628a\u6301\u5bfe\u8c61\u3068\u3059\u308b\u70b9\u7fa4\u3092\u9078\u5b9a\u3059\u308b\uff0e \u3053\u3053\u3067\uff0c\u5730\u5f62\u3068\u3057\u3066\u4e0d\u6574\u5730\u3092\u8a2d\u5b9a\u3059\u308b\u5834\u5408\u306b\u306f\uff0c ini_graspable_points.m \u5185\u306b\u3066\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3092\u5b9f\u884c\u3059\u308b\u3053\u3068\u3067\u5730\u5f62\u5185\u306e\u628a\u6301\u53ef\u80fd\u70b9\u3092\u9078\u51fa\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/lib/target_detection \u4e0b\u306b\u5168\u3066\u306e\u95a2\u6570\u304c\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\uff0e \u6b21\u306b\uff0c\u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u306b\u95a2\u308f\u308bInitialize\u95a2\u6570\u306e\u5927\u5143\u3068\u3057\u3066\uff0c ini_robot.m \u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e ini_robot.m \u306b\u3088\u308a\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u7528\u3044\u308b\u30ed\u30dc\u30c3\u30c8\u306e\u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf(LP)\u3068\u72b6\u614b\u5909\u6570(SV)\u3092\u5b9a\u7fa9\u3057\uff0c\u307e\u305fConfig\u95a2\u6570\u3067\u6307\u5b9a\u3055\u308c\u305f\u521d\u671f\u30d9\u30fc\u30b9\u4f4d\u7f6e\u3084\u9ad8\u3055\u30fbxy\u65b9\u5411\u306e\u811a\u5148\u306e\u5e45\u3092\u3082\u3068\u306b\u5730\u5f62\u4e0a\u306b\u30ed\u30dc\u30c3\u30c8\u306e\u521d\u671f\u914d\u7f6e\u3092\u304a\u3053\u306a\u3046\uff0e \u3000 ini_robot.m \u306e\u5185\u90e8\u3067\u306f\u6b21\u306eInitialize\u95a2\u6570\u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e ini_(\u30ed\u30dc\u30c3\u30c8\u30bf\u30a4\u30d7\u306e\u540d\u524d)_LP.m Config\u95a2\u6570\u3067\u6307\u5b9a\u3055\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u3092\u8aad\u307f\u8fbc\u3093\u3067LP\u3092\u5b9a\u7fa9\u3059\u308b\uff0e ini_12DOF_SV.m 12\u81ea\u7531\u5ea6\u3092\u6301\u3064\u30ed\u30dc\u30c3\u30c8\u306e\u72b6\u614b\u5909\u6570\u3092\u521d\u671f\u5b9a\u7fa9\uff08\u5909\u6570\u3092\u7528\u610f\uff09\u3059\u308b\uff0e ini_joint_angle.m \u30ed\u30dc\u30c3\u30c8\u306e\u521d\u671f\u811a\u5148\u5e45\u304b\u3089\uff0c\u811a\u5148\u306b\u3082\u3063\u3068\u3082\u8fd1\u3044\u628a\u6301\u70b9\u3092\u898b\u3064\u3051\u51fa\u3057\uff0c\u305d\u3053\u304c\u9006\u904b\u52d5\u5b66\u7684\u306b\u53ef\u52d5\u7bc4\u56f2\u5185\u3067\u3042\u308c\u3070\u811a\u5148\u4f4d\u7f6e\u3092\u305d\u3053\u306b\u8a2d\u5b9a\u3057\uff0c\u9006\u904b\u52d5\u5b66\u3067\u6c42\u3081\u305f\u95a2\u7bc0\u89d2\u5ea6\u306b\u95a2\u7bc0\u89d2\u5ea6\u3092\u8a2d\u5b9a\u3059\u308b\uff0e ini_reachable_area.m \u521d\u671f\u8a2d\u7f6e\u3057\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u811a\u5148\u53ef\u52d5\u7bc4\u56f2\u3092\u8a2d\u5b9a\u3059\u308b\uff0e \u6b21\u306b\uff0c\u672a\u77e5\u74b0\u5883\u63a2\u67fb\u3092\u6a21\u64ec\u3059\u308b\u5834\u5408\u306b\u306f\uff0c ini_sensed_graspable_points.m \u306b\u3088\u308a\uff0c\u914d\u7f6e\u3057\u305f\u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u306e\u5468\u56f2\u306e\u628a\u6301\u70b9\u3092\u65e2\u77e5\u3068\u3059\u308b\u3088\u3046\u306b\u5909\u66f4\u3059\u308b\uff0e\u305d\u3057\u3066\uff0c ini_gait.m \u306b\u3088\u308a\uff0c\u6b69\u5bb9\u306b\u95a2\u308f\u308b\u30d1\u30e9\u30e1\u30fc\u30bf\u3068\u3057\u3066\uff0c4\u811a\u652f\u6301\u671f\u3084\u904a\u811a\u671f\u306e\u6642\u9593\u3092config\u3067\u6307\u5b9a\u3055\u308c\u305f\u5024\u304b\u3089\u8a08\u7b97\u3057\u3066\u8a2d\u5b9a\u3059\u308b\uff0e\u305d\u3057\u3066\uff0c\u5927\u5c40\u7684\u7d4c\u8def\u8a08\u753b(Global Path Planning)\u3092\u7528\u3044\u308b\u5834\u5408\u306b\u306f\uff0c\u305d\u306e\u521d\u671f\u8a2d\u5b9a\u3068\u3057\u3066\u4ee5\u4e0b\u306e2\u3064\u306e\u95a2\u6570\u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e ini_obstacle_map.m \u628a\u6301\u53ef\u80fd\u70b9\u4f4d\u7f6e\u60c5\u5831\u3092\u53ce\u5bb9\u3059\u308b\u30b0\u30ea\u30c3\u30c9\u30de\u30c3\u30d7\u3092\u5b9a\u7fa9\u3059\u308b\uff0e ini_global_path_plan.m \u5927\u5c40\u7684\u7d4c\u8def\u3092\u521d\u671f\u8a2d\u5b9a\u3059\u308b\uff0e \u6700\u5f8c\u306b\uff0c\u63cf\u753b\u3084\u4fdd\u5b58\u306b\u95a2\u3059\u308bInitialize\u95a2\u6570\u7fa4\u3068\u3057\u3066\uff0c ini_id.m \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7d50\u679c\u306e\u30c7\u30fc\u30bf\u3092dat\u30d5\u30a9\u30eb\u30c0\u306b\u4fdd\u5b58\u3059\u308b\u969b\u306e\u30d5\u30a9\u30eb\u30c0\u540d\u3092\u8a2d\u5b9a\u3059\u308b\uff0e ini_video\\_file.m \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u52d5\u753b\u306e\u4fdd\u5b58\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\uff0e \u304c\u5b9f\u884c\u3055\u308c\uff0c\u5168\u3066\u306e\u521d\u671f\u8a2d\u5b9a\u304c\u5b8c\u4e86\u3059\u308b\uff0e 2.6. Update Functions \u4e0a\u8a18\u306e\u51e6\u7406\u306b\u3088\u308a\u521d\u671f\u8a2d\u5b9a\u304c\u5b8c\u4e86\u3057\u305f\u305f\u3081\uff0c\u30eb\u30fc\u30d7\u306b\u3088\u3063\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u3059\u3081\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e \u3000Update\u95a2\u6570\u3068\u306f\uff0c\u305d\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30eb\u30fc\u30d7\u5185\u3067\u5b9f\u884c\u3055\u308c\u308b\u95a2\u6570\u7fa4\u3067\u3042\u308a\uff0c\u51e6\u7406\u306b\u3088\u3063\u3066\u5404\u5909\u6570\u306e\u4e2d\u8eab\u3092\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u6bce\u306b\u66f4\u65b0\u3059\u308b\u63a5\u982d\u8f9e upd_ \u3067\u59cb\u307e\u308b\u95a2\u6570\u3067\u3042\u308b\uff0eInitialize\u95a2\u6570\u7fa4\u3068\u540c\u69d8\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/src \u4e0b\u306b\uff0c\u8a72\u5f53\u3059\u308b\u6a5f\u80fd\u6bce\u306b\u30d5\u30a9\u30eb\u30c0\u3092\u5206\u3051\u3066\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0eUpdate\u95a2\u6570\u306e\u5f79\u5272\u306e\u4e00\u4f8b\u3068\u3057\u3066\u306f\uff0c\u305d\u306e\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u306b\u304a\u3051\u308b\u811a\u5148\u4f4d\u7f6e\u3084\u95a2\u7bc0\u89d2\u5ea6\u3092\u8a08\u7b97\u3057\u3066\u6c42\u3081\uff0c\u6c42\u3081\u305f\u5024\u3078\u306e\u5909\u6570\u306e\u66f4\u65b0\u3092\u304a\u3053\u306a\u3046\u306a\u3069\u304c\u6319\u3052\u3089\u308c\u308b\uff0eUpdate\u95a2\u6570\u306e\u7dcf\u6570\u306f40\u3092\u8d85\u3048\u308b\u305f\u3081\uff0c\u3053\u3053\u3067\u306f\u5404\u95a2\u6570\u306e\u8a73\u7d30\u306a\u8a18\u8ff0\u306f\u5272\u611b\u3057\uff0cmain_sim\u306e\u30eb\u30fc\u30d7\u5185\u90e8\u3067\u76f4\u63a5\u547c\u3073\u51fa\u3055\u308c\u3066\u5b9f\u884c\u3055\u308c\u3066\u3044\u308b\u5927\u5143\u306e\u95a2\u6570\u306b\u3064\u3044\u3066\u306e\u307f\u8aac\u660e\u3059\u308b\u306b\u3068\u3069\u3081\uff0cClimbLab\u306e\u5404\u51e6\u7406\u306e\u6982\u8981\u3092\u3055\u3089\u3046\uff0e Sensing \u307e\u305a\uff0c\u30ed\u30dc\u30c3\u30c8\u304c\u672a\u77e5\u74b0\u5883\u3092\u79fb\u52d5\u3057\u3066\u3044\u308b\u72b6\u6cc1\u3092\u60f3\u5b9a\u3057\u305f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u305f\u3081\u306b\uff0c * upd_sensed_graspable_points.m \u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e\u5730\u5f62\u60c5\u5831\u306b\u3064\u3044\u3066\u306f\u524d\u3082\u3063\u3066\u5168\u4f53\u306b\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u308b\uff0e\u305d\u306e\u305f\u3081\u30bb\u30f3\u30b7\u30f3\u30b0\u306b\u95a2\u3057\u3066ClimbLab\u5185\u3067\u306f\uff0c\u5730\u5f62\u60c5\u5831\u5168\u4f53\u306e\u70b9\u7fa4\u3067\u306f\u306a\u304f\uff0c\u6b69\u884c\u306b\u91cd\u8981\u306a\u628a\u6301\u53ef\u80fd\u70b9\u306e\u307f\u3092\u5bfe\u8c61\u3068\u3059\u308b\uff0e \u5177\u4f53\u7684\u306a\u51e6\u7406\u3092\u8ff0\u3079\u308b\uff0e surface_param.graspable_points (\u4ee5\u4e0b surface_param \u3092\u7701\u7565)\u306b\u683c\u7d0d\u3055\u308c\u305f\u5730\u5f62\u5168\u4f53\u306e\u628a\u6301\u53ef\u80fd\u70b9\u306e\u4f4d\u7f6e\u60c5\u5831\u3068\u306f\u5225\u306b\uff0c sensed_graspable_points \u3068\u3044\u3046\u5909\u6570\u3092\u7528\u610f\u3059\u308b\uff0e\u30bb\u30f3\u30b5\u30ab\u30e1\u30e9\u306e\u753b\u89d2\u306b\u5165\u3063\u305f\u3053\u3068\u3067\"\u65e2\u77e5\"\u3068\u306a\u3063\u305f\u70b9\u306e\u5ea7\u6a19\u3092\uff0c graspable_points \u304b\u3089\u30b3\u30d4\u30fc\u3057\u3066\u3053\u306e sensed_graspable_points \u306b\u683c\u7d0d\u3059\u308b\uff0e\u30ed\u30dc\u30c3\u30c8\u306e\u79fb\u52d5\u306b\u3068\u3082\u306a\u3063\u3066\u30bb\u30f3\u30b7\u30f3\u30b0\u30a8\u30ea\u30a2\u3082\u9032\u3093\u3067\u3044\u304f\u305f\u3081\uff0c\u3053\u306e\u51e6\u7406\u3092\u30eb\u30fc\u30d7\u5185\u3067\u7e70\u308a\u8fd4\u3057\u304a\u3053\u306a\u3063\u3066\u3044\u304f\uff0e\u305d\u3057\u3066\uff0c\u6b69\u5bb9\u8a08\u753b\u306a\u3069\u3067\u6271\u3046\u628a\u6301\u53ef\u80fd\u70b9\u306e\u4f4d\u7f6e\u60c5\u5831\u3068\u3057\u3066 sensed_graspable_points \u3092\u5229\u7528\u3059\u308b\u3053\u3068\u3067\uff0c\u672a\u77e5\u74b0\u5883\u3092\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3044\u306a\u304c\u3089\u79fb\u52d5\u3059\u308b\u72b6\u6cc1\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u304d\u308b\uff0e Global Path Planning \u7d9a\u3044\u3066\uff0c\u5927\u5c40\u7684\u7d4c\u8def\u8a08\u753b\u3068\u3057\u3066\uff0c\u6b21\u306e2\u3064\u306e\u95a2\u6570\uff1a upd_obstacle_map.m upd_global_path_plan.m \u304c\u9806\u306b\u5b9f\u884c\u3055\u308c\u308b\uff0e\u307e\u305a upd_obstacle_map.m \u306b\u3088\u3063\u3066\uff0c\u30bb\u30f3\u30b7\u30f3\u30b0\u306e\u7d50\u679c\u306b\u3082\u3068\u3065\u304d\u628a\u6301\u53ef\u80fd\u70b9\u4f4d\u7f6e\u60c5\u5831\u3092\u30b0\u30ea\u30c3\u30c9\u30de\u30c3\u30d7\u306b\u53ce\u5bb9\u3059\u308b\uff0e\u5404\u30b0\u30ea\u30c3\u30c9\u306f\uff0c\u4e2d\u5fc3\u306b\u6709\u3059\u308b\u53c2\u7167\u30ce\u30fc\u30c9\u306e\u72b6\u614b\u306b\u5fdc\u3058\u3066\uff0c\u4eee\u30ce\u30fc\u30c9\u3067\u3042\u308c\u30700\uff0c\u78ba\u5b9a\u30ce\u30fc\u30c9\u306a\u30891\uff0c\u7a7a\u30ce\u30fc\u30c9\u306a\u3089NaN\u5024\u3092\u6301\u3064\u3088\u3046\u306b\u66f4\u65b0\u3055\u308c\u308b\uff0e\u3053\u306e\u3088\u3046\u306b\uff0c\u5404\u30ce\u30fc\u30c9\u306e\u5024\u3092\u53ce\u5bb9\u3057\u3066\u3044\u308b\u884c\u5217\u3068\u3057\u3066\u30b0\u30ea\u30c3\u30c9\u30de\u30c3\u30d7\u3092\u53d6\u308a\u6271\u3046\uff0e\u305d\u3057\u3066\uff0c upd_global_path_plan.m \u3067\u306f\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u73fe\u5728\u4f4d\u7f6e\u3068\u30b4\u30fc\u30eb\u4f4d\u7f6e\uff0c\u305d\u3057\u3066\u5404\u30ce\u30fc\u30c9\u306e\u72b6\u614b\u3092\u53c2\u7167\u3057\u3066\u7d4c\u8def\u3092\u751f\u6210\u3057\uff0c\u4e2d\u9593\u70b9\u3092\u751f\u6210\u3059\u308b\uff0e Local Path Planning \u5c40\u6240\u7684\u7d4c\u8def\u8a08\u753b\u3092\u304a\u3053\u306a\u3046\u95a2\u6570\u3068\u3057\u3066\uff0c upd_local_path_planning.m \u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e\u3053\u306e\u95a2\u6570\u306b\u3088\u3063\u3066\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u6b21\u306e\u4e00\u65b9\u306b\u304a\u3051\u308b\u76ee\u6a19\u79fb\u52d5\u65b9\u5411\u3092\u6c7a\u5b9a\u3059\u308b\uff0e\u95a2\u6570\u5185\u3067\u306f\uff0c\u8a98\u5f15\u3055\u308c\u308b3\u3064\u306e\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u3092\u305d\u308c\u305e\u308c\u7b97\u51fa\u3057\uff0c\u91cd\u307f\u4ed8\u3051\u4fc2\u6570\u3092\u304b\u3051\u3066\u8db3\u3057\u5408\u308f\u305b\u3066\u6b63\u898f\u5316\u3059\u308b\u3053\u3068\u3067\uff0c\u79fb\u52d5\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u3092\u5c0e\u51fa\u3057\u3066\u3044\u308b\uff0e \u306a\u304a\uff0c\u3053\u306e\u5c40\u6240\u7684\u7d4c\u8def\u8a08\u753b\u3092\u7528\u3044\u306a\u3044\u5834\u5408\u306f\uff0c\u6b21\u306e\u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u95a2\u6570\u306e\u306a\u304b\u3067\uff0c\u79fb\u52d5\u65b9\u5411\u3068\u3057\u3066\u30b4\u30fc\u30eb\u65b9\u5411\u306b\u76f4\u9032\u3059\u308b\u30d9\u30af\u30c8\u30eb\u3092\u8a2d\u5b9a\u3057\u3066\u3044\u308b\uff0e Gait Planning \u7d4c\u8def\u8a08\u753b\u306b\u7d9a\u3044\u3066\uff0c\u6b69\u5bb9\u8a08\u753b\u3092\u304a\u3053\u306a\u3046\u5927\u5143\u306e\u95a2\u6570\u3068\u3057\u3066\uff0c upd_gait_planning.m \u304c\u5b9f\u884c\u3055\u308c\u308b\uff0eGait Planning\u3068\u306f\uff0c\u6b69\u5bb9\u8a08\u753b\u3092\u610f\u5473\u3059\u308b\u8a00\u8449\u3067\u3042\u308a\uff0c\u6b21\u306e\u904a\u811a\u30fb\u811a\u5148\u4f4d\u7f6e(\u628a\u6301\u70b9)\u30fb\u30d9\u30fc\u30b9\u4f4d\u7f6e\u30fb\u30d9\u30fc\u30b9\u59ff\u52e2\u3092\u6c7a\u5b9a\u3059\u308b\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3042\u308b\uff0e\u30d5\u30a1\u30a4\u30eb\u306e\u7f6e\u304d\u5834\u6240\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/src/controller/gait \u4e0b\u306b\uff0c\u30d5\u30a7\u30fc\u30ba\u6bce\u306b\u30d5\u30a9\u30eb\u30c0\u3092\u5206\u3051\u3066\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e upd_gait_planning.m \u304c main_sim \u5185\u3067\u5b9f\u884c\u3055\u308c\uff0c\u305d\u306e\u4e2d\u3067 gait_planning_param.type \u306b\u3088\u3063\u3066\u9069\u7528\u3055\u305b\u308b\u6b69\u5bb9\u8a08\u753b\u624b\u6cd5\u3092\u5207\u308a\u66ff\u3048\u3066\u5b9f\u884c\u3055\u308c\u308b\uff0e\u811a\u578b\u30af\u30e9\u30a4\u30df\u30f3\u30b0\u30ed\u30dc\u30c3\u30c8\u306e\u305f\u3081\u306e\u96e2\u6563\u7684\u306a\u811a\u5148\u63a5\u5730\u70b9\u3092\u8003\u616e\u3057\u305f\u6b69\u5bb9\u8a08\u753b\u624b\u6cd5\u3084\uff0c\u5f93\u6765\u624b\u6cd5\u3067\u3042\u308b\u30af\u30ed\u30fc\u30eb\u6b69\u5bb9\u306a\u3069\u304c\u5b9f\u88c5\u3055\u308c\u3066\u3044\u308b\uff0e Motion Planning \u6b69\u5bb9\u8a08\u753b\u306b\u3088\u3063\u3066\uff0c\u6b21\u306e\u4e00\u6b69\u5f8c\u306e\u59ff\u52e2\u304c\u6c7a\u5b9a\u3055\u308c\u305f\u305f\u3081\uff0c\u73fe\u5728\u306e\u59ff\u52e2\u304b\u3089\uff0c\u6b21\u306e\u59ff\u52e2\u3078\u3068\u79fb\u308b\u305f\u3081\u306e\u904b\u52d5\u8a08\u753b(Motion Planning)\u3092\u6b21\u306e upd_motion_planning.m \u306b\u3088\u3063\u3066\u5b9f\u884c\u3059\u308b\uff0e\u307e\u305a\u904a\u811a\u306e\u811a\u5148\u8ecc\u9053\u3092\u8a2d\u8a08\u3057\uff0c\u7d9a\u3044\u3066\u30d9\u30fc\u30b9\u91cd\u5fc3\u306e\u63cf\u304f\u8ecc\u9053\u306e\u8a2d\u8a08\u3092\u304a\u3053\u306a\u3046\uff0e\u305d\u3057\u3066\uff0c\u6c42\u3081\u3089\u308c\u305f\u8ecc\u9053\u304b\u3089\uff0c\u5404\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u3067\u306e\u76ee\u6a19\u811a\u5148\u4f4d\u7f6e\u3068\u76ee\u6a19\u30d9\u30fc\u30b9\u4f4d\u7f6e\u3092\uff0c\u30b9\u30d7\u30e9\u30a4\u30f3\u66f2\u7dda\u3092\u7528\u3044\u3066\u5c0e\u51fa\u3059\u308b\uff0e\u305d\u306e\u7d50\u679c\u304b\u3089\uff0c\u73fe\u5728\u6642\u523b\u3067\u306e\u30ed\u30dc\u30c3\u30c8\u306e\u76ee\u6a19\u72b6\u614b\u3092\uff0c\u9006\u904b\u52d5\u5b66\u3092\u89e3\u3044\u3066\u5404\u95a2\u7bc0\u89d2\u5ea6\u3092\u6c42\u3081\u308b\u3053\u3068\u3067\u5b9a\u7fa9\u3059\u308b\uff0e\u4ee5\u4e0a\u306e\u51e6\u7406\u306b\u3088\u308a\uff0c\u6b69\u5bb9\u8a08\u753b\u3067\u6c7a\u5b9a\u3057\u305f\u6b21\u306e\u628a\u6301\u70b9\u3084\u30d9\u30fc\u30b9\u4f4d\u7f6e\u306b\u5230\u9054\u3059\u308b\u305f\u3081\u306b\uff0c\u30ed\u30dc\u30c3\u30c8\u304c\u304a\u3053\u306a\u3046\u52d5\u4f5c\u3092\uff0c\u5404\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u3054\u3068\u306e\u76ee\u6a19\u95a2\u7bc0\u89d2\u5ea6\u3068\u3057\u3066\u5c0e\u51fa\u3059\u308b\uff0e\u5c0e\u51fa\u3057\u305f\u76ee\u6a19\u95a2\u7bc0\u89d2\u5ea6\u3092 des_SV \u306b\u683c\u7d0d\u3057\uff0c\u3053\u306e des_SV \u3092\u76ee\u6307\u3057\u5236\u5fa1\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u3067\u8a08\u753b\u3057\u305f\u904b\u52d5\u306e\u8ffd\u5f93\u30fb\u5b9f\u73fe\u3092\u304a\u3053\u306a\u3046\uff0e Equilibrium Evaluation \u904b\u52d5\u8a08\u753b\u306b\u7d9a\u3044\u3066\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u5b89\u5b9a\u6027\u8a55\u4fa1\u3092\uff0c upd_equilibrium_eval.m \u306b\u3088\u3063\u3066\u6c42\u3081\uff0c\u5b89\u5b9a\u6027\u3092\u5b9a\u91cf\u7684\u306b\u7b97\u51fa\u3059\u308b\uff0eClimbLab\u306b\u5c0e\u5165\u3055\u308c\u3066\u3044\u308b\u5b89\u5b9a\u6027\u8a55\u4fa1\u6307\u6a19\u306b\u306f2\u3064\u306e\u7a2e\u985e\u304c\u3042\u308b\uff0e\u307e\u305a\u7b2c\u4e00\u306e\u6307\u6a19\u306f\uff0c\u8ee2\u5012\u5b89\u5b9a\u4f59\u88d5(Tumble Stability Margin, TSM)\u3067\u3042\u308b\uff0e\u7d9a\u3044\u3066\u7b2c\u4e8c\u306e\u6307\u6a19\u3068\u3057\u3066\uff0c\u8ee2\u5012\u5b89\u5b9a\u4f59\u88d5\u306e2\u6b21\u5143\u7684\u306a\u6982\u5ff5\u30923\u6b21\u5143\u7684\u306b\u62e1\u5f35\u3055\u305b\u3066\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u52a0\u901f\u5ea6\u30d9\u30af\u30c8\u30eb\u7dcf\u548c(Gravito-Inertial Acceleration, GIA)\u3092\u7528\u3044\u305f\u5b89\u5b9a\u6027\u8a55\u4fa1\u624b\u6cd5\u304c\u3042\u308b\uff0e\u3053\u306e2\u3064\u306e\u624b\u6cd5\u306e\u3069\u3061\u3089\u304b\u306e\u5185\uff0c\u81ea\u5206\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u9069\u5207\u3067\u3042\u308b\u624b\u6cd5\u3092\u5c0e\u5165\u3057\u3066\u5b89\u5b9a\u6027\u3092\u8a55\u4fa1\u3059\u308b\uff0e Robot Controller \u904b\u52d5\u8a08\u753b\u306b\u3088\u3063\u3066\u5c0e\u51fa\u3055\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u76ee\u6a19\u95a2\u7bc0\u89d2\u5ea6\u306b\u8fd1\u3065\u3051\u308b\u305f\u3081\u306b\uff0c\u904b\u52d5\u5236\u5fa1\u3092\u304a\u3053\u306a\u3046\uff0e\u904b\u52d5\u5236\u5fa1\u306f\u4ee5\u4e0b\u306e\u95a2\u6570\uff0c upd_control.m \u3067\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308b\uff0e\u30ed\u30dc\u30c3\u30c8\u306e\u52d5\u529b\u5b66\u3092\u7121\u8996\u3057\u3066\u904b\u52d5\u5b66\u306e\u307f\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u5834\u5408\u306b\u306f\uff0c\u3053\u306e\u51e6\u7406\u306f\u30b9\u30ad\u30c3\u30d7\u3057\uff0c\u904b\u52d5\u8a08\u753b\u3067\u6c42\u3081\u3089\u308c\u305f\u76ee\u6a19\u95a2\u7bc0\u89d2\u5ea6\u3092\u73fe\u5728\u6642\u523b\u306b\u304a\u3051\u308b\u30ed\u30dc\u30c3\u30c8\u306e\u95a2\u7bc0\u89d2\u5ea6\u3068\u3057\u3066\u305d\u306e\u307e\u307e\u63a1\u7528\u3059\u308b\uff0e\u4e00\u65b9\u3067\u30c0\u30a4\u30ca\u30df\u30af\u30b9\u3092\u8003\u616e\u3057\u305f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u5834\u5408\u306b\u306f\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u95a2\u7bc0\u30c8\u30eb\u30af\u03c4~i~\u3092PD\u5236\u5fa1\u3059\u308b\uff0e Kinematics and Dynamics \u30ed\u30dc\u30c3\u30c8\u306b\u95a2\u308f\u308b\u52d5\u529b\u5b66\u3084\u904b\u52d5\u5b66\u3092\u8a08\u7b97\u3059\u308b\uff0e\u307e\u305a\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u811a\u5148\u306e\u30b0\u30ea\u30c3\u30d1\u306b\u5bfe\u3057\u3066\u304b\u304b\u308b\u5f15\u304d\u5265\u304c\u3057\u529b\u3068\uff0c\u30b0\u30ea\u30c3\u30d1\u306e\u628a\u6301\u529b\u3068\u3092\u6bd4\u8f03\u3059\u308b\uff0e\u30b0\u30ea\u30c3\u30d1\u304c\u8010\u3048\u3089\u308c\u308b\u628a\u6301\u529b\u4ee5\u4e0a\u306e\u5f15\u304d\u5265\u304c\u3057\u529b\u304c\u811a\u5148\u306b\u767a\u751f\u3057\u3066\u3044\u308b\u5834\u5408\uff0c\u30b0\u30ea\u30c3\u30d1\u306f\u5265\u96e2\u3057\u305f\u3068\u5224\u5b9a\u3055\u308c\u308b\uff0e\u7d9a\u3044\u3066\uff0c\u5404\u811a\u306e\u811a\u5148\u306e\u30b0\u30ea\u30c3\u30d1\u304c\u5730\u9762\u306b\u62bc\u3057\u4ed8\u3051\u3089\u308c\u308b\u3053\u3068\u3067\u767a\u751f\u3059\u308b\u53cd\u529b\u3092\u8a08\u7b97\u3059\u308b\uff0e\u5730\u9762\u304b\u3089\u53d7\u3051\u308b\u53cd\u529bF~contact~\u306f\uff0c\u3070\u306d-\u30c0\u30f3\u30d1\u30e2\u30c7\u30eb\u3092\u63a1\u7528\u3057\u3066\u7b97\u51fa\u3055\u308c\u308b\uff0e\u811a\u5148\u304c\u5730\u9762\u306b\u4eee\u60f3\u7684\u306b\u3081\u308a\u3053\u3080\u3068\u3057\uff0c\u305d\u306e\u3068\u304d\u306e\u53cd\u529b\u3092\u5f3e\u6027\u4fc2\u6570\u3068\u7c98\u6027\u4fc2\u6570\u3092\u6307\u5b9a\u3059\u308b\u3053\u3068\u3067\u30e2\u30c7\u30eb\u5316\u3059\u308b\uff0e\u9678\u4e0a\u7af6\u6280\u4e0a\u306e\u30c8\u30e9\u30c3\u30af\u3084\uff0c\u516c\u9053\u306e\u30a2\u30b9\u30d5\u30a1\u30eb\u30c8\u30fb\u5ca9\u77f3\u5730\u5f62\u306a\u3069\uff0c\u5730\u9762\u306e\u8edf\u3089\u304b\u3055\u306f\u69d8\u3005\u3067\u3042\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u3053\u308c\u3089\u306e\u4fc2\u6570\u3092\u9069\u5207\u306b\u8a2d\u5b9a\u3057\u3066\u5bfe\u8c61\u3068\u3059\u308b\u5730\u9762\u306e\u53cd\u529b\u3092\u30e2\u30c7\u30eb\u5316\u3059\u308b\uff0e \u305d\u3057\u3066\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u904b\u52d5\u65b9\u7a0b\u5f0f\u3092SpaceDyn\u3092\u7528\u3044\u3066\u30eb\u30f3\u30b2\uff1d\u30af\u30c3\u30bf\u6cd5\u306b\u3088\u3063\u3066\u89e3\u304f\uff0e\u7b97\u51fa\u3055\u308c\u305f\u30d9\u30fc\u30b9\u4f4d\u7f6e\u3068\u5404\u95a2\u7bc0\u306e\u95a2\u7bc0\u89d2\u5ea6\u304b\u3089\uff0c\u9806\u904b\u52d5\u5b66\u306b\u3088\u3063\u3066\u305d\u306e\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u306b\u304a\u3051\u308b\u30ed\u30dc\u30c3\u30c8\u306e\u4f4d\u7f6e\u3068\u59ff\u52e2\u3092\u8a08\u7b97\u3059\u308b\uff0e Variables Saving \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u632f\u308a\u8fd4\u3063\u3066\u5f8c\u306b\u89e3\u6790\u304c\u3067\u304d\u308b\u3088\u3046\u306b\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u4e2d\u306e\u5909\u6570\u306e\u6642\u9593\u5c65\u6b74\u3092\u4fdd\u5b58\u3059\u308b\uff0e\u305d\u306e\u305f\u3081\u306b\uff0c\u30eb\u30fc\u30d7\u5185\u306b\u3066 upd_variables_saved.m \u3092\u5b9f\u884c\u3057\uff0c\u5404\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u306b\u304a\u3051\u308b\u4e3b\u8981\u306a\u5909\u6570\u306e\u5024\u3092 variables_saved \u3068\u3044\u3046class\u306b\u683c\u7d0d\u3057\u3066\u3044\u304f\uff0e\u30eb\u30fc\u30d7\u7d42\u4e86\u5f8c\uff0cSave\u95a2\u6570\u306b\u3088\u3063\u3066\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u306bCSV\u30d5\u30a1\u30a4\u30eb\u3068\u3057\u3066\u4fdd\u5b58\u3059\u308b\uff0e Simulation Stopper \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u3042\u308b\u7279\u5b9a\u306e\u6761\u4ef6\u3092\u6e80\u305f\u3057\u305f\u6642\uff0c\u30eb\u30fc\u30d7\u3092\u8131\u3057\u3066\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u7d42\u4e86\u3059\u308b\uff0e\u305d\u306e\u305f\u3081\u306e\u95a2\u6570\u304c\uff0c upd\\_stop\\_sim.m \u3067\u3042\u308b\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u7d42\u4e86\u6761\u4ef6\u306f\u5148\u306b\u8ff0\u3079\u305f\u3088\u3046\u306b\uff0c\u8a2d\u5b9a\u3057\u305f\u6642\u523b\u307e\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u6642\u9593\u304c\u9032\u3080\u304b\uff0c\u30ed\u30dc\u30c3\u30c8\u304c\u76ee\u7684\u5730\u70b9\u306b\u5230\u9054\uff0c\u3082\u3057\u304f\u306f\u79fb\u52d5\u306e\u7d99\u7d9a\u304c\u4e0d\u53ef\u80fd\u3068\u306a\u3063\u305f\u5834\u5408\u3067\u3042\u308b\uff0e\u3053\u308c\u3089\u306e\u6761\u4ef6\u306e\u3046\u3061\u3044\u305a\u308c\u304b\u3092\u6e80\u305f\u3057\u305f\u5834\u5408\uff0c\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u3092\u7d42\u4e86\u3057\u3066\uff0cSave\u95a2\u6570\u306e\u5b9f\u884c\u3078\u3068\u79fb\u308b\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u7d42\u4e86\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u3044\u306a\u3044\u5834\u5408\u306f\uff0c\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u306e\u5148\u982d\u306b\u623b\u3063\u3066\u30bb\u30f3\u30b7\u30f3\u30b0\u304b\u3089\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u7d99\u7d9a\u3059\u308b\uff0e \u4ee5\u4e0a\u304c main_sim.m \u5185\u3067\u5b9f\u884c\u3055\u308c\u308bUpdate\u95a2\u6570\u306e\u6982\u8981\u3067\u3042\u308b\uff0e\u3053\u3053\u3067\u8ff0\u3079\u305f\u305d\u308c\u305e\u308c\u306e\u95a2\u6570\u304c\u5185\u90e8\u3067\u307e\u305f\u8907\u6570\u306eUpdate\u95a2\u6570\u3092\u547c\u3073\u51fa\u3057\u3066\u5b9f\u884c\u3057\u3066\u3044\u308b\uff0e\u5404\u95a2\u6570\u306e\u51e6\u7406\u306e\u8a73\u7d30\u3092\u77e5\u308a\u305f\u3044\u5834\u5408\u306f\uff0c\u95a2\u6570\u306e\u4e2d\u8eab\u3092\u5b9f\u969b\u306b\u898b\u3066\u307f\u308b\u3053\u3068\u304c\u63a8\u5968\u3055\u308c\u308b\uff0e 2.7. Visualize Functions Visualize\u95a2\u6570\u3068\u306f\uff0cMATLAB figure\u306b\u5909\u6570\u3084\u30c7\u30fc\u30bf\u3092\u56f3\u3068\u3057\u3066\u63cf\u753b\u3059\u308b\u305f\u3081\u306e\u63a5\u982d\u8f9e vis_ \u306e\u3064\u304f\u95a2\u6570\u7fa4\u3067\uff0c\u30d5\u30a1\u30a4\u30eb\u306e\u7f6e\u304d\u5834\u6240\u306f\u5168\u3066\u30d5\u30a9\u30eb\u30c0 /climbla/src/visulaization \u3067\u3042\u308b\uff0eVisualize\u95a2\u6570\u306b\u306f2\u7a2e\u985e\u3042\u308a\uff0c \u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u69d8\u5b50\u3092\u52d5\u753b\u306b\u63cf\u753b\u3059\u308b\u305f\u3081\u306e\u95a2\u6570 \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5f8c\u306b\u5909\u6570\u306e\u5c65\u6b74\u3092\u30d7\u30ed\u30c3\u30c8\u3059\u308b\u305f\u3081\u306e\u95a2\u6570 \u306b\u5206\u3051\u3089\u308c\u308b\uff0e \u524d\u8005\u306e\uff0c\u52d5\u753b\u306e\u305f\u3081\u306eVisualize\u95a2\u6570\u306b\u3064\u3044\u3066\u306f\uff0c\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u5185\u3067\u5b9f\u884c\u3055\u308c\u3066\u304a\u308a\uff0c\u8a2d\u5b9a\u3055\u308c\u305f\u30d5\u30ec\u30fc\u30e0\u306e\u30bf\u30a4\u30df\u30f3\u30b0\u306b\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u304c\u306a\u308b\u6bce\u306b\u307e\u3068\u3081\u3066\u5b9f\u884c\u3055\u308c\uff0c\u540c\u3058figure\u306b\u7e70\u308a\u8fd4\u3057\u63cf\u753b\u3057\u3066\u3044\u304f\uff0e animation_param \u306b\u3088\u3063\u3066\uff0c\u8868\u793a\u3059\u308b\u9805\u76ee\u3092\u9078\u3073\uff0c\u307e\u305f\u63cf\u753b\u306e\u8272\u30fb\u592a\u3055\u30fb\u30de\u30fc\u30ab\u30fc\u3092\u5168\u3066\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u307e\u305f\u3053\u308c\u3089\u306e\u95a2\u6570\u306e\u7559\u610f\u70b9\u3068\u3057\u3066\uff0c\u5730\u8868\u9762\u306e\u50be\u659c\u89d2\u5ea6(Inclination: inc)\u306e\u53d6\u308a\u6271\u3044\u3092\u8a8d\u8b58\u3057\u3066\u304a\u304f\u5fc5\u8981\u304c\u3042\u308b\uff0e\u6025\u50be\u659c\u5730\u5f62\u306e\u767b\u6500\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u969b\u306b\u304a\u3044\u3066\u3082\uff0cClimbLab\u5185\u306e\u5909\u6570\u306f\u5168\u3066\u50be\u3044\u305f\u5730\u9762\u4e0a\u306e\u5730\u9762\u5ea7\u6a19\u7cfb\u3067\u8a08\u7b97\u3055\u308c\u3066\u3044\u308b\u305f\u3081\uff0c\u5909\u6570\u3092\u52d5\u753b\u306b\u63cf\u753b\u3059\u308b\u969b\u306b\u306f\uff0c\u3059\u3079\u3066\u306eVisualize\u95a2\u6570\u306e\u4e2d\u3067rot(\u5730\u9762\u5ea7\u6a19\u7cfb\u3068\u6163\u6027\u5ea7\u6a19\u7cfb\u3068\u306e\u9593\u306e\u56de\u8ee2\u884c\u5217)\u3092\u8a08\u7b97\u3057\uff0c\u5909\u6570\u306b\u5bfe\u3057\u3066\u5ea7\u6a19\u5909\u63db\u3092\u304a\u3053\u306a\u3063\u3066\u6163\u6027\u5ea7\u6a19\u7cfb\u306b\u304a\u3051\u308b\u6025\u50be\u659c\u767b\u6500\u3092\u793a\u3057\u3066\u3044\u308b\uff0e \u5f8c\u8005\u306e\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5f8c\u306b\u5909\u6570\u306e\u5c65\u6b74\u3092\u30d7\u30ed\u30c3\u30c8\u3059\u308b\u305f\u3081\u306e\u95a2\u6570\u306b\u3064\u3044\u3066\u306f\uff0c main_sim.m \u306e\u30eb\u30fc\u30d7\u5f8c\u306b\u304a\u304a\u3082\u3068\u306e\u95a2\u6570\u3067\u3042\u308b vis_plot_graph.m \u304c\u5b9f\u884c\u3055\u308c\u308b\u3053\u3068\u3067\u6a5f\u80fd\u3059\u308b\uff0e\u30d7\u30ed\u30c3\u30c8\u3059\u308b\u5909\u6570\u5c65\u6b74\u306e\u7a2e\u985e\u306f plot_param \u3067\u8a2d\u5b9a\u304c\u53ef\u80fd\u3067\u3042\u308b\uff0e\u5c65\u6b74\u3092\u30d7\u30ed\u30c3\u30c8\u3059\u308b\u305f\u3081\u306b\u4f7f\u3046\u305f\u3081\u306e\u5171\u901a\u306e\u95a2\u6570\u3068\u3057\u3066\uff0c vis_graph_time_history.m \u304c\u5b58\u5728\u3057\uff0c vis_plot_graph.m \u306e\u5185\u90e8\u3067\u5909\u6570\u3054\u3068\u306b\u7e70\u308a\u8fd4\u3057\u3053\u306e\u95a2\u6570\u304c\u4f7f\u7528\u3055\u308c\u3066\u3044\u308b\uff0e\u307e\u305f\uff0c\u3053\u306e\u5171\u901a\u306e vis_graph_time_history.m \u3067\u306f\u793a\u305b\u306a\u3044\u5f62\u614b\u306e\u30c7\u30fc\u30bf\u3084\uff0c\u5b89\u5b9a\u6027\u89e3\u6790\u4e0a\u91cd\u8981\u306a\u9805\u76ee\u306b\u5bfe\u3057\u3066\u306f\uff0c\u4ee5\u4e0b\u306e5\u3064\u306e\u5358\u72ec\u306e\u30d7\u30ed\u30c3\u30c8\u7528Visualize\u95a2\u6570\u304c\u4f5c\u6210\u3055\u308c\u3066\u3044\u308b\uff0e vis_footholds.m vis_graph_tsm.m vis_graph_gia_margin.m vis_graph_gia_inclination_margin.m vis_graph_trajectory_comparison.m 2.8. Save Function Save\u95a2\u6570\u3068\u306f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u30a8\u30f3\u30c9\u30d5\u30a7\u30a4\u30ba\u6642\u306b\u5b9f\u884c\u3055\u308c\uff0c\u5909\u6570\u3084\u30c7\u30fc\u30bf\u3092MATLAB\u306e\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u304b\u3089\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u306b\u4fdd\u5b58\u3059\u308b\u95a2\u6570\u306e\u3053\u3068\u3067\u3042\u308b\uff0e\u30d5\u30a1\u30a4\u30eb\u306e\u7f6e\u304d\u5834\u6240\u306f\uff0c\u30d5\u30a9\u30eb\u30c0/climblab/src/misc\uff08misc\u306f\u300c\u305d\u306e\u4ed6\u300d\u306e\u610f\u5473\uff09\u3067\u3042\u308b\uff0eSave\u95a2\u6570\u3068\u3057\u3066\u5206\u985e\u3055\u308c\u308b\u306e\u306f\uff0c sav_data_file.m \u3060\u3051\u3067\u3042\u308b\uff0e\u3053\u306e\u95a2\u6570\u306b\u3088\u3063\u3066\uff0c\u305d\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u30e6\u30fc\u30b6\u30fc\u304c\u6307\u5b9a\u3057\u3066\u8aad\u307f\u8fbc\u3093\u3060Config\u30d5\u30a1\u30a4\u30eb\u3068\uff0c\u5185\u90e8\u3067\u5909\u5316\u3057\u305f\u5909\u6570\u306e\u5c65\u6b74\u3092CSV\u5f62\u5f0f\u3068\u3057\u3066\u4fdd\u5b58\u3057\u305f\u30d5\u30a1\u30a4\u30eb\u3092\uff0c\u5b9f\u884c\u3057\u305f\u6642\u523b\u3092\u30d5\u30a9\u30eb\u30c0\u540d\u3068\u3057\u3066\u30d5\u30a9\u30eb\u30c0 /climblab/dat \u4e0b(dat: data\u306e\u610f)\u306b\u65b0\u305f\u306b\u30d5\u30a9\u30eb\u30c0\u3092\u4f5c\u6210\u3057\u3066\u4fdd\u5b58\u3059\u308b\uff0e\u4fdd\u5b58\u3059\u308b\u969b\u306e\u30d5\u30a9\u30eb\u30c0\u540d\u3084\u30d5\u30a1\u30a4\u30eb\u540d\u306f run_cod \u3084 run_id \u3068\u3044\u3046\u5909\u6570\u3067\u6307\u5b9a\u3067\u304d\u308b\uff0e\u3053\u306e\u4fdd\u5b58\u3055\u308c\u305fCSV\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u5fc5\u8981\u306a\u30c7\u30fc\u30bf\u3092\u62bd\u51fa\u3059\u308b\u3053\u3068\u3067\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7d42\u4e86\u5f8c\u306b\u6539\u3081\u3066\u8a73\u7d30\u306a\u89e3\u6790\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u304c\u3067\u304d\u308b\uff0e","title":"2. Simulation"},{"location":"2_ClimbLab_simulation_flow/#2-climblab","text":"\u672c\u7ae0\u3067\u306f\uff0cClimbLab\u3067\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u6d41\u308c\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e MATLAB\u306f\uff0c\u5b9f\u884c\u3059\u308b\u30e1\u30a4\u30f3\u30d5\u30a1\u30a4\u30eb\u304c\u4e00\u3064\u3042\u308a\uff0c\u305d\u306e\u30e1\u30a4\u30f3\u30d5\u30a1\u30a4\u30eb\u306e\u4e2d\u3067\uff0c\u691c\u7d22\u30d1\u30b9\u304c\u901a\u3063\u3066\u3044\u308b\u30d5\u30a9\u30eb\u30c0\u5185\u306b\u3042\u308b\u3044\u304f\u3064\u3082\u306e\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u3092\u547c\u3073\u51fa\u3059\u3053\u3068\u3067\u8907\u96d1\u306a\u6f14\u7b97\u3092\u884c\u3046\uff0eClimbLab\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/src \u4e0b\u306b\u3042\u308b main_sim.m \u3068\u3044\u3046\u30e1\u30a4\u30f3\u30d5\u30a1\u30a4\u30eb\u3092\u5b9f\u884c\u3059\u308b\u3053\u3068\u3067\u6a5f\u80fd\u3057\uff0c\u30d5\u30a9\u30eb\u30c0 ../climblab/ \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u3092\u547c\u3073\u51fa\u3057\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u884c\u3046\uff0e ClimbLab\u5185\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308b\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u306b\u306f\u5927\u304d\u304f2\u7a2e\u985e\u3042\u308b\uff0e1\u3064\u76ee\u306f\uff0c\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306b\u9650\u3089\u305a\u4e00\u822c\u7684\u306a\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u30c0\u30a4\u30ca\u30df\u30af\u30b9\u8a08\u7b97\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u304c\u3067\u304d\u308b SpaceDyn \u3068\u3044\u3046\u4e00\u9023\u306e\u95a2\u6570\u7fa4\u3067\u3042\u308b\uff0e\u672c\u7814\u7a76\u5ba4\u3067\u958b\u767a\u3055\u308c\u305f\u3053\u306eSpaceDyn\u3068\u3044\u3046MATLAB\u30c4\u30fc\u30eb\u30dc\u30c3\u30af\u30b9\u306f\uff0c1999\u5e74\u304b\u3089\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u3068\u3057\u3066\u516c\u958b\u3055\u308c\u3066\u304a\u308a\uff0c\u73fe\u5728\u3067\u3082GitHub\u304b\u3089\u5229\u7528\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u3053\u306eSpaceDyn\u3082ClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u4e0b\u306b\u53ce\u5bb9\u3055\u308c\uff0cClimbLab\u306b\u6d3b\u7528\u3055\u308c\u3066\u3044\u308b\uff0eClimbLab\u5185\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308b2\u3064\u76ee\u306e\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u306f\uff0c\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u305f\u3081\u306b\u65b0\u305f\u306b\u958b\u767a\u3055\u308c\u3066\u304d\u305f\u95a2\u6570\u7fa4\u3067\u3042\u308a\uff0c\u3053\u308c\u3089\u306f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u69cb\u6210\u4e0a\u3055\u3089\u306b5\u3064\u306e\u7a2e\u985e\u306b\u5206\u985e\u3055\u308c\u3066\u3044\u308b\uff0e\u305d\u308c\u305e\u308c\uff0cConfiguration\u95a2\u6570\u30fbInitialize\u95a2\u6570\u30fbUpdate\u95a2\u6570\u30fbVisualize\u95a2\u6570\u30fbSave\u95a2\u6570\u3068\u547d\u540d\u3055\u308c\u3066\u3044\u308b\uff0e \u672c\u7ae0\u3067\u306f\uff0c\u307e\u305a main_sim.m \u306e\u69cb\u9020\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u7d9a\u3044\u3066\uff0c\u305d\u306e\u4e2d\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308bMATLAB class\u3068\u3044\u3046\u69cb\u9020\u4f53\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e\u305d\u3057\u3066\uff0c\u30c0\u30a4\u30ca\u30df\u30af\u30b9\u8a08\u7b97\u306e\u305f\u3081\u306eMATLAB\u30c4\u30fc\u30eb\u30dc\u30c3\u30af\u30b9\u3067\u3042\u308bSpaceDyn\u304cClimbLab\u5185\u3067\u3069\u3046\u5229\u7528\u3055\u308c\u3066\u3044\u308b\u304b\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e\u6700\u5f8c\u306b\uff0cClimbLab\u306e\u305f\u3081\u306b\u958b\u767a\u3055\u308c\u305f5\u7a2e\u985e\u306e\u95a2\u6570\u7fa4\u306b\u3064\u3044\u3066\u305d\u308c\u305e\u308c\u306e\u5f79\u5272\u3092\u7a2e\u985e\u3054\u3068\u306b\u8aac\u660e\u3059\u308b\uff0e","title":"2. ClimbLab\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d5\u30ed\u30fc"},{"location":"2_ClimbLab_simulation_flow/#21-overview-of-main-function-main_simm","text":"ClimbLab\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u69cb\u6210\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\u305f\u3081\u306b\uff0c\u305d\u3082\u305d\u3082\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u3092\u7528\u3044\u3066\u304a\u3053\u306a\u308f\u308c\u308b\u5168\u3066\u306e\u6570\u5024\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u4ed5\u7d44\u307f\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u73fe\u5b9f\u4e16\u754c\u306e\u73fe\u8c61\u3067\u6642\u9593\u306f\u9023\u7d9a\u7684\u3067\u3042\u308a\uff0c\u5168\u3066\u306e\u5909\u6570\u304c\u9023\u7d9a\u6642\u9593\u306e\u3082\u3068\u306b\u5909\u5316\u3059\u308b\uff0e\u3057\u304b\u3057\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u4e0a\u306e\u8a08\u7b97\u51e6\u7406\u3067\u306f\u9023\u7d9a\u6642\u9593\u4e0a\u306e\u73fe\u8c61\u3092\u305d\u306e\u307e\u307e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u518d\u73fe\u3059\u308b\u3053\u3068\u306f\u3067\u304d\u306a\u3044\uff0e\u6642\u9593\u3092\u7d30\u304b\u3044\u5e45\u306b\u533a\u5207\u308a\u305d\u306e\u9593\u306e\u5909\u5316\u3092\u7a4d\u7b97\u3057\u3066\u3044\u304f\u3068\u3044\u3046\u96e2\u6563\u6642\u9593\u7684\u306a\u7e70\u308a\u8fd4\u3057\u8a08\u7b97\u306b\u3088\u3063\u3066\uff0c\u9023\u7d9a\u6642\u9593\u306e\u73fe\u8c61\u3092\u518d\u73fe\u3059\u308b\uff0e\u3064\u307e\u308a\uff0c\u3042\u308b\u6642\u523bt\u306e\u72b6\u614b\u306b\u3082\u3068\u3065\u304d\uff0c\u305d\u3053\u304b\u3089\u523b\u307f\u6642\u9593\u0394t \u79fb\u3063\u305f\u6642\u523bt+\u0394t \u306e\u72b6\u614b\u3092\u8a08\u7b97\u3059\u308b\uff0e\u6b21\u306b\uff0c\u305d\u306e\u6c42\u3081\u305ft+\u0394t \u306e\u72b6\u614b\u304b\u3089t+2\u0394t \u306e\u72b6\u614b\u3092\u6c42\u3081\u308b\u3068\u3044\u3046\u51e6\u7406\u3092\u7e70\u308a\u8fd4\u3057\u30eb\u30fc\u30d7\u3055\u305b\u308b\uff0e \u4ee5\u4e0a\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u3064\u3044\u3066\u306e\u57fa\u790e\u3092\u8e0f\u307e\u3048\u305f\u4e0a\u3067\uff0cClimbLab\u306e\u69cb\u6210\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0eClimbLab\u306e\u30e1\u30a4\u30f3\u30d5\u30a1\u30a4\u30eb main_sim.m \u306e\u30d5\u30ed\u30fc\u30c1\u30e3\u30fc\u30c8\u3092\u6b21\u306e\u56f3\u306b\u793a\u3059\uff0e \u307e\u305aConfiguration\u95a2\u6570\u3067\u5404\u7a2e\u8a2d\u5b9a\u3092\u8aad\u307f\u8fbc\u307f\uff0c\u3053\u308c\u304b\u3089\u304a\u3053\u306a\u3046\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\uff0e\u3053\u306e\u51e6\u7406\u306b\u3088\u308a\uff0c\u3069\u3093\u306a\u30ed\u30dc\u30c3\u30c8\u30fb\u5730\u5f62\u30fb\u74b0\u5883\u30fb\u7d4c\u8def\u8a08\u753b\u30fb\u6b69\u5bb9\u8a08\u753b\u30fb\u904b\u52d5\u8a08\u753b\u30fb\u5236\u5fa1\u624b\u6cd5\u3092\u9069\u7528\u3059\u308b\u304b\u304c\u6c7a\u5b9a\u3055\u308c\u308b\uff0e\u6b21\u306b\uff0cInitialize\u95a2\u6570\u306b\u3088\u308a\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30eb\u30fc\u30d7\u3092\u958b\u59cb\u3059\u308b\u305f\u3081\u306b\u5fc5\u8981\u306a\u5168\u3066\u306e\u5909\u6570\u3092\u7528\u610f\u3057\uff0c\u305d\u308c\u3089\u306e\u5909\u6570\u306b\u5bfe\u3057\u3066\u521d\u671f\u72b6\u614b\u3092\u8a2d\u5b9a\u3059\u308b\uff0e\u53b3\u5bc6\u306b\u306f\uff0c\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u6642\u523b0\u79d2\u304b\u3089\u59cb\u307e\u308b\u305f\u3081\uff0cInitialize\u95a2\u6570\u3067\u306f\u6642\u523b0 - \u0394t \u79d2\u306e\u72b6\u614b\u304c\u8a2d\u5b9a\u3055\u308c\u308b\u30a4\u30e1\u30fc\u30b8\u3067\u3042\u308b\uff0eInitialize\u95a2\u6570\u306b\u3088\u3063\u3066\u521d\u671f\u72b6\u614b\u304c\u8a2d\u5b9a\u3055\u308c\u305f\u305f\u3081\uff0c\u305d\u306e\u72b6\u614b\u3092\u8d77\u70b9\u3068\u3057\u3066\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u0394t \u79d2\u6bce\u306b\u96e2\u6563\u7684\u306b\u6642\u9593\u3092\u9032\u3081\u3066\u8a08\u7b97\u3057\uff0c\u5404\u5909\u6570\u306e\u5024\u3092\u66f4\u65b0(Update)\u3057\u3066\u3044\u304f\u3053\u3068\u3067\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u3059\u3081\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u5185\u3067\u306f\u8a08\u7b97\u51e6\u7406\u306b\u52a0\u3048\u3066\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u9032\u3093\u3067\u3044\u308b\u69d8\u5b50\u3092\u78ba\u8a8d\u3059\u308b\u305f\u3081\u306b\uff0cVisualize\u95a2\u6570\u306b\u3088\u3063\u3066\u305d\u306e\u6642\u306e\u30ed\u30dc\u30c3\u30c8\u306e\u72b6\u614b\u306a\u3069\u3092\u753b\u9762\u4e0a\u306b\u8868\u793a\u3055\u305b\u308b\uff0e\u305d\u3057\u3066\uff0c\u5404\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u306b\u304a\u3044\u3066\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u7d42\u4e86\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u3044\u308b\u304b\u3092\u78ba\u8a8d\u3059\u308b\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306f\uff0c\u4ee5\u4e0b\u306e\u6761\u4ef6\uff1a \u8a2d\u5b9a\u3057\u305f\u7d42\u4e86\u6642\u523b\u306b\u306a\u308b\u307e\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u6642\u9593\u304c\u9032\u3080\uff0e \u8a2d\u5b9a\u3057\u305f\u76ee\u7684\u5730\u70b9\u306b\u30ed\u30dc\u30c3\u30c8\u304c\u5230\u9054\u3059\u308b\uff0e \u30ed\u30dc\u30c3\u30c8\u304c\u8ee2\u5012\u3084\u6ed1\u843d\u306a\u3069\u3092\u5f15\u304d\u8d77\u3053\u3057\u3066\u6b69\u884c\u306e\u7d99\u7d9a\u304c\u4e0d\u53ef\u80fd\u3068\u306a\u308b\uff0e \u30ed\u30dc\u30c3\u30c8\u306e\u95a2\u7bc0\u89d2\u5ea6\u304c\u4e0a\u4e0b\u9650\u306b\u9054\u3059\u308b\u304b\u7279\u7570\u59ff\u52e2\u306b\u9665\u308b\uff0e \u306e\u3044\u305a\u308c\u304b\u3092\u6e80\u305f\u3057\u305f\u5834\u5408\uff0c\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u3092\u7d42\u4e86\u3059\u308b\uff0e\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u7d42\u4e86\u5f8c\uff0c\u6307\u5b9a\u3057\u305f\u5909\u6570\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u4e2d\u306e\u6642\u9593\u5c65\u6b74\u3092\u30d7\u30ed\u30c3\u30c8\u3059\u308b\uff0e\u307e\u305f\uff0c\u5f8c\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u7d50\u679c\u306e\u89e3\u6790\u3092\u3059\u308b\u305f\u3081\u306b\uff0cSave\u95a2\u6570\u306b\u3088\u3063\u3066\uff0c\u5185\u90e8\u3067\u66f4\u65b0\u3055\u308c\u3066\u3044\u3063\u305f\u5404\u5909\u6570\u306e\u6642\u9593\u5c65\u6b74\u3084\u521d\u671f\u8a2d\u5b9a\uff0c\u6b69\u884c\u3057\u3066\u3044\u308b\u69d8\u5b50\u306e\u52d5\u753b\u3092\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u306b\u81ea\u52d5\u3067\u4fdd\u5b58\u3059\u308b\uff0e \u3000\u4ee5\u4e0a\u304c main_sim.m \u306e\u69cb\u9020\u3067\u3042\u308b\uff0e","title":"2.1. Overview of main function: main_sim.m"},{"location":"2_ClimbLab_simulation_flow/#22-matlab-class","text":"\u4e0a\u8ff0\u3057\u305f\u3088\u3046\u306bClimbLab\u5185\u3067\u306f\u69d8\u3005\u306a\u95a2\u6570\u304c\u4f7f\u7528\u3055\u308c\u3066\u3044\u308b\u304c\uff0c\u305d\u308c\u3089\u306e\u95a2\u6570\u306e\u5165\u51fa\u529b\u306b\u983b\u7e41\u306b\u7528\u3044\u3089\u308c\u3066\u3044\u308bclass\u3068\u3044\u3046\u6982\u5ff5\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0eclass\u3068\u306fMATLAB\u306b\u304a\u3051\u308b\u30c7\u30fc\u30bf\u69cb\u9020\u306e\u4e00\u3064\u3067\u3042\u308b\uff0e\u69d8\u3005\u306a\u6d3b\u7528\u65b9\u6cd5\u304c\u3042\u308b\u304c\uff0cClimbLab\u306b\u304a\u3051\u308bclass\u306e\u4f7f\u7528\u610f\u7fa9\u306f\uff0c\u3042\u308b\u5171\u901a\u306e\u76ee\u7684\u306b\u4f7f\u308f\u308c\u308b\u6570\u5024\u3084\u6587\u5b57\u30fb\u30d9\u30af\u30c8\u30eb\u306a\u3069\u306e\u591a\u69d8\u306a\u5909\u6570\u3092\u3072\u3068\u304f\u304f\u308a\u306b\u3057\u3066\u307e\u3068\u3081\u308b\u3053\u3068\u306b\u3042\u308b\uff0e\u3053\u3046\u3059\u308b\u3053\u3068\u3067\uff0cMATLAB\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\u3067\u6271\u308f\u308c\u308b\u5927\u91cf\u306e\u5909\u6570\u3092\u3042\u308b\u7a0b\u5ea6\u898b\u3084\u3059\u304f\u7406\u89e3\u3057\u3084\u3059\u3044\u5f62\u614b\u306b\u307e\u3068\u3081\u308b\u3053\u3068\u304c\u3067\u304d\uff0c\u307e\u305f\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u4f5c\u696d\u3092\u5358\u7d14\u5316\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0eClimbLab\u5185\u3067\u4f7f\u7528\u3055\u308c\u3066\u3044\u308bclass\u3068class\u5185\u306b\u683c\u7d0d\u3057\u3066\u3044\u308b\u5909\u6570\u306e\u201c\u304f\u304f\u308a\u201d\u3092\u4ee5\u4e0b\u306b\u5217\u6319\u3059\u308b\uff0e LP : \u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf(SpaceDyn) SV : \u72b6\u614b\u5909\u6570(State Variables, SpaceDyn) des_SV : \u76ee\u6a19\u72b6\u614b\u5909\u6570(Desired State Variables, SpaceDyn) robot_param : \u4f7f\u7528\u3059\u308b\u30ed\u30dc\u30c3\u30c8\u30bf\u30a4\u30d7\u3068\u305d\u306e\u521d\u671f\u914d\u7f6e environment_param : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883 surface_param : \u6b69\u884c\u3055\u305b\u308b\u5730\u8868 gait_planning_param : \u6b69\u5bb9\u8a08\u753b(gait planning) motion_planning_param : \u904b\u52d5\u8a08\u753b contorl_param : \u5236\u5fa1 equibilium_param : \u59ff\u52e2\u306e\u5b89\u5b9a\u6027\u8a55\u4fa1 ani_settings : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u4e2d\u306e\u52d5\u753b\u306e\u63cf\u753b plot_settings : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5f8c\u306b\u63cf\u753b\u3059\u308b\u7d50\u679c\u56f3 save_settings : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u5c65\u6b74\u306e\u4fdd\u5b58 sensing_camera_param : \u5730\u5f62\u30bb\u30f3\u30b7\u30f3\u30b0 gripper_param : \u628a\u6301\u5019\u88dc\u70b9\u691c\u51fa\u3067\u4f7f\u3046\u30b0\u30ea\u30c3\u30d1 map_param : \u628a\u6301\u5019\u88dc\u70b9\u691c\u51fa\u306b\u304a\u3051\u308b\u30de\u30c3\u30d7\u3078\u306e\u51e6\u7406 matching_settings : \u628a\u6301\u5019\u88dc\u70b9\u691c\u51fa\u624b\u6cd5\u306e\u8a2d\u5b9a variables_saved :\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5185\u306e\u5909\u6570\u5c65\u6b74 \u201c\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u6307\u5411\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u201d\u3068\u3044\u3046\u3088\u3046\u306a\u96e3\u89e3\u306a\u8a9e\u3092\u7528\u3044\u305aClimbLab\u306b\u304a\u3051\u308bclass\u306e\u5f79\u5272\u3092\u65e5\u5e38\u751f\u6d3b\u3092\u4f8b\u306b\u3057\u3066\u8aac\u660e\u3059\u308b\u3068\uff0c\u5bb6\u306e\u4e2d\u306b\u3042\u308b\u69d8\u3005\u306a\u751f\u6d3b\u7528\u54c1\u3092\u305d\u306e\u307e\u307e\u5168\u90e8\u5e8a\u306b\u7f6e\u304f\u306e\u3067\u306f\u306a\u304f\uff0c\u98df\u5668\u68da\u30fb\u8863\u88c5\u30b1\u30fc\u30b9\u30fb\u7b46\u7bb1\u306a\u3069\u306b\u6574\u7406\u3057\u3066\u5165\u308c\u308b\u69d8\u5b50\u306b\u4f8b\u3048\u3089\u308c\u308b\uff0e\u5bb6\u306e\u4e2d\u306b\u306f\u69d8\u3005\u306a\u3082\u306e\u304c\u3042\u308b\u304c\uff0c\u98df\u5668\u68da\u306b\u5165\u3063\u3066\u3044\u308b\u3082\u306e\u306f\u4f8b\u3048\u3069\u3093\u306a\u5f62\u72b6\u3084\u6750\u8cea\u3067\u3042\u308c\u98df\u4e8b\u306b\u95a2\u4fc2\u3059\u308b\u3082\u306e\u3067\u3042\u308b\uff0e\u305d\u308c\u3068\u540c\u3058\u3088\u3046\u306b\uff0c robot_param \u3068\u3044\u3046class\u306b\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\u5909\u6570\u306f\u3069\u3093\u306a\u3082\u306e\u3067\u3042\u308c\u30ed\u30dc\u30c3\u30c8\u306b\u95a2\u4fc2\u3057\u305f\u3082\u306e\u3067\u3042\u308a\uff0c environment_param \u306b\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\u5909\u6570\u306f\u30ed\u30dc\u30c3\u30c8\u3068\u306f\u95a2\u4fc2\u306a\u304f\u74b0\u5883\u306b\u95a2\u4fc2\u3059\u308b\u3082\u306e\u3067\u3042\u308b\uff0e \u3053\u3046\u3057\u305f\u69d8\u3005\u306aclass\u3092\u5165\u51fa\u529b\u306b\u7528\u3044\u3066ClimbLab\u5185\u306e\u95a2\u6570\u306f\u5b9f\u884c\u3055\u308c\u3066\u3044\u308b\uff0e","title":"2.2. MATLAB class"},{"location":"2_ClimbLab_simulation_flow/#23-spacedyn","text":"ClimbLab\u5185\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308b\u95a2\u6570\u7fa4\u306e\u4e00\u3064\u3067\u3042\u308bSpaceDyn(\u30b9\u30da\u30fc\u30b9\u30c0\u30a4\u30f3)\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u305d\u306e\u5177\u4f53\u7684\u306a\u610f\u7fa9\u3084\u8a73\u7d30\u306b\u3064\u3044\u3066\u306f\uff0c\u3053\u308c\u307e\u3067\u767a\u8868\u3055\u308c\u305f\u6587\u732e\u3067\u8a73\u8aac\u3055\u308c\u3066\u3044\u308b\u305f\u3081\uff0c\u672c\u7bc0\u3067\u306fSpaceDyn\u306eClimbLab\u306b\u304a\u3051\u308b\u5f79\u5272\u306b\u7126\u70b9\u3092\u7d5e\u308a\u7c21\u5358\u306b\u8ff0\u3079\u308b\uff0e SpaceDyn\u3068\u306f\uff0c\u5fae\u5c0f\u91cd\u529b\u7a7a\u9593(Space)\u3092\u542b\u3080\u69d8\u3005\u306a\u74b0\u5883\u3067\u306e\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u306e\u904b\u52d5\u3084\u529b\u5b66\u89e3\u6790\u304c\u304a\u3053\u306a\u3048\u308bMATLAB\u306e\u30c4\u30fc\u30eb\u30dc\u30c3\u30af\u30b9\u3067\u3042\u308a\uff0cClimbLab\u5185\u3067\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/lib/spacedyn \u4ee5\u4e0b\u306b\u5168\u3066\u306e\u95a2\u6570\u304c\u4fdd\u5b58\u3055\u308c\u3066\u3044\u308b\uff0eDyn\u306fDynamics\u3092\u8868\u3059\uff0e\u30ed\u30dc\u30c3\u30c8\u306e\u6a5f\u69cb\u30fb\u529b\u5b66\u30fb\u5236\u5fa1\u306b\u95a2\u308f\u308b\u57fa\u672c\u7684\u306a\u95a2\u6570\u7fa4\u304c\u53ce\u5bb9\u3055\u308c\u3066\u304a\u308a\uff0c\u69d8\u3005\u306a\u30ed\u30dc\u30c3\u30c8\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u304c\u3067\u304d\u308b\uff0e SpaceDyn\u306e\u95a2\u6570\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308b\u91cd\u8981\u306aclass\u3068\u3057\u3066\u307e\u305a\u4ee5\u4e0b\u306e2\u3064\u304c\u3042\u308b\uff0e LP : Link Parameters \u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf \u30ed\u30dc\u30c3\u30c8\u306e\u5177\u4f53\u7684\u306a\u6a5f\u69cb\u3092\u8868\u3059\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u53ce\u5bb9\u3057\u3066\u304a\u308a\uff0c\u6642\u9593\u7684\u306b\u4e0d\u5909\u3067\u3042\u308b SV : State Variables \u72b6\u614b\u5909\u6570 \u30ed\u30dc\u30c3\u30c8\u306e\u305d\u306e\u6642\u523b\u3067\u306e\u72b6\u614b \uff08\u4f4d\u7f6e\u30fb\u901f\u5ea6\u30fb\u95a2\u7bc0\u89d2\u5ea6etc\uff09 \u3092\u8868\u3059\u5909\u6570\u3092\u53ce\u5bb9\u3057\u3066\u304a\u308a\uff0c\u5404\u6642\u9593\u6bce\u306b\u66f4\u65b0\u3055\u308c\u308b LP\u3068\u3044\u3046class\u3067\u5b9a\u7fa9\u3055\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u306b\u5bfe\u3057\u3066\uff0c\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u6559\u79d1\u66f8\u306b\u8f09\u3063\u3066\u3044\u308b\u3088\u3046\u306a\u5ea7\u6a19\u5909\u63db\u30fb\u9806\u904b\u52d5\u5b66\u30fb\u9806\u52d5\u529b\u5b66\u3092\u9069\u7528\u3057\uff0c\u305d\u306e\u6642\u523b\u3067\u306e\u72b6\u614b\u5024SV\u3092\u5f97\u308b\uff0c\u3068\u3044\u3046\u6d41\u308c\u3067\u3042\u308b\uff0e\u307e\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u904b\u52d5\u8a08\u753b\u3084\u5236\u5fa1\u3092\u3059\u308b\u305f\u3081\u306bSpaceDyn\u5185\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308b\u91cd\u8981\u306aclass\u304c\u3082\u30461\u3064\u3042\u308b\uff0e des_SV : desired state variables \u76ee\u6a19\u72b6\u614b\u5909\u6570 \u30ed\u30dc\u30c3\u30c8\u304c\u6b21\u306b\u76ee\u6307\u3059\u76ee\u6a19\u5024\u3092\u53ce\u5bb9\u3057\u3066\u304a\u308a\uff0c\u3053\u306e\u5024\u3092\u76ee\u6307\u3057\u3066\u904b\u52d5\u30fb\u5236\u5fa1\u3092\u304a\u3053\u306a\u3046 \u30ed\u30dc\u30c3\u30c8\u306b\u95a2\u3059\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u524d\u63d0\u3068\u3057\u3066\uff0c\u300c\u76ee\u6307\u3057\u305f\u3044\u201c\u72b6\u614b\u201d\u304c\u3042\u308a\uff0c\u305d\u306e\u72b6\u614b\u3068\u73fe\u5728\u306e\u72b6\u614b\u3092\u5e38\u306b\u6bd4\u8f03\u3057\u306a\u304c\u3089\u5236\u5fa1\u3059\u308b\u3053\u3068\u3067\uff0c\u76ee\u6307\u3059\u3079\u304d\u201c\u72b6\u614b\u201d\u306b\u8fd1\u3065\u3051\u52d5\u4f5c\u3092\u5b9f\u73fe\u3059\u308b\u300d\u3053\u3068\u304c\u76ee\u7684\u3067\u3042\u308b\uff0e\u3053\u306e\u201c\u6b21\u306e\u76ee\u6307\u3059\u3079\u304d\u72b6\u614b\u201d\u304cdes_SV\u3067\u3042\u308b\uff0e \u4e3b\u306b\u3053\u308c\u30893\u3064\u306eclass\u3092\u7528\u3044\u308b\u3053\u3068\u3067\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u6a5f\u69cb\u306e\u5b9a\u7fa9\u3084\u57fa\u672c\u7684\u306a\u529b\u5b66\u30fb\u5236\u5fa1\u30fb\u904b\u52d5\u8a08\u753b\u306e\u8a08\u7b97\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u308b\uff0e \u3000ClimbLab\u3067\u306f\uff0c\u4ee5\u4e0b\u306e3\u3064\u306e\u51e6\u7406\u3092SpaceDyn\u306e\u95a2\u6570\u3067\u304a\u3053\u306a\u3063\u3066\u3044\u308b\uff0e \u30ed\u30dc\u30c3\u30c8\u306e\u6a5f\u69cb\u3092LP\u3092\u4f7f\u3063\u3066\u5b9a\u7fa9\u3059\u308b\uff0e \u30ed\u30dc\u30c3\u30c8\u306e\u72b6\u614b\u5909\u6570\u3092SV\uff0cdes_SV\u3092\u4f7f\u3063\u3066\u5b9a\u7fa9\u3059\u308b\uff0e \u57fa\u672c\u7684\u306a\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u8a08\u7b97\u3084\uff0c\u30c0\u30a4\u30ca\u30df\u30af\u30b9\u8a08\u7b97\u3092SpaceDyn\u5185\u306e\u95a2\u6570\u3067\u304a\u3053\u306a\u3046\uff0e \u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u5bb9\u306b\u7279\u5316\u3057\u305f\u8a08\u7b97\u51e6\u7406\u306f\uff0cClimbLab\u306e\u305f\u3081\u306b\u65b0\u305f\u306b\u958b\u767a\u3055\u308c\u305f\u95a2\u6570\u7fa4\u3092\u7528\u3044\u3066\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308b\u304c\uff0c\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30c4\u30fc\u30eb\u3068\u3057\u3066\u571f\u53f0\u3068\u306a\u308b\u9818\u57df\u306bSpaceDyn\u3092\u7528\u3044\u3066\u3044\u308b\uff0e \u307e\u305f\uff0c\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306b\u95a2\u308f\u308b\u91cd\u8981\u306a\u9805\u76ee\u3068\u3057\u3066\u5ea7\u6a19\u7cfb\u306e\u53d6\u308a\u6271\u3044\u304c\u6319\u3052\u3089\u308c\u308b\uff0eSpaceDyn\u3092\u7528\u3044\u305fClimbLab\u306b\u304a\u3051\u308b\u5ea7\u6a19\u7cfb\u306e\u6271\u3044\u3068\uff0c\u305d\u306e\u6ce8\u610f\u70b9\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e SpaceDyn\u3067\u306f\u91cd\u529b\u3092\u4ed6\u306e\u5916\u529b\u3068\u533a\u5225\u305b\u305a\uff0c\u7279\u5225\u8996\u3057\u306a\u3044\uff0e\u3088\u3063\u3066\uff0cSpaceDyn\u3092\u6d3b\u7528\u3057\u3066\u3044\u308bClimbLab\u306b\u304a\u3044\u3066\u3082\uff0c\u91cd\u529b\u30d9\u30af\u30c8\u30eb\u306f\u305f\u3060\u306e\u5916\u529b\u3068\u3057\u3066\u53d6\u308a\u6271\u3046\uff0e\u3053\u308c\u306b\u3088\u308a\u8a08\u7b97\u51e6\u7406\u3092\u7c21\u6f54\u306b\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e \u4f8b\u3048\u3070\uff0c\u50be\u659c\u89d2\u03b1\u3092\u6301\u3064\u50be\u3044\u305f\u5730\u9762\u3092\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u304c\u767b\u6500\u3057\u3066\u3044\u308b\u69d8\u5b50\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u3068\u304d\uff0c\u6163\u6027\u5ea7\u6a19\u7cfb\u03a3~I~ (z\u8ef8\u8ca0\u65b9\u5411\u3068\u91cd\u529b\u304c\u540c\u3058\u5411\u304d\u306e\u5ea7\u6a19)\u3067\u8a08\u7b97\u3057\u3088\u3046\u3068\u3059\u308b\u3068\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u904b\u52d5\u3084\u5730\u5f62\u60c5\u5831\u306b\u95a2\u3059\u308b\u5168\u3066\u306e\u5ea7\u6a19\u7cfb\u3092\u5730\u9762\u306e\u50be\u304d\u306b\u5408\u308f\u305b\u3066\u305d\u306e\u90fd\u5ea6\u56de\u8ee2\u3055\u305b\u308b\u5fc5\u8981\u304c\u3042\u308a\uff0c\u8a08\u7b97\u306e\u51e6\u7406\u91cf\u304c\u591a\u304f\u306a\u308b\uff0e\u3053\u306e\u554f\u984c\u306f\uff0c\u91cd\u529b\u3092\u7279\u5225\u8996\u3057\uff0c\u03a3~I~\u306ez\u8ef8\u306e\u8ca0\u306e\u65b9\u5411\u306b\u91cd\u529b\u30d9\u30af\u30c8\u30eb\u3092\u5408\u308f\u305b\u3088\u3046\u3068\u3059\u308b\u305f\u3081\u306b\u767a\u751f\u3059\u308b\uff0e\u8a08\u7b97\u3059\u308b\u5ea7\u6a19\u7cfb\u3092\u6163\u6027\u5ea7\u6a19\u7cfb\u3067\u306f\u306a\u304f\uff0c\u50be\u3044\u305f\u5730\u9762\u306b\u56fa\u5b9a\u3055\u308c\u305f\u5730\u9762\u5ea7\u6a19\u7cfb\u03a3~g~(ground)\u3068\u3057\uff0c\u91cd\u529b\u3092\u5916\u529b\u3068\u3057\u3066\u89d2\u5ea6\u03b1\u50be\u3051\u3066\u30ed\u30dc\u30c3\u30c8\u306b\u4f5c\u7528\u3059\u308b\u3082\u306e\u3068\u3057\u3066\u8a08\u7b97\u3059\u308b\u3068\u8a08\u7b97\u8ca0\u8377\u306f\u8efd\u304f\u306a\u308b\uff0e\u3059\u306a\u308f\u3061 \u8a08\u7b97\u4e0a\u30ed\u30dc\u30c3\u30c8\u306f\uff0c\u50be\u659c\u3092\u6301\u3063\u305f\u5742\u3067\u306f\u306a\u304f\u5e73\u5730\u3092\u6b69\u884c\u3057\u3066\u304a\u308a\uff0c\u305d\u3053\u306b\u5730\u9762\u771f\u4e0b\u65b9\u5411\u304b\u3089\u50be\u3044\u305f\u5411\u304d\u306b\u5916\u529b(\u91cd\u529b)\u304c\u304b\u304b\u3063\u3066\u3044\u308b \u3068\u8003\u3048\u308b\uff0e\u305d\u306e\u5f8c\uff0c\u52d5\u753b\u3092\u63cf\u753b\u3059\u308b\u6642\u3060\u3051\uff0c\u3064\u3058\u3064\u307e\u5408\u308f\u305b\u3068\u3057\u3066\u63cf\u753b\u3092\u56de\u8ee2\u3055\u305b\u3066\u50be\u659c\u3084\u58c1\u3092\u767b\u3063\u3066\u3044\u308b\u3088\u3046\u306b\u8868\u793a\u3057\u3066\u3044\u308b\u306e\u3067\u3042\u308b\uff0e \u3053\u306e\u8003\u3048\u65b9\u306f\uff0c2.5\u7bc0\u3067\u8ff0\u3079\u308b ini_environment.m \u3067\u306e\u91cd\u529b\u30d9\u30af\u30c8\u30eb\u306e\u5b9a\u7fa9\u30842.6\u7bc0\u3067\u8ff0\u3079\u308bVisualize\u95a2\u6570\u3067\u306e\u50be\u304d\u306e\u53d6\u308a\u6271\u3044\u306b\u95a2\u4fc2\u3057\u3066\u3044\u308b\uff0e\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306b\u304a\u3044\u3066\u306f\uff0c\u6271\u3046\u5909\u6570\u3084\u30d9\u30af\u30c8\u30eb\u304c\u3069\u306e\u5ea7\u6a19\u7cfb\u3067\u8868\u8a18\u3055\u308c\u305f\u3082\u306e\u306a\u306e\u304b\u5e38\u306b\u6ce8\u610f\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\u305f\u3081\uff0c\u6163\u6027\u5ea7\u6a19\u7cfb\u3068\u5730\u9762\u5ea7\u6a19\u7cfb\u30fb\u30ed\u30dc\u30c3\u30c8\u30d9\u30fc\u30b9\u5ea7\u6a19\u7cfb\u3092\u610f\u8b58\u3057\u3066\u533a\u5225\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e","title":"2.3. SpaceDyn"},{"location":"2_ClimbLab_simulation_flow/#24-configuration-functions","text":"\u3053\u3053\u304b\u3089\u306f\uff0cClimbLab\u306e\u305f\u3081\u306b\u5f53\u7814\u7a76\u30b0\u30eb\u30fc\u30d7\u3067\u65b0\u305f\u306b\u958b\u767a\u3055\u308c\u305f\u95a2\u6570\u7fa4\u306b\u3064\u3044\u3066\uff0c\u305d\u308c\u305e\u308c\u5206\u3051\u3066\u8aac\u660e\u3059\u308b\uff0e \u3000\u307e\u305a\u521d\u3081\u306b\u5b9f\u884c\u3055\u308c\u308b\u95a2\u6570\u7fa4\u3067\u3042\u308bConfiguration\u95a2\u6570\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0eConfiguration\u95a2\u6570\u3068\u306f\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u6761\u4ef6\u306e\u8a2d\u5b9a\u30fb\u69cb\u7bc9\u3092\u304a\u3053\u306a\u3046\u95a2\u6570\u7fa4\u3067\u3042\u308a\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/config \u4ee5\u4e0b\u306b\u7f6e\u304b\u308c\u308b\u63a5\u982d\u8f9e\u304c config_ \u3067\u59cb\u307e\u308b\u95a2\u6570\u306e\u7dcf\u79f0\u3067\u3042\u308b\uff0eClimbLab\u306f\u591a\u7a2e\u591a\u69d8\u306a\u74b0\u5883\u30fb\u30ed\u30dc\u30c3\u30c8\u30fb\u6b69\u5bb9\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c1\u3064\u306emain\u30d5\u30a1\u30a4\u30eb\u3067\u5b9f\u884c\u53ef\u80fd\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3067\u3042\u308b\u305f\u3081\uff0c\u3069\u3093\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u306e\u304b\u30e6\u30fc\u30b6\u30fc\u3084\u958b\u767a\u8005\u304c\u7d30\u304b\u304f\u8a2d\u5b9a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e \u3057\u304b\u3057\u65b0\u3057\u3044\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u308b\u5ea6\u306b\uff0c\u305d\u306e\u90fd\u5ea6\u5168\u3066\u306e\u5909\u6570\u3092\u8a2d\u5b9a\u3059\u308b\u306e\u306f\u975e\u5e38\u306b\u7169\u96d1\u3067\u3042\u308b\uff0e\u305d\u3053\u3067\uff0c\u307e\u305a\u306f\u81ea\u52d5\u3067\u5168\u3066\u306e\u5909\u6570\u3092\u8aad\u307f\u8fbc\u3093\u3067\u30c7\u30d5\u30a9\u30eb\u30c8\u3068\u3057\u3066\u8a2d\u5b9a\u3057\uff0c\u305d\u306e\u5f8c\uff0c\u30e6\u30fc\u30b6\u30fc\u304c\u671b\u3080\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3048\u308b\u3088\u3046\u306b\uff0c\u5909\u66f4\u3057\u305f\u3044\u5909\u6570\u306b\u3064\u3044\u3066\u3060\u3051\u8a2d\u5b9a\u3055\u308c\u305f\u5909\u6570\u306e\u4e2d\u8eab\u3092\u4e0a\u66f8\u304d\u3059\u308b\u3068\u3044\u30462\u6bb5\u968e\u306e\u624b\u6cd5\u3092\u63a1\u7528\u3057\u3066\u3044\u308b\uff0e\u305d\u306e\u305f\u3081\uff0cConfiguration\u95a2\u6570\u306b\u306f\u5927\u304d\u304f2\u7a2e\u985e\u3042\u308a\uff0c\u81ea\u52d5\u3067\u8aad\u307f\u8fbc\u3080\u305f\u3081\u306b\u5b58\u5728\u3059\u308b\u95a2\u6570\u3068\uff0c\u305d\u306e\u5f8c\u6307\u5b9a\u3057\u305f\u3044\u5185\u5bb9\u306b\u5024\u3092\u4e0a\u66f8\u304d\u3059\u308b\u95a2\u6570\u304c\u3042\u308b\uff0e \u4ee5\u4e0b\uff0cConfig\u95a2\u6570\u306e\u5177\u4f53\u7684\u306a\u69cb\u6210\u3092\u8ff0\u3079\u308b\uff0e\u307e\u305a main_sim \u5185\u3067\uff0cConfiguration\u3092\u8a2d\u5b9a\u3059\u308b\u95a2\u6570\u306e\u304a\u304a\u3082\u3068\u3068\u3057\u3066 config\\_simulation.m \u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e\u3053\u306e\u95a2\u6570\u306e\u4e2d\u3067\u4e0a\u8a18\u306e\u4e8c\u6bb5\u968e\u5f0f\u306econfig\u8a2d\u5b9a\u304c\u304a\u3053\u306a\u308f\u308c\u308b\uff0e\u307e\u305a\uff0c\u7b2c\u4e00\u6bb5\u968e\u3068\u3057\u3066 config\\_all\\_default\\_param.m \u306b\u3088\u3063\u3066\uff0c\u521d\u671f\u306e\u74b0\u5883\u69cb\u7bc9\u306e\u305f\u3081\u306b\u5fc5\u8981\u306a\u5168\u3066\u306eclass\u3068\u305d\u306e\u4e2d\u8eab\u306e\u5909\u6570\u304c\u30c7\u30d5\u30a9\u30eb\u30c8\u3068\u3057\u3066\u8a2d\u5b9a\u3055\u308c\u308b\uff0econfig_all_default_param.m\u306f\uff0c\u305d\u306e\u5185\u90e8\u3067\uff0c config/default \u4ee5\u4e0b\u306b\u5b58\u5728\u3059\u308b\u5404class\u3092\u5b9a\u7fa9\u3059\u308b\u4ee5\u4e0b\u306eConfig\u95a2\u6570\u7fa4\u3092\u5b9f\u884c\u3059\u308b\uff0e config_robot_param.m config_environment_param.m config_gait_planning_param.m config_control_param.m config_equilibrium_param.m config_animation_settings.m config_save_settings.m config_plot_settings.m config_target_detection_param.m : \u3053\u306e\u30d5\u30a1\u30a4\u30eb\u306e\u307f\u30d5\u30a9\u30eb\u30c0 /climblab/lib/target_detection \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b config_sensing_camera_param.m \u5404\u95a2\u6570\u540d\u306f\uff0c\u305d\u306e\u95a2\u6570\u3067\u8aad\u307f\u8fbc\u307e\u308c\u308bclass\u306e\u540d\u524d\u3068\u76f4\u63a5\u30ea\u30f3\u30af\u3057\u3066\u3044\u308b\uff0e \u305d\u306e\u5f8c\uff0c config_simulation.m \u306b\u3066\u7b2c\u4e8c\u6bb5\u968e\u3068\u3057\u3066\uff0c main_sim \u5185\u3067\u8a18\u8ff0\u3057\u3066\u6307\u5b9a\u3057\u305fconfig\u306b\u5fdc\u3058\u3066\uff0c\u5404\u5909\u6570\u306e\u4e0a\u66f8\u304d\u51e6\u7406\u304c\u304a\u3053\u306a\u308f\u308c\u308b\uff0econfig\u306e\u8a2d\u5b9a\u3092 \"default\" \u306b\u3059\u308b\u3068\uff0c\u5909\u6570\u306e\u4e0a\u66f8\u304d\u304c\u4e00\u5207\u304a\u3053\u306a\u308f\u308c\u305a\uff0c\u81ea\u52d5\u7684\u306b\u8a2d\u5b9a\u3055\u308c\u305f\u5909\u6570\u3092\u7528\u3044\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u958b\u59cb\u3059\u308b\uff0e\u8a2d\u5b9a\u3092 \"USER\" \u3059\u308b\u3068\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/config/USER \u4e0b\u306b\u3042\u308b config_USER_param.m \u3092\u53c2\u7167\u3057\u3066\u5909\u6570\u306e\u4e0a\u66f8\u304d\u3092\u304a\u3053\u306a\u3046\uff0e\u305d\u306e\u305f\u3081\uff0cdefault\u304b\u3089\u5909\u66f4\u3057\u305f\u3044\u5909\u6570\u3084\u8a2d\u5b9a\u304c\u3042\u308b\u5834\u5408\u306f\uff0c\u305d\u306e\u8a2d\u5b9a\u3060\u3051 config_USER_param.m \u5185\u3067\u540c\u540d\u306e\u5909\u6570\u3068\u3057\u3066\u65b0\u305f\u306b\u8a18\u8ff0\u3057\u3066\u3084\u308c\u3070\u3088\u3044\uff0e default \u3068 USER \u4ee5\u5916\u306econfig\u8a2d\u5b9a\u3068\u3057\u3066\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/config/preset \u4e0b\u306b\u3044\u304f\u3064\u304bConfig\u95a2\u6570\u304c\u4f5c\u6210\u3055\u308c\u3066\u3044\u308b\uff0e\u3053\u308c\u3089\u306e\u95a2\u6570\u306f\u30c7\u30d5\u30a9\u30eb\u30c8\u3068\u306f\u7570\u306a\u308b\u304c\u534a\u6c38\u4e45\u7684\u306b\u53c2\u8003\u3068\u3055\u308c\u308b\u30d5\u30a9\u30fc\u30de\u30c3\u30c8\u3067\u3042\u308b\uff0e\u3059\u306a\u308f\u3061\uff0cdefault\u4ee5\u5916\u306e\u57fa\u672c\u7684\u306aClimbLab\u306b\u3088\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u4f8b\u3084\uff0c\u307e\u305f\u3053\u308c\u307e\u3067\u306b\u672c\u7814\u7a76\u30c1\u30fc\u30e0\u304c\u6295\u7a3f\u3057\u305f\u8ad6\u6587\u30fb\u5b66\u4f1a\u767a\u8868\u3067\u306e\u7d50\u679c\u3092\u518d\u73fe\u3059\u308b\u305f\u3081\u306b\u4f5c\u6210\u3055\u308c\u3066\u4fdd\u7ba1\u3055\u308c\u3066\u3044\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3067\u3042\u308b\uff0e","title":"2.4. Configuration Functions"},{"location":"2_ClimbLab_simulation_flow/#25-initialize-functions","text":"Configuration\u95a2\u6570\u306b\u3088\u3063\u3066\u74b0\u5883\u69cb\u7bc9\u306e\u305f\u3081\u306b\u5fc5\u8981\u306aclass\u3068\u5909\u6570\u304c\u8a2d\u5b9a\u3055\u308c\u305f\u3042\u3068\u306f\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30eb\u30fc\u30d7\u306e\u958b\u59cb\u306b\u5411\u3051\u3066t=0\u306e\u6642\u306e\u521d\u671f\u72b6\u614b\u3092\u660e\u78ba\u306b\u6307\u5b9a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e\u3053\u306e\u5f79\u5272\u3092\u62c5\u3063\u3066\u3044\u308b\u306e\u304cInitialize\u95a2\u6570\u3067\u3042\u308a\uff0c\u63a5\u982d\u8f9e ini_ \u3067\u59cb\u307e\u308b\u95a2\u6570\u3067\u3042\u308b\uff0eInitialize\u95a2\u6570\u7fa4\u306f\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/src \u4e0b\u306b\uff0c\u8a72\u5f53\u3059\u308b\u51e6\u7406\u6bce\u306b\u30d5\u30a9\u30eb\u30c0\u3092\u5206\u3051\u3066Update\u95a2\u6570\u306a\u3069\u3068\u3068\u3082\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0eInitialize\u95a2\u6570\u306b\u3088\u308a\uff0cConfig\u95a2\u6570\u3067\u6307\u5b9a\u3055\u308c\u305f\u5404\u30d1\u30e9\u30e1\u30fc\u30bf\u304b\u3089\uff0c\u5b9f\u969b\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5185\u3067\u5fc5\u8981\u3068\u306a\u308b\u5168\u5909\u6570\u3092\u8a2d\u5b9a\u3057\uff0c\u305d\u308c\u305e\u308c\u306eclass\u3078\u3068\u683c\u7d0d\u3059\u308b\uff0e Initialize\u95a2\u6570\u306e\u5f79\u5272\u3092\uff0c main_sim \u5185\u3067\u5b9f\u884c\u3055\u308c\u308b\u9806\u756a\u306b\u7c21\u5358\u306b\u8aac\u660e\u3059\u308b\uff0e \u307e\u305a\u5192\u982d\u3067\u5b9f\u884c\u3055\u308c\u308b ini_path.m \u306f\uff0c\u7279\u6b8a\u306ainitialize\u95a2\u6570\u3067\uff0c\u30d1\u30b9\u3068\u3088\u3070\u308c\u308bMATLAB\u306e\u691c\u7d22\u7bc4\u56f2\u306b main_sim \u3092\u5b9f\u884c\u3059\u308b\u305f\u3081\u306b\u5fc5\u8981\u306aClimbLab\u306e\u5185\u90e8\u30d5\u30a9\u30eb\u30c0\u3092\u8ffd\u52a0\u3059\u308b\uff0e\u307e\u305f main_sim \u3092\u5b9f\u884c\u3059\u308b\u969b\u306eMATLAB\u5185\u3067\u306e\u30d5\u30a9\u30eb\u30c0\u5834\u6240\u304c\u9055\u3046\u5834\u5408\u306f\uff0c\u5b9f\u884c\u5834\u6240\u304c\u9593\u9055\u3063\u3066\u308b\u65e8\u306e\u8b66\u544a\u3092\u51fa\u3059\uff0e\u30d5\u30a1\u30a4\u30eb\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/src \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e \u6b21\u306b\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/src/environment \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u4ee5\u4e0b\u306e\u95a2\u6570\u304c\u5b9f\u884c\u3055\u308c\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u3068\u5730\u5f62\u304c\u8a2d\u5b9a\u3055\u308c\u308b\uff0e ini_environment.m 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\u3053\u3053\u3067\uff0c\u5730\u5f62\u3068\u3057\u3066\u4e0d\u6574\u5730\u3092\u8a2d\u5b9a\u3059\u308b\u5834\u5408\u306b\u306f\uff0c ini_graspable_points.m \u5185\u306b\u3066\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3092\u5b9f\u884c\u3059\u308b\u3053\u3068\u3067\u5730\u5f62\u5185\u306e\u628a\u6301\u53ef\u80fd\u70b9\u3092\u9078\u51fa\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/lib/target_detection \u4e0b\u306b\u5168\u3066\u306e\u95a2\u6570\u304c\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\uff0e \u6b21\u306b\uff0c\u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u306b\u95a2\u308f\u308bInitialize\u95a2\u6570\u306e\u5927\u5143\u3068\u3057\u3066\uff0c ini_robot.m \u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e ini_robot.m \u306b\u3088\u308a\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u7528\u3044\u308b\u30ed\u30dc\u30c3\u30c8\u306e\u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf(LP)\u3068\u72b6\u614b\u5909\u6570(SV)\u3092\u5b9a\u7fa9\u3057\uff0c\u307e\u305fConfig\u95a2\u6570\u3067\u6307\u5b9a\u3055\u308c\u305f\u521d\u671f\u30d9\u30fc\u30b9\u4f4d\u7f6e\u3084\u9ad8\u3055\u30fbxy\u65b9\u5411\u306e\u811a\u5148\u306e\u5e45\u3092\u3082\u3068\u306b\u5730\u5f62\u4e0a\u306b\u30ed\u30dc\u30c3\u30c8\u306e\u521d\u671f\u914d\u7f6e\u3092\u304a\u3053\u306a\u3046\uff0e \u3000 ini_robot.m \u306e\u5185\u90e8\u3067\u306f\u6b21\u306eInitialize\u95a2\u6570\u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e ini_(\u30ed\u30dc\u30c3\u30c8\u30bf\u30a4\u30d7\u306e\u540d\u524d)_LP.m Config\u95a2\u6570\u3067\u6307\u5b9a\u3055\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u3092\u8aad\u307f\u8fbc\u3093\u3067LP\u3092\u5b9a\u7fa9\u3059\u308b\uff0e ini_12DOF_SV.m 12\u81ea\u7531\u5ea6\u3092\u6301\u3064\u30ed\u30dc\u30c3\u30c8\u306e\u72b6\u614b\u5909\u6570\u3092\u521d\u671f\u5b9a\u7fa9\uff08\u5909\u6570\u3092\u7528\u610f\uff09\u3059\u308b\uff0e ini_joint_angle.m \u30ed\u30dc\u30c3\u30c8\u306e\u521d\u671f\u811a\u5148\u5e45\u304b\u3089\uff0c\u811a\u5148\u306b\u3082\u3063\u3068\u3082\u8fd1\u3044\u628a\u6301\u70b9\u3092\u898b\u3064\u3051\u51fa\u3057\uff0c\u305d\u3053\u304c\u9006\u904b\u52d5\u5b66\u7684\u306b\u53ef\u52d5\u7bc4\u56f2\u5185\u3067\u3042\u308c\u3070\u811a\u5148\u4f4d\u7f6e\u3092\u305d\u3053\u306b\u8a2d\u5b9a\u3057\uff0c\u9006\u904b\u52d5\u5b66\u3067\u6c42\u3081\u305f\u95a2\u7bc0\u89d2\u5ea6\u306b\u95a2\u7bc0\u89d2\u5ea6\u3092\u8a2d\u5b9a\u3059\u308b\uff0e ini_reachable_area.m \u521d\u671f\u8a2d\u7f6e\u3057\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u811a\u5148\u53ef\u52d5\u7bc4\u56f2\u3092\u8a2d\u5b9a\u3059\u308b\uff0e \u6b21\u306b\uff0c\u672a\u77e5\u74b0\u5883\u63a2\u67fb\u3092\u6a21\u64ec\u3059\u308b\u5834\u5408\u306b\u306f\uff0c ini_sensed_graspable_points.m \u306b\u3088\u308a\uff0c\u914d\u7f6e\u3057\u305f\u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u306e\u5468\u56f2\u306e\u628a\u6301\u70b9\u3092\u65e2\u77e5\u3068\u3059\u308b\u3088\u3046\u306b\u5909\u66f4\u3059\u308b\uff0e\u305d\u3057\u3066\uff0c ini_gait.m \u306b\u3088\u308a\uff0c\u6b69\u5bb9\u306b\u95a2\u308f\u308b\u30d1\u30e9\u30e1\u30fc\u30bf\u3068\u3057\u3066\uff0c4\u811a\u652f\u6301\u671f\u3084\u904a\u811a\u671f\u306e\u6642\u9593\u3092config\u3067\u6307\u5b9a\u3055\u308c\u305f\u5024\u304b\u3089\u8a08\u7b97\u3057\u3066\u8a2d\u5b9a\u3059\u308b\uff0e\u305d\u3057\u3066\uff0c\u5927\u5c40\u7684\u7d4c\u8def\u8a08\u753b(Global Path Planning)\u3092\u7528\u3044\u308b\u5834\u5408\u306b\u306f\uff0c\u305d\u306e\u521d\u671f\u8a2d\u5b9a\u3068\u3057\u3066\u4ee5\u4e0b\u306e2\u3064\u306e\u95a2\u6570\u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e ini_obstacle_map.m \u628a\u6301\u53ef\u80fd\u70b9\u4f4d\u7f6e\u60c5\u5831\u3092\u53ce\u5bb9\u3059\u308b\u30b0\u30ea\u30c3\u30c9\u30de\u30c3\u30d7\u3092\u5b9a\u7fa9\u3059\u308b\uff0e ini_global_path_plan.m \u5927\u5c40\u7684\u7d4c\u8def\u3092\u521d\u671f\u8a2d\u5b9a\u3059\u308b\uff0e \u6700\u5f8c\u306b\uff0c\u63cf\u753b\u3084\u4fdd\u5b58\u306b\u95a2\u3059\u308bInitialize\u95a2\u6570\u7fa4\u3068\u3057\u3066\uff0c ini_id.m \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7d50\u679c\u306e\u30c7\u30fc\u30bf\u3092dat\u30d5\u30a9\u30eb\u30c0\u306b\u4fdd\u5b58\u3059\u308b\u969b\u306e\u30d5\u30a9\u30eb\u30c0\u540d\u3092\u8a2d\u5b9a\u3059\u308b\uff0e ini_video\\_file.m \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u52d5\u753b\u306e\u4fdd\u5b58\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\uff0e \u304c\u5b9f\u884c\u3055\u308c\uff0c\u5168\u3066\u306e\u521d\u671f\u8a2d\u5b9a\u304c\u5b8c\u4e86\u3059\u308b\uff0e","title":"2.5. Initialize Functions"},{"location":"2_ClimbLab_simulation_flow/#26-update-functions","text":"\u4e0a\u8a18\u306e\u51e6\u7406\u306b\u3088\u308a\u521d\u671f\u8a2d\u5b9a\u304c\u5b8c\u4e86\u3057\u305f\u305f\u3081\uff0c\u30eb\u30fc\u30d7\u306b\u3088\u3063\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u3059\u3081\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e \u3000Update\u95a2\u6570\u3068\u306f\uff0c\u305d\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30eb\u30fc\u30d7\u5185\u3067\u5b9f\u884c\u3055\u308c\u308b\u95a2\u6570\u7fa4\u3067\u3042\u308a\uff0c\u51e6\u7406\u306b\u3088\u3063\u3066\u5404\u5909\u6570\u306e\u4e2d\u8eab\u3092\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u6bce\u306b\u66f4\u65b0\u3059\u308b\u63a5\u982d\u8f9e upd_ \u3067\u59cb\u307e\u308b\u95a2\u6570\u3067\u3042\u308b\uff0eInitialize\u95a2\u6570\u7fa4\u3068\u540c\u69d8\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/src \u4e0b\u306b\uff0c\u8a72\u5f53\u3059\u308b\u6a5f\u80fd\u6bce\u306b\u30d5\u30a9\u30eb\u30c0\u3092\u5206\u3051\u3066\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0eUpdate\u95a2\u6570\u306e\u5f79\u5272\u306e\u4e00\u4f8b\u3068\u3057\u3066\u306f\uff0c\u305d\u306e\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u306b\u304a\u3051\u308b\u811a\u5148\u4f4d\u7f6e\u3084\u95a2\u7bc0\u89d2\u5ea6\u3092\u8a08\u7b97\u3057\u3066\u6c42\u3081\uff0c\u6c42\u3081\u305f\u5024\u3078\u306e\u5909\u6570\u306e\u66f4\u65b0\u3092\u304a\u3053\u306a\u3046\u306a\u3069\u304c\u6319\u3052\u3089\u308c\u308b\uff0eUpdate\u95a2\u6570\u306e\u7dcf\u6570\u306f40\u3092\u8d85\u3048\u308b\u305f\u3081\uff0c\u3053\u3053\u3067\u306f\u5404\u95a2\u6570\u306e\u8a73\u7d30\u306a\u8a18\u8ff0\u306f\u5272\u611b\u3057\uff0cmain_sim\u306e\u30eb\u30fc\u30d7\u5185\u90e8\u3067\u76f4\u63a5\u547c\u3073\u51fa\u3055\u308c\u3066\u5b9f\u884c\u3055\u308c\u3066\u3044\u308b\u5927\u5143\u306e\u95a2\u6570\u306b\u3064\u3044\u3066\u306e\u307f\u8aac\u660e\u3059\u308b\u306b\u3068\u3069\u3081\uff0cClimbLab\u306e\u5404\u51e6\u7406\u306e\u6982\u8981\u3092\u3055\u3089\u3046\uff0e","title":"2.6. Update Functions"},{"location":"2_ClimbLab_simulation_flow/#sensing","text":"\u307e\u305a\uff0c\u30ed\u30dc\u30c3\u30c8\u304c\u672a\u77e5\u74b0\u5883\u3092\u79fb\u52d5\u3057\u3066\u3044\u308b\u72b6\u6cc1\u3092\u60f3\u5b9a\u3057\u305f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u305f\u3081\u306b\uff0c * upd_sensed_graspable_points.m \u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e\u5730\u5f62\u60c5\u5831\u306b\u3064\u3044\u3066\u306f\u524d\u3082\u3063\u3066\u5168\u4f53\u306b\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u308b\uff0e\u305d\u306e\u305f\u3081\u30bb\u30f3\u30b7\u30f3\u30b0\u306b\u95a2\u3057\u3066ClimbLab\u5185\u3067\u306f\uff0c\u5730\u5f62\u60c5\u5831\u5168\u4f53\u306e\u70b9\u7fa4\u3067\u306f\u306a\u304f\uff0c\u6b69\u884c\u306b\u91cd\u8981\u306a\u628a\u6301\u53ef\u80fd\u70b9\u306e\u307f\u3092\u5bfe\u8c61\u3068\u3059\u308b\uff0e \u5177\u4f53\u7684\u306a\u51e6\u7406\u3092\u8ff0\u3079\u308b\uff0e surface_param.graspable_points (\u4ee5\u4e0b surface_param \u3092\u7701\u7565)\u306b\u683c\u7d0d\u3055\u308c\u305f\u5730\u5f62\u5168\u4f53\u306e\u628a\u6301\u53ef\u80fd\u70b9\u306e\u4f4d\u7f6e\u60c5\u5831\u3068\u306f\u5225\u306b\uff0c sensed_graspable_points \u3068\u3044\u3046\u5909\u6570\u3092\u7528\u610f\u3059\u308b\uff0e\u30bb\u30f3\u30b5\u30ab\u30e1\u30e9\u306e\u753b\u89d2\u306b\u5165\u3063\u305f\u3053\u3068\u3067\"\u65e2\u77e5\"\u3068\u306a\u3063\u305f\u70b9\u306e\u5ea7\u6a19\u3092\uff0c graspable_points \u304b\u3089\u30b3\u30d4\u30fc\u3057\u3066\u3053\u306e sensed_graspable_points \u306b\u683c\u7d0d\u3059\u308b\uff0e\u30ed\u30dc\u30c3\u30c8\u306e\u79fb\u52d5\u306b\u3068\u3082\u306a\u3063\u3066\u30bb\u30f3\u30b7\u30f3\u30b0\u30a8\u30ea\u30a2\u3082\u9032\u3093\u3067\u3044\u304f\u305f\u3081\uff0c\u3053\u306e\u51e6\u7406\u3092\u30eb\u30fc\u30d7\u5185\u3067\u7e70\u308a\u8fd4\u3057\u304a\u3053\u306a\u3063\u3066\u3044\u304f\uff0e\u305d\u3057\u3066\uff0c\u6b69\u5bb9\u8a08\u753b\u306a\u3069\u3067\u6271\u3046\u628a\u6301\u53ef\u80fd\u70b9\u306e\u4f4d\u7f6e\u60c5\u5831\u3068\u3057\u3066 sensed_graspable_points \u3092\u5229\u7528\u3059\u308b\u3053\u3068\u3067\uff0c\u672a\u77e5\u74b0\u5883\u3092\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3044\u306a\u304c\u3089\u79fb\u52d5\u3059\u308b\u72b6\u6cc1\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u304d\u308b\uff0e","title":"Sensing"},{"location":"2_ClimbLab_simulation_flow/#global-path-planning","text":"\u7d9a\u3044\u3066\uff0c\u5927\u5c40\u7684\u7d4c\u8def\u8a08\u753b\u3068\u3057\u3066\uff0c\u6b21\u306e2\u3064\u306e\u95a2\u6570\uff1a upd_obstacle_map.m upd_global_path_plan.m \u304c\u9806\u306b\u5b9f\u884c\u3055\u308c\u308b\uff0e\u307e\u305a upd_obstacle_map.m \u306b\u3088\u3063\u3066\uff0c\u30bb\u30f3\u30b7\u30f3\u30b0\u306e\u7d50\u679c\u306b\u3082\u3068\u3065\u304d\u628a\u6301\u53ef\u80fd\u70b9\u4f4d\u7f6e\u60c5\u5831\u3092\u30b0\u30ea\u30c3\u30c9\u30de\u30c3\u30d7\u306b\u53ce\u5bb9\u3059\u308b\uff0e\u5404\u30b0\u30ea\u30c3\u30c9\u306f\uff0c\u4e2d\u5fc3\u306b\u6709\u3059\u308b\u53c2\u7167\u30ce\u30fc\u30c9\u306e\u72b6\u614b\u306b\u5fdc\u3058\u3066\uff0c\u4eee\u30ce\u30fc\u30c9\u3067\u3042\u308c\u30700\uff0c\u78ba\u5b9a\u30ce\u30fc\u30c9\u306a\u30891\uff0c\u7a7a\u30ce\u30fc\u30c9\u306a\u3089NaN\u5024\u3092\u6301\u3064\u3088\u3046\u306b\u66f4\u65b0\u3055\u308c\u308b\uff0e\u3053\u306e\u3088\u3046\u306b\uff0c\u5404\u30ce\u30fc\u30c9\u306e\u5024\u3092\u53ce\u5bb9\u3057\u3066\u3044\u308b\u884c\u5217\u3068\u3057\u3066\u30b0\u30ea\u30c3\u30c9\u30de\u30c3\u30d7\u3092\u53d6\u308a\u6271\u3046\uff0e\u305d\u3057\u3066\uff0c upd_global_path_plan.m \u3067\u306f\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u73fe\u5728\u4f4d\u7f6e\u3068\u30b4\u30fc\u30eb\u4f4d\u7f6e\uff0c\u305d\u3057\u3066\u5404\u30ce\u30fc\u30c9\u306e\u72b6\u614b\u3092\u53c2\u7167\u3057\u3066\u7d4c\u8def\u3092\u751f\u6210\u3057\uff0c\u4e2d\u9593\u70b9\u3092\u751f\u6210\u3059\u308b\uff0e","title":"Global Path Planning"},{"location":"2_ClimbLab_simulation_flow/#local-path-planning","text":"\u5c40\u6240\u7684\u7d4c\u8def\u8a08\u753b\u3092\u304a\u3053\u306a\u3046\u95a2\u6570\u3068\u3057\u3066\uff0c upd_local_path_planning.m \u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e\u3053\u306e\u95a2\u6570\u306b\u3088\u3063\u3066\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u6b21\u306e\u4e00\u65b9\u306b\u304a\u3051\u308b\u76ee\u6a19\u79fb\u52d5\u65b9\u5411\u3092\u6c7a\u5b9a\u3059\u308b\uff0e\u95a2\u6570\u5185\u3067\u306f\uff0c\u8a98\u5f15\u3055\u308c\u308b3\u3064\u306e\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u3092\u305d\u308c\u305e\u308c\u7b97\u51fa\u3057\uff0c\u91cd\u307f\u4ed8\u3051\u4fc2\u6570\u3092\u304b\u3051\u3066\u8db3\u3057\u5408\u308f\u305b\u3066\u6b63\u898f\u5316\u3059\u308b\u3053\u3068\u3067\uff0c\u79fb\u52d5\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u3092\u5c0e\u51fa\u3057\u3066\u3044\u308b\uff0e 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Planning\u3068\u306f\uff0c\u6b69\u5bb9\u8a08\u753b\u3092\u610f\u5473\u3059\u308b\u8a00\u8449\u3067\u3042\u308a\uff0c\u6b21\u306e\u904a\u811a\u30fb\u811a\u5148\u4f4d\u7f6e(\u628a\u6301\u70b9)\u30fb\u30d9\u30fc\u30b9\u4f4d\u7f6e\u30fb\u30d9\u30fc\u30b9\u59ff\u52e2\u3092\u6c7a\u5b9a\u3059\u308b\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3042\u308b\uff0e\u30d5\u30a1\u30a4\u30eb\u306e\u7f6e\u304d\u5834\u6240\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/src/controller/gait \u4e0b\u306b\uff0c\u30d5\u30a7\u30fc\u30ba\u6bce\u306b\u30d5\u30a9\u30eb\u30c0\u3092\u5206\u3051\u3066\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e upd_gait_planning.m \u304c main_sim \u5185\u3067\u5b9f\u884c\u3055\u308c\uff0c\u305d\u306e\u4e2d\u3067 gait_planning_param.type 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des_SV \u306b\u683c\u7d0d\u3057\uff0c\u3053\u306e des_SV \u3092\u76ee\u6307\u3057\u5236\u5fa1\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u3067\u8a08\u753b\u3057\u305f\u904b\u52d5\u306e\u8ffd\u5f93\u30fb\u5b9f\u73fe\u3092\u304a\u3053\u306a\u3046\uff0e","title":" Motion Planning "},{"location":"2_ClimbLab_simulation_flow/#equilibrium-evaluation","text":"\u904b\u52d5\u8a08\u753b\u306b\u7d9a\u3044\u3066\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u5b89\u5b9a\u6027\u8a55\u4fa1\u3092\uff0c upd_equilibrium_eval.m \u306b\u3088\u3063\u3066\u6c42\u3081\uff0c\u5b89\u5b9a\u6027\u3092\u5b9a\u91cf\u7684\u306b\u7b97\u51fa\u3059\u308b\uff0eClimbLab\u306b\u5c0e\u5165\u3055\u308c\u3066\u3044\u308b\u5b89\u5b9a\u6027\u8a55\u4fa1\u6307\u6a19\u306b\u306f2\u3064\u306e\u7a2e\u985e\u304c\u3042\u308b\uff0e\u307e\u305a\u7b2c\u4e00\u306e\u6307\u6a19\u306f\uff0c\u8ee2\u5012\u5b89\u5b9a\u4f59\u88d5(Tumble Stability Margin, 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"},{"location":"2_ClimbLab_simulation_flow/#robot-controller","text":"\u904b\u52d5\u8a08\u753b\u306b\u3088\u3063\u3066\u5c0e\u51fa\u3055\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u76ee\u6a19\u95a2\u7bc0\u89d2\u5ea6\u306b\u8fd1\u3065\u3051\u308b\u305f\u3081\u306b\uff0c\u904b\u52d5\u5236\u5fa1\u3092\u304a\u3053\u306a\u3046\uff0e\u904b\u52d5\u5236\u5fa1\u306f\u4ee5\u4e0b\u306e\u95a2\u6570\uff0c upd_control.m 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Controller"},{"location":"2_ClimbLab_simulation_flow/#kinematics-and-dynamics","text":"\u30ed\u30dc\u30c3\u30c8\u306b\u95a2\u308f\u308b\u52d5\u529b\u5b66\u3084\u904b\u52d5\u5b66\u3092\u8a08\u7b97\u3059\u308b\uff0e\u307e\u305a\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u811a\u5148\u306e\u30b0\u30ea\u30c3\u30d1\u306b\u5bfe\u3057\u3066\u304b\u304b\u308b\u5f15\u304d\u5265\u304c\u3057\u529b\u3068\uff0c\u30b0\u30ea\u30c3\u30d1\u306e\u628a\u6301\u529b\u3068\u3092\u6bd4\u8f03\u3059\u308b\uff0e\u30b0\u30ea\u30c3\u30d1\u304c\u8010\u3048\u3089\u308c\u308b\u628a\u6301\u529b\u4ee5\u4e0a\u306e\u5f15\u304d\u5265\u304c\u3057\u529b\u304c\u811a\u5148\u306b\u767a\u751f\u3057\u3066\u3044\u308b\u5834\u5408\uff0c\u30b0\u30ea\u30c3\u30d1\u306f\u5265\u96e2\u3057\u305f\u3068\u5224\u5b9a\u3055\u308c\u308b\uff0e\u7d9a\u3044\u3066\uff0c\u5404\u811a\u306e\u811a\u5148\u306e\u30b0\u30ea\u30c3\u30d1\u304c\u5730\u9762\u306b\u62bc\u3057\u4ed8\u3051\u3089\u308c\u308b\u3053\u3068\u3067\u767a\u751f\u3059\u308b\u53cd\u529b\u3092\u8a08\u7b97\u3059\u308b\uff0e\u5730\u9762\u304b\u3089\u53d7\u3051\u308b\u53cd\u529bF~contact~\u306f\uff0c\u3070\u306d-\u30c0\u30f3\u30d1\u30e2\u30c7\u30eb\u3092\u63a1\u7528\u3057\u3066\u7b97\u51fa\u3055\u308c\u308b\uff0e\u811a\u5148\u304c\u5730\u9762\u306b\u4eee\u60f3\u7684\u306b\u3081\u308a\u3053\u3080\u3068\u3057\uff0c\u305d\u306e\u3068\u304d\u306e\u53cd\u529b\u3092\u5f3e\u6027\u4fc2\u6570\u3068\u7c98\u6027\u4fc2\u6570\u3092\u6307\u5b9a\u3059\u308b\u3053\u3068\u3067\u30e2\u30c7\u30eb\u5316\u3059\u308b\uff0e\u9678\u4e0a\u7af6\u6280\u4e0a\u306e\u30c8\u30e9\u30c3\u30af\u3084\uff0c\u516c\u9053\u306e\u30a2\u30b9\u30d5\u30a1\u30eb\u30c8\u30fb\u5ca9\u77f3\u5730\u5f62\u306a\u3069\uff0c\u5730\u9762\u306e\u8edf\u3089\u304b\u3055\u306f\u69d8\u3005\u3067\u3042\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u3053\u308c\u3089\u306e\u4fc2\u6570\u3092\u9069\u5207\u306b\u8a2d\u5b9a\u3057\u3066\u5bfe\u8c61\u3068\u3059\u308b\u5730\u9762\u306e\u53cd\u529b\u3092\u30e2\u30c7\u30eb\u5316\u3059\u308b\uff0e \u305d\u3057\u3066\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u904b\u52d5\u65b9\u7a0b\u5f0f\u3092SpaceDyn\u3092\u7528\u3044\u3066\u30eb\u30f3\u30b2\uff1d\u30af\u30c3\u30bf\u6cd5\u306b\u3088\u3063\u3066\u89e3\u304f\uff0e\u7b97\u51fa\u3055\u308c\u305f\u30d9\u30fc\u30b9\u4f4d\u7f6e\u3068\u5404\u95a2\u7bc0\u306e\u95a2\u7bc0\u89d2\u5ea6\u304b\u3089\uff0c\u9806\u904b\u52d5\u5b66\u306b\u3088\u3063\u3066\u305d\u306e\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u306b\u304a\u3051\u308b\u30ed\u30dc\u30c3\u30c8\u306e\u4f4d\u7f6e\u3068\u59ff\u52e2\u3092\u8a08\u7b97\u3059\u308b\uff0e","title":"Kinematics and Dynamics"},{"location":"2_ClimbLab_simulation_flow/#variables-saving","text":"\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u632f\u308a\u8fd4\u3063\u3066\u5f8c\u306b\u89e3\u6790\u304c\u3067\u304d\u308b\u3088\u3046\u306b\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u4e2d\u306e\u5909\u6570\u306e\u6642\u9593\u5c65\u6b74\u3092\u4fdd\u5b58\u3059\u308b\uff0e\u305d\u306e\u305f\u3081\u306b\uff0c\u30eb\u30fc\u30d7\u5185\u306b\u3066 upd_variables_saved.m \u3092\u5b9f\u884c\u3057\uff0c\u5404\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u306b\u304a\u3051\u308b\u4e3b\u8981\u306a\u5909\u6570\u306e\u5024\u3092 variables_saved \u3068\u3044\u3046class\u306b\u683c\u7d0d\u3057\u3066\u3044\u304f\uff0e\u30eb\u30fc\u30d7\u7d42\u4e86\u5f8c\uff0cSave\u95a2\u6570\u306b\u3088\u3063\u3066\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u306bCSV\u30d5\u30a1\u30a4\u30eb\u3068\u3057\u3066\u4fdd\u5b58\u3059\u308b\uff0e","title":"Variables Saving"},{"location":"2_ClimbLab_simulation_flow/#simulation-stopper","text":"\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u3042\u308b\u7279\u5b9a\u306e\u6761\u4ef6\u3092\u6e80\u305f\u3057\u305f\u6642\uff0c\u30eb\u30fc\u30d7\u3092\u8131\u3057\u3066\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u7d42\u4e86\u3059\u308b\uff0e\u305d\u306e\u305f\u3081\u306e\u95a2\u6570\u304c\uff0c upd\\_stop\\_sim.m \u3067\u3042\u308b\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u7d42\u4e86\u6761\u4ef6\u306f\u5148\u306b\u8ff0\u3079\u305f\u3088\u3046\u306b\uff0c\u8a2d\u5b9a\u3057\u305f\u6642\u523b\u307e\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u6642\u9593\u304c\u9032\u3080\u304b\uff0c\u30ed\u30dc\u30c3\u30c8\u304c\u76ee\u7684\u5730\u70b9\u306b\u5230\u9054\uff0c\u3082\u3057\u304f\u306f\u79fb\u52d5\u306e\u7d99\u7d9a\u304c\u4e0d\u53ef\u80fd\u3068\u306a\u3063\u305f\u5834\u5408\u3067\u3042\u308b\uff0e\u3053\u308c\u3089\u306e\u6761\u4ef6\u306e\u3046\u3061\u3044\u305a\u308c\u304b\u3092\u6e80\u305f\u3057\u305f\u5834\u5408\uff0c\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u3092\u7d42\u4e86\u3057\u3066\uff0cSave\u95a2\u6570\u306e\u5b9f\u884c\u3078\u3068\u79fb\u308b\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u7d42\u4e86\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u3044\u306a\u3044\u5834\u5408\u306f\uff0c\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u306e\u5148\u982d\u306b\u623b\u3063\u3066\u30bb\u30f3\u30b7\u30f3\u30b0\u304b\u3089\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u7d99\u7d9a\u3059\u308b\uff0e \u4ee5\u4e0a\u304c main_sim.m \u5185\u3067\u5b9f\u884c\u3055\u308c\u308bUpdate\u95a2\u6570\u306e\u6982\u8981\u3067\u3042\u308b\uff0e\u3053\u3053\u3067\u8ff0\u3079\u305f\u305d\u308c\u305e\u308c\u306e\u95a2\u6570\u304c\u5185\u90e8\u3067\u307e\u305f\u8907\u6570\u306eUpdate\u95a2\u6570\u3092\u547c\u3073\u51fa\u3057\u3066\u5b9f\u884c\u3057\u3066\u3044\u308b\uff0e\u5404\u95a2\u6570\u306e\u51e6\u7406\u306e\u8a73\u7d30\u3092\u77e5\u308a\u305f\u3044\u5834\u5408\u306f\uff0c\u95a2\u6570\u306e\u4e2d\u8eab\u3092\u5b9f\u969b\u306b\u898b\u3066\u307f\u308b\u3053\u3068\u304c\u63a8\u5968\u3055\u308c\u308b\uff0e","title":"Simulation Stopper"},{"location":"2_ClimbLab_simulation_flow/#27-visualize-functions","text":"Visualize\u95a2\u6570\u3068\u306f\uff0cMATLAB figure\u306b\u5909\u6570\u3084\u30c7\u30fc\u30bf\u3092\u56f3\u3068\u3057\u3066\u63cf\u753b\u3059\u308b\u305f\u3081\u306e\u63a5\u982d\u8f9e vis_ \u306e\u3064\u304f\u95a2\u6570\u7fa4\u3067\uff0c\u30d5\u30a1\u30a4\u30eb\u306e\u7f6e\u304d\u5834\u6240\u306f\u5168\u3066\u30d5\u30a9\u30eb\u30c0 /climbla/src/visulaization \u3067\u3042\u308b\uff0eVisualize\u95a2\u6570\u306b\u306f2\u7a2e\u985e\u3042\u308a\uff0c \u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u69d8\u5b50\u3092\u52d5\u753b\u306b\u63cf\u753b\u3059\u308b\u305f\u3081\u306e\u95a2\u6570 \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5f8c\u306b\u5909\u6570\u306e\u5c65\u6b74\u3092\u30d7\u30ed\u30c3\u30c8\u3059\u308b\u305f\u3081\u306e\u95a2\u6570 \u306b\u5206\u3051\u3089\u308c\u308b\uff0e \u524d\u8005\u306e\uff0c\u52d5\u753b\u306e\u305f\u3081\u306eVisualize\u95a2\u6570\u306b\u3064\u3044\u3066\u306f\uff0c\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u5185\u3067\u5b9f\u884c\u3055\u308c\u3066\u304a\u308a\uff0c\u8a2d\u5b9a\u3055\u308c\u305f\u30d5\u30ec\u30fc\u30e0\u306e\u30bf\u30a4\u30df\u30f3\u30b0\u306b\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u304c\u306a\u308b\u6bce\u306b\u307e\u3068\u3081\u3066\u5b9f\u884c\u3055\u308c\uff0c\u540c\u3058figure\u306b\u7e70\u308a\u8fd4\u3057\u63cf\u753b\u3057\u3066\u3044\u304f\uff0e animation_param \u306b\u3088\u3063\u3066\uff0c\u8868\u793a\u3059\u308b\u9805\u76ee\u3092\u9078\u3073\uff0c\u307e\u305f\u63cf\u753b\u306e\u8272\u30fb\u592a\u3055\u30fb\u30de\u30fc\u30ab\u30fc\u3092\u5168\u3066\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u307e\u305f\u3053\u308c\u3089\u306e\u95a2\u6570\u306e\u7559\u610f\u70b9\u3068\u3057\u3066\uff0c\u5730\u8868\u9762\u306e\u50be\u659c\u89d2\u5ea6(Inclination: inc)\u306e\u53d6\u308a\u6271\u3044\u3092\u8a8d\u8b58\u3057\u3066\u304a\u304f\u5fc5\u8981\u304c\u3042\u308b\uff0e\u6025\u50be\u659c\u5730\u5f62\u306e\u767b\u6500\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u969b\u306b\u304a\u3044\u3066\u3082\uff0cClimbLab\u5185\u306e\u5909\u6570\u306f\u5168\u3066\u50be\u3044\u305f\u5730\u9762\u4e0a\u306e\u5730\u9762\u5ea7\u6a19\u7cfb\u3067\u8a08\u7b97\u3055\u308c\u3066\u3044\u308b\u305f\u3081\uff0c\u5909\u6570\u3092\u52d5\u753b\u306b\u63cf\u753b\u3059\u308b\u969b\u306b\u306f\uff0c\u3059\u3079\u3066\u306eVisualize\u95a2\u6570\u306e\u4e2d\u3067rot(\u5730\u9762\u5ea7\u6a19\u7cfb\u3068\u6163\u6027\u5ea7\u6a19\u7cfb\u3068\u306e\u9593\u306e\u56de\u8ee2\u884c\u5217)\u3092\u8a08\u7b97\u3057\uff0c\u5909\u6570\u306b\u5bfe\u3057\u3066\u5ea7\u6a19\u5909\u63db\u3092\u304a\u3053\u306a\u3063\u3066\u6163\u6027\u5ea7\u6a19\u7cfb\u306b\u304a\u3051\u308b\u6025\u50be\u659c\u767b\u6500\u3092\u793a\u3057\u3066\u3044\u308b\uff0e \u5f8c\u8005\u306e\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5f8c\u306b\u5909\u6570\u306e\u5c65\u6b74\u3092\u30d7\u30ed\u30c3\u30c8\u3059\u308b\u305f\u3081\u306e\u95a2\u6570\u306b\u3064\u3044\u3066\u306f\uff0c main_sim.m \u306e\u30eb\u30fc\u30d7\u5f8c\u306b\u304a\u304a\u3082\u3068\u306e\u95a2\u6570\u3067\u3042\u308b vis_plot_graph.m \u304c\u5b9f\u884c\u3055\u308c\u308b\u3053\u3068\u3067\u6a5f\u80fd\u3059\u308b\uff0e\u30d7\u30ed\u30c3\u30c8\u3059\u308b\u5909\u6570\u5c65\u6b74\u306e\u7a2e\u985e\u306f plot_param \u3067\u8a2d\u5b9a\u304c\u53ef\u80fd\u3067\u3042\u308b\uff0e\u5c65\u6b74\u3092\u30d7\u30ed\u30c3\u30c8\u3059\u308b\u305f\u3081\u306b\u4f7f\u3046\u305f\u3081\u306e\u5171\u901a\u306e\u95a2\u6570\u3068\u3057\u3066\uff0c vis_graph_time_history.m \u304c\u5b58\u5728\u3057\uff0c vis_plot_graph.m \u306e\u5185\u90e8\u3067\u5909\u6570\u3054\u3068\u306b\u7e70\u308a\u8fd4\u3057\u3053\u306e\u95a2\u6570\u304c\u4f7f\u7528\u3055\u308c\u3066\u3044\u308b\uff0e\u307e\u305f\uff0c\u3053\u306e\u5171\u901a\u306e vis_graph_time_history.m \u3067\u306f\u793a\u305b\u306a\u3044\u5f62\u614b\u306e\u30c7\u30fc\u30bf\u3084\uff0c\u5b89\u5b9a\u6027\u89e3\u6790\u4e0a\u91cd\u8981\u306a\u9805\u76ee\u306b\u5bfe\u3057\u3066\u306f\uff0c\u4ee5\u4e0b\u306e5\u3064\u306e\u5358\u72ec\u306e\u30d7\u30ed\u30c3\u30c8\u7528Visualize\u95a2\u6570\u304c\u4f5c\u6210\u3055\u308c\u3066\u3044\u308b\uff0e vis_footholds.m vis_graph_tsm.m vis_graph_gia_margin.m vis_graph_gia_inclination_margin.m vis_graph_trajectory_comparison.m","title":"2.7. Visualize Functions"},{"location":"2_ClimbLab_simulation_flow/#28-save-function","text":"Save\u95a2\u6570\u3068\u306f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u30a8\u30f3\u30c9\u30d5\u30a7\u30a4\u30ba\u6642\u306b\u5b9f\u884c\u3055\u308c\uff0c\u5909\u6570\u3084\u30c7\u30fc\u30bf\u3092MATLAB\u306e\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u304b\u3089\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u306b\u4fdd\u5b58\u3059\u308b\u95a2\u6570\u306e\u3053\u3068\u3067\u3042\u308b\uff0e\u30d5\u30a1\u30a4\u30eb\u306e\u7f6e\u304d\u5834\u6240\u306f\uff0c\u30d5\u30a9\u30eb\u30c0/climblab/src/misc\uff08misc\u306f\u300c\u305d\u306e\u4ed6\u300d\u306e\u610f\u5473\uff09\u3067\u3042\u308b\uff0eSave\u95a2\u6570\u3068\u3057\u3066\u5206\u985e\u3055\u308c\u308b\u306e\u306f\uff0c sav_data_file.m \u3060\u3051\u3067\u3042\u308b\uff0e\u3053\u306e\u95a2\u6570\u306b\u3088\u3063\u3066\uff0c\u305d\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u30e6\u30fc\u30b6\u30fc\u304c\u6307\u5b9a\u3057\u3066\u8aad\u307f\u8fbc\u3093\u3060Config\u30d5\u30a1\u30a4\u30eb\u3068\uff0c\u5185\u90e8\u3067\u5909\u5316\u3057\u305f\u5909\u6570\u306e\u5c65\u6b74\u3092CSV\u5f62\u5f0f\u3068\u3057\u3066\u4fdd\u5b58\u3057\u305f\u30d5\u30a1\u30a4\u30eb\u3092\uff0c\u5b9f\u884c\u3057\u305f\u6642\u523b\u3092\u30d5\u30a9\u30eb\u30c0\u540d\u3068\u3057\u3066\u30d5\u30a9\u30eb\u30c0 /climblab/dat \u4e0b(dat: data\u306e\u610f)\u306b\u65b0\u305f\u306b\u30d5\u30a9\u30eb\u30c0\u3092\u4f5c\u6210\u3057\u3066\u4fdd\u5b58\u3059\u308b\uff0e\u4fdd\u5b58\u3059\u308b\u969b\u306e\u30d5\u30a9\u30eb\u30c0\u540d\u3084\u30d5\u30a1\u30a4\u30eb\u540d\u306f run_cod \u3084 run_id \u3068\u3044\u3046\u5909\u6570\u3067\u6307\u5b9a\u3067\u304d\u308b\uff0e\u3053\u306e\u4fdd\u5b58\u3055\u308c\u305fCSV\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u5fc5\u8981\u306a\u30c7\u30fc\u30bf\u3092\u62bd\u51fa\u3059\u308b\u3053\u3068\u3067\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7d42\u4e86\u5f8c\u306b\u6539\u3081\u3066\u8a73\u7d30\u306a\u89e3\u6790\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u304c\u3067\u304d\u308b\uff0e","title":"2.8. Save Function"},{"location":"3_other_main_functions/","text":"3. Other Main Functions \u524d\u7ae0\u3067 main_sim.m \u3068\u305d\u306e\u5185\u90e8\u3067\u5b9f\u884c\u3055\u308c\u308b5\u3064\u306e\u7a2e\u985e\u306e\u95a2\u6570\u306b\u3064\u3044\u3066\u8ff0\u3079\u305f\uff0e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u5b9f\u884c\u306b\u7528\u3089\u308c\u308bMain\u95a2\u6570\u306f main_sim.m \u305f\u3060\u4e00\u3064\u3067\u3042\u308b\uff0e\u305d\u306e\u4ee3\u308f\u308a\u306b\u4f7f\u7528\u3059\u308b\u30e6\u30fc\u30b6\u30fc\u304c\u305d\u308c\u305e\u308cConfiguration\u95a2\u6570\u3092\u72ec\u81ea\u306b\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u3067\u69d8\u3005\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u540c\u6642\u306b\u958b\u767a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\uff0c\u3053\u308c\u304cClimbLab\u304c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3067\u3042\u308b\u6240\u4ee5\u3067\u3042\u308b\uff0e\u3057\u304b\u3057\uff0c main_sim.m \u4ee5\u5916\u306b\u3082\uff0cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u5185\u306b\u306f\u5358\u72ec\u3067\u5b9f\u884c\u3067\u304d\u308b\u95a2\u6570\u304c\u5b58\u5728\u3059\u308b\uff0e\u3053\u308c\u3089\u306e\u95a2\u6570\u306b\u306f\u63a5\u982d\u8f9e\u306b main_ \u304c\u4ed8\u3051\u3089\u308c\u3066\u304a\u308a\uff0c\u4ee5\u4e0b\u306e5\u3064\u306eMain\u95a2\u6570\u304c\u5b58\u5728\u3059\u308b\uff0e main_iterative_sim.m main_LP_2D_analysis.m main_LP_3D_analysis.m main_target_detection.m main_iterative_target_detection.m main_grid_map_designer.m 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/climblab/src/robot/LP_analysis \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e main_target_detection.m \u306f\uff0c\u5730\u5f62\u60c5\u5831\u30c7\u30fc\u30bf\u306b\u5bfe\u3057\u3066\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3046\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u3067\u3042\u308b\uff0e main_sim.m \u5185\u3067\u3082 target_detection.m \u3092\u5b9f\u884c\u3057\u3066\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u3082\u3067\u304d\u308b\u304c\uff0c\u4e88\u3081\u3053\u306eMain\u95a2\u6570\u3092\u7528\u3044\u3066\uff0c main_sim.m 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main_grid_map_designer.m \u306f\u30d5\u30a9\u30eb\u30c0 /climblab/src/environment/grid_map \u4e0b\u306b\u7f6e\u304b\u308c\u305f\u95a2\u6570\u3067\u3042\u308b\uff0e \u4ee5\u4e0a\u304c\uff0cmain_sim.m\u4ee5\u5916\u306b\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u3068\u3057\u3066ClimbLab\u306b\u5b58\u5728\u3057\u3066\u3044\u308bMain\u95a2\u6570\u3067\u3042\u308b\uff0e","title":"3. Other Main Functions"},{"location":"4_how_to_execute_simulation/","text":"4. How to Execute Simulation ClimbLab\u306fMATLAB\u3067\u8a18\u8ff0\u3055\u308c\u3066\u304a\u308a\uff0c\u5b9f\u884c\u306b\u306fMATALB\u3092\u4f7f\u7528\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e\u52d5\u4f5c\u78ba\u8a8d\u304c\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308bMATLAB\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u306f\uff0c\u672c\u8ad6\u6587\u57f7\u7b46\u6642(2022\u5e742\u67081\u65e5)\u306b\u304a\u3044\u3066\uff0cMATLAB R2019b\u3067\u3042\u308b\uff0e\u3088\u3063\u3066\uff0c\u5b9f\u884c\u306b\u306fR2019b\u4ee5\u964d\u306eMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u304c\u5fc5\u8981\u3067\u3042\u308b\uff0e\u307e\u305f\uff0cMATLAB Toolbox\u306b\u3064\u3044\u3066\u306f\uff0c\u57fa\u672c\u7684\u306b\u5fc5\u8981\u3068\u3057\u306a\u3044\u304c\uff0c\u3054\u304f\u4e00\u90e8\u306e\u6a5f\u80fd\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306eToolbox\uff1a Optimization Toolbox Robotics Toolbox Signal Processing Toolbox Reinforcement Learning Toolbox Deep Learning Toolbox \u304c\u4f7f\u7528\u3055\u308c\u308b\u305f\u3081\uff0c\u5fc5\u8981\u306a\u5834\u5408\u306f\u9069\u5b9c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e 4.1 How to execute main_sim.m main_sim.m \u3092\u5b9f\u884c\u3057\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u624b\u9806\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e\u306a\u304a\uff0c\u5148\u306b\u8ff0\u3079\u305fMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u3092\u524d\u63d0\u3068\u3059\u308b\uff0e \u307e\u305a\u57fa\u672c\u8a2d\u5b9a\u3067\u3042\u308b\"default\"\u3067\u5b9f\u884c\u3059\u308b\u5834\u5408\u306f\uff0c GitHub\u3084BitBucket\u304b\u3089ClimbLab\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3059\u308b\uff0e MATLAB\u3092\u958b\u304f\uff0e \u30d5\u30a9\u30eb\u30c0/climblab/src\u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b main_sim.m \u3092\u958b\u304f\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u304c\"default\"\u306b\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e MATLAB\u5185\u306e\u300c\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u300d\u3092 /climblab \u306b\u3059\u308b\uff0e main\\_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u5b9f\u884c\u5f8c\uff0c\u300cmain_sim.m\u306f\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u30fc\u3084MATLAB\u30d1\u30b9\u4e0a\u3067\u898b\u3064\u304b\u308a\u307e\u305b\u3093\uff0e\u300d\u3068\u3044\u3046\u30a8\u30e9\u30fc\u304c\u51fa\u305f\u5834\u5408\u306f\uff0c\u300c\u30d1\u30b9\u306b\u8ffd\u52a0\u300d\u3092\u9078\u629e\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u306b\u3088\u3063\u3066\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u958b\u59cb\u3055\u308c\u308b\uff0e \u307e\u305f\u3053\u306e\"default\"\u304b\u3089\u81ea\u5206\u7528\u306b\u65b0\u305f\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u8a66\u3059\u5834\u5408\u306b\u306f\uff0c \u30d5\u30a9\u30eb\u30c0 /climblab/config/USER \u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b config\\_USER\\_param\\_template.m \u3092\u30b3\u30d4\u30fc\u3057\uff0c\u540c\u3058\u30d5\u30a9\u30eb\u30c0\u306b\uff0c config_USER_param.m \u3068\u540d\u524d\u3092\u5909\u3048\u3066\u4f5c\u6210\u3059\u308b\uff0e config_USER_param.m \u5185\u306b\uff0cdefault\u304b\u3089\u5909\u66f4\u3057\u305f\u3044\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u66f8\u304d\u52a0\u3048\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"default\"\u304b\u3089\"USER\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u3067\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u5909\u66f4\u3067\u304d\u308b\u8a2d\u5b9a\u306f\uff0c\u30d5\u30a9\u30eb\u30c0 config/default \u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u5404class\u306e\u521d\u671f\u8a2d\u5b9a\u7528\u306e\u95a2\u6570\u306e\u4e2d\u8eab\u3092\u898b\u308b\u3053\u3068\u3067\u78ba\u8a8d\u3067\u304d\u308b\uff0e \u307e\u305f\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u9032\u3081\u308b\u4e2d\u3067\uff0c\u8a2d\u5b9a\u3092\u534a\u6c38\u7d9a\u7684\u306b\u4fdd\u5b58\u3057\u3066\u304a\u304d\u305f\u3044config\u30d5\u30a1\u30a4\u30eb\u304c\u3042\u308b\u5834\u5408\u306f\uff0cpreset\u3068\u3057\u3066\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u81ea\u5206\u304c\u958b\u767a\u3057\u305f\u308f\u3051\u3067\u306f\u306a\u3044\u65e2\u5b58\u306epreset\u306b\u3064\u3044\u3066\u306f\u57fa\u672c\u7684\u306b\u7de8\u96c6\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u3053\u308c\u3089\u306epreset\u306b\u306f\u8ad6\u6587\u306a\u3069\u3067\u5bfe\u5916\u7684\u306b\u793a\u3057\u305f\u7d50\u679c\u3092\u4fdd\u5b58\u3057\u3066\u304a\u304f\u3079\u304d\u3082\u306e\u3082\u3042\u308b\u306e\u3067\uff0c\u7de8\u96c6\u3059\u308b\u969b\u306f\u958b\u767a\u8005\u3084\u30c1\u30fc\u30e0\u3068\u8a71\u3057\u5408\u3046\u5fc5\u8981\u304c\u3042\u308b\uff0epreset\u306e\u4f5c\u6210\u624b\u9806\u3092\u4ee5\u4e0b\u306b\u793a\u3059\uff0e config/preset \u4e0b\u306b\uff0c config_xxx_param.m \u3068\u3044\u3046\u81ea\u5206\u306econfig\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u308b\uff0e xxx \u306f\u4efb\u610f\u3060\u304c\uff0c config_ \u3067\u59cb\u307e\u308a\uff0c _param \u3067\u7d42\u308f\u308b\u3088\u3046\u306b\u547d\u540d\u3059\u308b\uff0e config_xxx_param.m \u306e\u5185\u90e8\u306b\u81ea\u5206\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8a2d\u5b9a\u3059\u308b\uff0e main_sim\u5185\u3067 `config = \u2018xxx\u2019; \u3068\u8a2d\u5b9a\u3059\u308b\uff0e config_simulation\u5185\u3067\u4e00\u756a\u4e0b\u306b\uff0c if strcmp(config, \u2018xxx\u2019) [... ] = config_xxx_param(....); end \u3068\u65b0\u3057\u304f\u8a18\u8ff0\u3057\u3066\uff0c\u4f5c\u6210\u3057\u305fconfig\u30d5\u30a1\u30a4\u30eb\u3092load\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"xxx\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim \u3092 /climblab \u4e0b\u3067\u5b9f\u884c\u3059\u308b\uff0e","title":"4. Simulation Architecture"},{"location":"4_how_to_execute_simulation/#4-how-to-execute-simulation","text":"ClimbLab\u306fMATLAB\u3067\u8a18\u8ff0\u3055\u308c\u3066\u304a\u308a\uff0c\u5b9f\u884c\u306b\u306fMATALB\u3092\u4f7f\u7528\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e\u52d5\u4f5c\u78ba\u8a8d\u304c\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308bMATLAB\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u306f\uff0c\u672c\u8ad6\u6587\u57f7\u7b46\u6642(2022\u5e742\u67081\u65e5)\u306b\u304a\u3044\u3066\uff0cMATLAB R2019b\u3067\u3042\u308b\uff0e\u3088\u3063\u3066\uff0c\u5b9f\u884c\u306b\u306fR2019b\u4ee5\u964d\u306eMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u304c\u5fc5\u8981\u3067\u3042\u308b\uff0e\u307e\u305f\uff0cMATLAB Toolbox\u306b\u3064\u3044\u3066\u306f\uff0c\u57fa\u672c\u7684\u306b\u5fc5\u8981\u3068\u3057\u306a\u3044\u304c\uff0c\u3054\u304f\u4e00\u90e8\u306e\u6a5f\u80fd\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306eToolbox\uff1a Optimization Toolbox Robotics Toolbox Signal Processing Toolbox Reinforcement Learning Toolbox Deep Learning Toolbox \u304c\u4f7f\u7528\u3055\u308c\u308b\u305f\u3081\uff0c\u5fc5\u8981\u306a\u5834\u5408\u306f\u9069\u5b9c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e","title":"4. How to Execute Simulation"},{"location":"4_how_to_execute_simulation/#41-how-to-execute-main_simm","text":"main_sim.m \u3092\u5b9f\u884c\u3057\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u624b\u9806\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e\u306a\u304a\uff0c\u5148\u306b\u8ff0\u3079\u305fMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u3092\u524d\u63d0\u3068\u3059\u308b\uff0e \u307e\u305a\u57fa\u672c\u8a2d\u5b9a\u3067\u3042\u308b\"default\"\u3067\u5b9f\u884c\u3059\u308b\u5834\u5408\u306f\uff0c GitHub\u3084BitBucket\u304b\u3089ClimbLab\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3059\u308b\uff0e MATLAB\u3092\u958b\u304f\uff0e \u30d5\u30a9\u30eb\u30c0/climblab/src\u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b main_sim.m \u3092\u958b\u304f\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u304c\"default\"\u306b\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e MATLAB\u5185\u306e\u300c\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u300d\u3092 /climblab \u306b\u3059\u308b\uff0e main\\_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u5b9f\u884c\u5f8c\uff0c\u300cmain_sim.m\u306f\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u30fc\u3084MATLAB\u30d1\u30b9\u4e0a\u3067\u898b\u3064\u304b\u308a\u307e\u305b\u3093\uff0e\u300d\u3068\u3044\u3046\u30a8\u30e9\u30fc\u304c\u51fa\u305f\u5834\u5408\u306f\uff0c\u300c\u30d1\u30b9\u306b\u8ffd\u52a0\u300d\u3092\u9078\u629e\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u306b\u3088\u3063\u3066\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u958b\u59cb\u3055\u308c\u308b\uff0e \u307e\u305f\u3053\u306e\"default\"\u304b\u3089\u81ea\u5206\u7528\u306b\u65b0\u305f\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u8a66\u3059\u5834\u5408\u306b\u306f\uff0c \u30d5\u30a9\u30eb\u30c0 /climblab/config/USER \u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b config\\_USER\\_param\\_template.m \u3092\u30b3\u30d4\u30fc\u3057\uff0c\u540c\u3058\u30d5\u30a9\u30eb\u30c0\u306b\uff0c config_USER_param.m \u3068\u540d\u524d\u3092\u5909\u3048\u3066\u4f5c\u6210\u3059\u308b\uff0e config_USER_param.m \u5185\u306b\uff0cdefault\u304b\u3089\u5909\u66f4\u3057\u305f\u3044\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u66f8\u304d\u52a0\u3048\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"default\"\u304b\u3089\"USER\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u3067\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u5909\u66f4\u3067\u304d\u308b\u8a2d\u5b9a\u306f\uff0c\u30d5\u30a9\u30eb\u30c0 config/default \u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u5404class\u306e\u521d\u671f\u8a2d\u5b9a\u7528\u306e\u95a2\u6570\u306e\u4e2d\u8eab\u3092\u898b\u308b\u3053\u3068\u3067\u78ba\u8a8d\u3067\u304d\u308b\uff0e \u307e\u305f\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u9032\u3081\u308b\u4e2d\u3067\uff0c\u8a2d\u5b9a\u3092\u534a\u6c38\u7d9a\u7684\u306b\u4fdd\u5b58\u3057\u3066\u304a\u304d\u305f\u3044config\u30d5\u30a1\u30a4\u30eb\u304c\u3042\u308b\u5834\u5408\u306f\uff0cpreset\u3068\u3057\u3066\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u81ea\u5206\u304c\u958b\u767a\u3057\u305f\u308f\u3051\u3067\u306f\u306a\u3044\u65e2\u5b58\u306epreset\u306b\u3064\u3044\u3066\u306f\u57fa\u672c\u7684\u306b\u7de8\u96c6\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u3053\u308c\u3089\u306epreset\u306b\u306f\u8ad6\u6587\u306a\u3069\u3067\u5bfe\u5916\u7684\u306b\u793a\u3057\u305f\u7d50\u679c\u3092\u4fdd\u5b58\u3057\u3066\u304a\u304f\u3079\u304d\u3082\u306e\u3082\u3042\u308b\u306e\u3067\uff0c\u7de8\u96c6\u3059\u308b\u969b\u306f\u958b\u767a\u8005\u3084\u30c1\u30fc\u30e0\u3068\u8a71\u3057\u5408\u3046\u5fc5\u8981\u304c\u3042\u308b\uff0epreset\u306e\u4f5c\u6210\u624b\u9806\u3092\u4ee5\u4e0b\u306b\u793a\u3059\uff0e config/preset \u4e0b\u306b\uff0c config_xxx_param.m \u3068\u3044\u3046\u81ea\u5206\u306econfig\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u308b\uff0e xxx \u306f\u4efb\u610f\u3060\u304c\uff0c config_ \u3067\u59cb\u307e\u308a\uff0c _param \u3067\u7d42\u308f\u308b\u3088\u3046\u306b\u547d\u540d\u3059\u308b\uff0e config_xxx_param.m \u306e\u5185\u90e8\u306b\u81ea\u5206\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8a2d\u5b9a\u3059\u308b\uff0e main_sim\u5185\u3067 `config = \u2018xxx\u2019; \u3068\u8a2d\u5b9a\u3059\u308b\uff0e config_simulation\u5185\u3067\u4e00\u756a\u4e0b\u306b\uff0c if strcmp(config, \u2018xxx\u2019) [... ] = config_xxx_param(....); end \u3068\u65b0\u3057\u304f\u8a18\u8ff0\u3057\u3066\uff0c\u4f5c\u6210\u3057\u305fconfig\u30d5\u30a1\u30a4\u30eb\u3092load\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"xxx\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim \u3092 /climblab \u4e0b\u3067\u5b9f\u884c\u3059\u308b\uff0e","title":"4.1 How to execute main_sim.m"},{"location":"5_folder_tree/","text":"5. Folder Tree \u672c\u7ae0\u3067\u306f\uff0cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3068\u95a2\u6570\u306e\u7f6e\u304d\u5834\u6240\u3092\u793a\u3059\uff0e\u306a\u304a\uff0c\u592a\u5b57\u306f\u30d5\u30a9\u30eb\u30c0\u540d\u3092\u8868\u3059\uff0e\u672c\u7ae0\u3092\u8efd\u304f\u4e00\u8aad\u3059\u308b\u3053\u3068\u3067\uff0cClimbLab\u5168\u4f53\u306e\u69cb\u9020\u3092\u628a\u63e1\u3059\u308b\u3053\u3068\u3067\u304d\u308b\uff0e\u307e\u305f\uff0c\u65b0\u305f\u306a\u95a2\u6570\u3084\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3059\u308b\u5834\u5408\u306b\u306f\uff0c\u3053\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3092\u53c2\u8003\u306b\u9069\u5207\u306a\u5834\u6240\u306b\u914d\u7f6e\u3059\u308b\u3053\u3068\uff0e climblab/ config config\u95a2\u6570\u7fa4\u4e00\u5f0f\u3092\u4fdd\u5b58\u3059\u308b\u30d5\u30a9\u30eb\u30c0 default : config\u306edefault\u7528\u95a2\u6570\u7fa4 preset : \u3053\u308c\u307e\u3067\u306e\u958b\u767a\u306b\u4f7f\u308f\u308c\u305fconfiguration\u95a2\u6570\u7fa4 USER : \u5909\u6570\u4e0a\u66f8\u304d\u7528USER config\u95a2\u6570\u3068\u305d\u306e\u30c6\u30f3\u30d7\u30ec\u30fc\u30c8 config_simulation.m : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306econfig\u3092\u8a2d\u5b9a\u3059\u308b\u5927\u5143\u306e\u95a2\u6570 config_all_default_param.m : default\u306e\u306a\u304b\u306econfig\u30d5\u30a1\u30a4\u30eb\u7fa4\u3092\u5b9f\u884c\u3059\u308b\u95a2\u6570 dat : data\u30d5\u30a9\u30eb\u30c0\u30fc\u306e\u610f\uff0e\u5b9f\u884c\u3057\u305f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u30ed\u30b0\u3084\u52d5\u753b\u306e\u4fdd\u5b58\u5148 docs media : \u5bfe\u5916\u7528\u306b\u4f7f\u7528\u3059\u308b\u753b\u50cf\u30fbgif\u306e\u4fdd\u5b58\u5834\u6240 mkdocs : \u672c\u30de\u30cb\u30e5\u30a2\u30eb\u306e\u4fdd\u5b58\u5834\u6240 lib : ClimbLab\u3067\u4f7f\u7528\u3057\u3066\u3044\u308b\u95a2\u6570\u306e\u4e2d\u3067\uff0c\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u306e\u307f\u306a\u3089\u305a\u4ed6\u306e\u5206\u91ce\u3078\u306e\u6c4e\u7528\u6027\u3082\u9ad8\u3044\u95a2\u6570\u7fa4\u3092\u4fdd\u5b58\u3059\u308b\u5834\u6240 equ_gia : GIA\u5b89\u5b9a\u9818\u57df\u306b\u3064\u3044\u3066\u306e\u8a08\u7b97\u306b\u95a2\u308f\u308b\u95a2\u6570\u4e00\u5f0f spacedyn_v2r0 : SpaceDyn\u306e\u95a2\u6570\u4e00\u5f0f MATLAB Reference : \u5404\u95a2\u6570\u306e\u5f79\u5272\u306b\u3064\u3044\u3066\uff0chtml\u5f62\u5f0f\u3067\u898b\u3084\u3059\u304f\u307e\u3068\u3081\u3089\u308c\u305f\u3082\u306e target_detection : \u628a\u6301\u5019\u88dc\u70b9\u691c\u51fa\u306b\u95a2\u308f\u308b\u95a2\u6570\u4e00\u5f0f \u56de\u8ee2\u884c\u5217\u3092\u8a08\u7b97\u3059\u308b\u3060\u3051\u306e\u95a2\u6570\u7fa4 : rot_2xy.m , rot_x.m , rot_y.m, rot_z.m src : \u811a\u578b\u30af\u30e9\u30a4\u30df\u30f3\u30b0\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u7279\u5316\u3057\u3066\u958b\u767a\u3055\u308c\u3066\u304d\u305f\u95a2\u6570\u7fa4\uff0e\u4e0b\u4f4d\u306e\u69cb\u6210\u30d5\u30a9\u30eb\u30c0\u306e\u6570\u304c\u591a\u3044\u306e\u3067\uff0csrc\u4ee5\u4e0b\u306b\u306e\u307f\u9805\u76ee\u3092\u308f\u3051\u3066\uff0c\u6b21\u306b\u6539\u3081\u3066\u8a18\u3059\uff0e climblab/src/ controller : \u30eb\u30fc\u30d7\u5185\u3067\u4f7f\u7528\u3055\u308c\u308b\u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u91cd\u8981\u306a\u95a2\u6570\u306e\u591a\u304f\u304c\u7f6e\u304b\u308c\u3066\u3044\u308b control : \u95a2\u7bc0\u30c8\u30eb\u30af\u3092\u5236\u5fa1\u3059\u308b\u305f\u3081\u306e\u95a2\u6570\u3092\u53ce\u5bb9 equilibrium : \u5b89\u5b9a\u6027\u89e3\u6790\u306b\u95a2\u308f\u308b\u95a2\u6570\u3092\u53ce\u5bb9\uff0e gait : \u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u4e00\u9023\u306e\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e\u5b9f\u884c\u3055\u308c\u308b\u9806\u756a\u306b\u5f93\u3063\u3066\u4e0b\u4f4d\u30d5\u30a9\u30eb\u30c0\u306b\u756a\u53f7\u304c\u632f\u3089\u308c\u3066\u3044\u308b\uff0e\u5404\u30d5\u30a9\u30eb\u30c0\u5185\u306b\uff0c\u5404\u6b69\u5bb9\u8a08\u753b\u30bf\u30a4\u30d7\u306b\u5fdc\u3058\u305f\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u304c\u5165\u3063\u3066\u3044\u308b\uff0e 0_upd_graspable_points_in_reachable_area : \u53ef\u52d5\u7bc4\u56f2\u5185\u306e\u628a\u6301\u5019\u88dc\u70b9\u306e\u4f4d\u7f6e\u53d6\u5f97 1_upd_swing_num : \u904a\u811a\u306e\u9078\u5b9a\u3092\u3059\u308b\u95a2\u6570 2_upd_swing_next_pos : \u6b21\u306e\u904a\u811a\u306e\u63a5\u5730\u70b9(\u628a\u6301\u70b9)\u3092\u6c7a\u5b9a\u3059\u308b\u95a2\u6570 3_upd_base_next_pos : \u30d9\u30fc\u30b9\u306e\u79fb\u52d5\u4f4d\u7f6e\u3092\u6c7a\u5b9a\u3059\u308b\u95a2\u6570 4_upd_kinematic_feasibility : \u6b21\u306e\u904a\u811a\u30fb\u628a\u6301\u70b9\u30fb\u30d9\u30fc\u30b9\u4f4d\u7f6e\u304c\u9006\u904b\u52d5\u5b66\u7684\u306b\u53ef\u80fd\u304b\u5224\u5b9a\u3059\u308b\u95a2\u6570 **5_upd_gait_history : \u6b69\u5bb9\u8a08\u753b\u306e\u7d50\u679c\u3092\u4fdd\u5b58\u3059\u308b\u95a2\u6570 ini_gait.m : \u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u5909\u6570\u306e\u521d\u671f\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\u95a2\u6570 upd_gait_planning.m : \u6b69\u5bb9\u8a08\u753b\u306e\u95a2\u6570\u7fa4\u306e\u304a\u304a\u3082\u3068\u3067\u3042\u308a\uff0c main_sim \u306e\u30eb\u30fc\u30d7\u5185\u3067\u5b9f\u884c\u3055\u308c\u308b\u6b69\u5bb9\u8a08\u753b\u30d1\u30e9\u30e1\u30fc\u30bf\u66f4\u65b0\u306e\u95a2\u6570 global path plan : \u5927\u5c40\u7684\u7d4c\u8def\u8a08\u753b\u306b\u95a2\u3059\u308b\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e local_path_plan : \u5c40\u6240\u7684\u7d4c\u8def\u8a08\u753b\u306b\u95a2\u3059\u308b\u95a2\u6570\u3092\u53ce\u5bb9 motion : \u30d9\u30fc\u30b9\u306e\u52d5\u304d\u30fb\u811a\u306e\u8ecc\u9053\u3092\u751f\u6210\u30fb\u5236\u5fa1\u3059\u308b\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e tools : \u9806\u904b\u52d5\u5b66\u306e\u95a2\u6570\u3068\uff0c\u6b69\u5bb9\u306b\u95a2\u308f\u308bmap\u60c5\u5831\u3092\u53d6\u5f97\u3059\u308b\u95a2\u6570\u304c\u53ce\u5bb9 upd_grasp_detach.m : \u30b0\u30ea\u30c3\u30d1\u306e\u6ed1\u843d\u3092\u5224\u5b9a\u3057\u3066\u66f4\u65b0\u3059\u308b\u95a2\u6570 engine : \u30ed\u30dc\u30c3\u30c8\u306b\u304b\u304b\u308b\u5916\u529b\u306e\u8a08\u7b97\u3084\u5916\u90e8\u3068\u306e\u63a5\u89e6\u30e2\u30c7\u30eb\u306b\u95a2\u308f\u308b\u95a2\u6570\uff0e environment climbing_holds_map : \u30dc\u30eb\u30c0\u30ea\u30f3\u30b0\u30db\u30fc\u30eb\u30c9\u3092\u7528\u3044\u305f\u5730\u5f62\u60c5\u5831\u306e\u4fdd\u7ba1\u5834\u6240 grid_map : \u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306e\u751f\u6210\u3057\u305f\u5730\u5f62\u60c5\u5831\u306e\u4fdd\u7ba1\u5834\u6240 terrain_map : \u5b9f\u5730\u5f62\u30de\u30c3\u30d7\u306e\u4fdd\u7ba1\u5834\u6240 uneven_map : \u30d5\u30e9\u30af\u30bf\u30eb\u3092\u5229\u7528\u3057\u305f\u4e0d\u6574\u5730\u30de\u30c3\u30d7\u306e\u4fdd\u7ba1\u5834\u6240 map_grid_desingner.m : \u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306e\u30de\u30c3\u30d7\u306e\u751f\u6210\u3092\u3059\u308b\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb \u5730\u5f62\u60c5\u5831\u30fb\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306b\u95a2\u3059\u308binitialize\u95a2\u6570\u7fa4 : ini_environment.m , ini_surface.m , ini_graspable_points.m map_format_conversion.m : RealSense\u30ab\u30e1\u30e9\u3067\u53d6\u5f97\u3057\u3066PCD\u304b\u30893\u00d7N\u884c\u5217\u3068\u3057\u305f\u70b9\u7fa4\u60c5\u5831\u3092\uff0c\u5ea7\u6a19\u5909\u63db\u30fb\u7dda\u5f62\u88dc\u9593\u3057\u3066\u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306b\u5909\u63db\u3059\u308b\u95a2\u6570\uff0e misc : \u672a\u5206\u985e\u306e\u95a2\u6570\u7fa4\uff0e\u30c7\u30fc\u30bf\u4fdd\u5b58\u306b\u95a2\u308f\u308bsave\u95a2\u6570\u306a\u3069\u304c\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e robot : \u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u306e\u5b9a\u7fa9\u3084\u305d\u306e\u521d\u671f\u8a2d\u5b9a\u30fb\u89e3\u6790\u3092\u884c\u3046\u95a2\u6570\u3092\u53ce\u5bb9\uff0e LP_analysis : \u30ed\u30dc\u30c3\u30c8\u306e\u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf(LP)\u304b\u3089\u811a\u5148\u53ef\u52d5\u7bc4\u56f2\u3092\u63cf\u753b\u3059\u308b\u95a2\u6570 ini_12DOF_SV.m , ini_nDOF_SV.m : \u8a2d\u5b9a\u3055\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u81ea\u7531\u5ea6\u306b\u3082\u3068\u3065\u304d\u72b6\u614b\u5909\u6570(SV)\u3092\u8a2d\u5b9a\u3059\u308b\u95a2\u6570 ini_(Robot\u540d)\u95a2\u6570\u7fa4 : \u5404\u30ed\u30dc\u30c3\u30c8\u306eLP\u3092\u5185\u90e8\u3067\u6307\u5b9a\u3057\u3066\u30e1\u30a4\u30f3\u306b\u8aad\u307f\u8fbc\u3080 ini_joint_angle.m ini_reachable_area.m ini_robot.m sensing : \u30ab\u30e1\u30e9\u3084\u30bb\u30f3\u30b5\u306b\u3082\u3068\u3065\u304f\u30bb\u30f3\u30b7\u30f3\u30b0\u306b\u95a2\u9023\u3059\u308bini_,upd_\u95a2\u6570\u7fa4\u3092\u4e3b\u8981 visualization : \u5168\u3066\u306evisualize\u95a2\u6570\u7fa4\u306e\u4fdd\u5b58\u5834\u6240 ini_path.m : main_sim.m \u306e\u5b9f\u884c\u306e\u305f\u3081\u306b\uff0c\u5b9f\u884c\u3057\u3066\u3044\u308b\u30d5\u30a9\u30eb\u30c0\u306e\u73fe\u5728\u4f4d\u7f6e\u78ba\u8a8d\u3068\uff0c\u30d1\u30b9\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\uff0e `main_sim.m : ClimbLab\u306e\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb \u4ee5\u4e0a\u304cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u306e\u6982\u8981\u3067\u3042\u308b\uff0e","title":"5. How to Contribute"},{"location":"5_folder_tree/#5-folder-tree","text":"\u672c\u7ae0\u3067\u306f\uff0cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3068\u95a2\u6570\u306e\u7f6e\u304d\u5834\u6240\u3092\u793a\u3059\uff0e\u306a\u304a\uff0c\u592a\u5b57\u306f\u30d5\u30a9\u30eb\u30c0\u540d\u3092\u8868\u3059\uff0e\u672c\u7ae0\u3092\u8efd\u304f\u4e00\u8aad\u3059\u308b\u3053\u3068\u3067\uff0cClimbLab\u5168\u4f53\u306e\u69cb\u9020\u3092\u628a\u63e1\u3059\u308b\u3053\u3068\u3067\u304d\u308b\uff0e\u307e\u305f\uff0c\u65b0\u305f\u306a\u95a2\u6570\u3084\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3059\u308b\u5834\u5408\u306b\u306f\uff0c\u3053\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3092\u53c2\u8003\u306b\u9069\u5207\u306a\u5834\u6240\u306b\u914d\u7f6e\u3059\u308b\u3053\u3068\uff0e climblab/ config config\u95a2\u6570\u7fa4\u4e00\u5f0f\u3092\u4fdd\u5b58\u3059\u308b\u30d5\u30a9\u30eb\u30c0 default : config\u306edefault\u7528\u95a2\u6570\u7fa4 preset : \u3053\u308c\u307e\u3067\u306e\u958b\u767a\u306b\u4f7f\u308f\u308c\u305fconfiguration\u95a2\u6570\u7fa4 USER : \u5909\u6570\u4e0a\u66f8\u304d\u7528USER config\u95a2\u6570\u3068\u305d\u306e\u30c6\u30f3\u30d7\u30ec\u30fc\u30c8 config_simulation.m : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306econfig\u3092\u8a2d\u5b9a\u3059\u308b\u5927\u5143\u306e\u95a2\u6570 config_all_default_param.m : default\u306e\u306a\u304b\u306econfig\u30d5\u30a1\u30a4\u30eb\u7fa4\u3092\u5b9f\u884c\u3059\u308b\u95a2\u6570 dat : data\u30d5\u30a9\u30eb\u30c0\u30fc\u306e\u610f\uff0e\u5b9f\u884c\u3057\u305f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u30ed\u30b0\u3084\u52d5\u753b\u306e\u4fdd\u5b58\u5148 docs media : \u5bfe\u5916\u7528\u306b\u4f7f\u7528\u3059\u308b\u753b\u50cf\u30fbgif\u306e\u4fdd\u5b58\u5834\u6240 mkdocs : \u672c\u30de\u30cb\u30e5\u30a2\u30eb\u306e\u4fdd\u5b58\u5834\u6240 lib : ClimbLab\u3067\u4f7f\u7528\u3057\u3066\u3044\u308b\u95a2\u6570\u306e\u4e2d\u3067\uff0c\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u306e\u307f\u306a\u3089\u305a\u4ed6\u306e\u5206\u91ce\u3078\u306e\u6c4e\u7528\u6027\u3082\u9ad8\u3044\u95a2\u6570\u7fa4\u3092\u4fdd\u5b58\u3059\u308b\u5834\u6240 equ_gia : GIA\u5b89\u5b9a\u9818\u57df\u306b\u3064\u3044\u3066\u306e\u8a08\u7b97\u306b\u95a2\u308f\u308b\u95a2\u6570\u4e00\u5f0f spacedyn_v2r0 : SpaceDyn\u306e\u95a2\u6570\u4e00\u5f0f MATLAB Reference : \u5404\u95a2\u6570\u306e\u5f79\u5272\u306b\u3064\u3044\u3066\uff0chtml\u5f62\u5f0f\u3067\u898b\u3084\u3059\u304f\u307e\u3068\u3081\u3089\u308c\u305f\u3082\u306e target_detection : \u628a\u6301\u5019\u88dc\u70b9\u691c\u51fa\u306b\u95a2\u308f\u308b\u95a2\u6570\u4e00\u5f0f \u56de\u8ee2\u884c\u5217\u3092\u8a08\u7b97\u3059\u308b\u3060\u3051\u306e\u95a2\u6570\u7fa4 : rot_2xy.m , rot_x.m , rot_y.m, rot_z.m src : \u811a\u578b\u30af\u30e9\u30a4\u30df\u30f3\u30b0\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u7279\u5316\u3057\u3066\u958b\u767a\u3055\u308c\u3066\u304d\u305f\u95a2\u6570\u7fa4\uff0e\u4e0b\u4f4d\u306e\u69cb\u6210\u30d5\u30a9\u30eb\u30c0\u306e\u6570\u304c\u591a\u3044\u306e\u3067\uff0csrc\u4ee5\u4e0b\u306b\u306e\u307f\u9805\u76ee\u3092\u308f\u3051\u3066\uff0c\u6b21\u306b\u6539\u3081\u3066\u8a18\u3059\uff0e climblab/src/ controller : \u30eb\u30fc\u30d7\u5185\u3067\u4f7f\u7528\u3055\u308c\u308b\u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u91cd\u8981\u306a\u95a2\u6570\u306e\u591a\u304f\u304c\u7f6e\u304b\u308c\u3066\u3044\u308b control : \u95a2\u7bc0\u30c8\u30eb\u30af\u3092\u5236\u5fa1\u3059\u308b\u305f\u3081\u306e\u95a2\u6570\u3092\u53ce\u5bb9 equilibrium : \u5b89\u5b9a\u6027\u89e3\u6790\u306b\u95a2\u308f\u308b\u95a2\u6570\u3092\u53ce\u5bb9\uff0e gait : \u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u4e00\u9023\u306e\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e\u5b9f\u884c\u3055\u308c\u308b\u9806\u756a\u306b\u5f93\u3063\u3066\u4e0b\u4f4d\u30d5\u30a9\u30eb\u30c0\u306b\u756a\u53f7\u304c\u632f\u3089\u308c\u3066\u3044\u308b\uff0e\u5404\u30d5\u30a9\u30eb\u30c0\u5185\u306b\uff0c\u5404\u6b69\u5bb9\u8a08\u753b\u30bf\u30a4\u30d7\u306b\u5fdc\u3058\u305f\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u304c\u5165\u3063\u3066\u3044\u308b\uff0e 0_upd_graspable_points_in_reachable_area : \u53ef\u52d5\u7bc4\u56f2\u5185\u306e\u628a\u6301\u5019\u88dc\u70b9\u306e\u4f4d\u7f6e\u53d6\u5f97 1_upd_swing_num : \u904a\u811a\u306e\u9078\u5b9a\u3092\u3059\u308b\u95a2\u6570 2_upd_swing_next_pos : \u6b21\u306e\u904a\u811a\u306e\u63a5\u5730\u70b9(\u628a\u6301\u70b9)\u3092\u6c7a\u5b9a\u3059\u308b\u95a2\u6570 3_upd_base_next_pos : \u30d9\u30fc\u30b9\u306e\u79fb\u52d5\u4f4d\u7f6e\u3092\u6c7a\u5b9a\u3059\u308b\u95a2\u6570 4_upd_kinematic_feasibility : \u6b21\u306e\u904a\u811a\u30fb\u628a\u6301\u70b9\u30fb\u30d9\u30fc\u30b9\u4f4d\u7f6e\u304c\u9006\u904b\u52d5\u5b66\u7684\u306b\u53ef\u80fd\u304b\u5224\u5b9a\u3059\u308b\u95a2\u6570 **5_upd_gait_history : \u6b69\u5bb9\u8a08\u753b\u306e\u7d50\u679c\u3092\u4fdd\u5b58\u3059\u308b\u95a2\u6570 ini_gait.m : \u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u5909\u6570\u306e\u521d\u671f\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\u95a2\u6570 upd_gait_planning.m : \u6b69\u5bb9\u8a08\u753b\u306e\u95a2\u6570\u7fa4\u306e\u304a\u304a\u3082\u3068\u3067\u3042\u308a\uff0c main_sim \u306e\u30eb\u30fc\u30d7\u5185\u3067\u5b9f\u884c\u3055\u308c\u308b\u6b69\u5bb9\u8a08\u753b\u30d1\u30e9\u30e1\u30fc\u30bf\u66f4\u65b0\u306e\u95a2\u6570 global path plan : \u5927\u5c40\u7684\u7d4c\u8def\u8a08\u753b\u306b\u95a2\u3059\u308b\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e local_path_plan : \u5c40\u6240\u7684\u7d4c\u8def\u8a08\u753b\u306b\u95a2\u3059\u308b\u95a2\u6570\u3092\u53ce\u5bb9 motion : \u30d9\u30fc\u30b9\u306e\u52d5\u304d\u30fb\u811a\u306e\u8ecc\u9053\u3092\u751f\u6210\u30fb\u5236\u5fa1\u3059\u308b\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e tools : \u9806\u904b\u52d5\u5b66\u306e\u95a2\u6570\u3068\uff0c\u6b69\u5bb9\u306b\u95a2\u308f\u308bmap\u60c5\u5831\u3092\u53d6\u5f97\u3059\u308b\u95a2\u6570\u304c\u53ce\u5bb9 upd_grasp_detach.m : \u30b0\u30ea\u30c3\u30d1\u306e\u6ed1\u843d\u3092\u5224\u5b9a\u3057\u3066\u66f4\u65b0\u3059\u308b\u95a2\u6570 engine : \u30ed\u30dc\u30c3\u30c8\u306b\u304b\u304b\u308b\u5916\u529b\u306e\u8a08\u7b97\u3084\u5916\u90e8\u3068\u306e\u63a5\u89e6\u30e2\u30c7\u30eb\u306b\u95a2\u308f\u308b\u95a2\u6570\uff0e environment climbing_holds_map : \u30dc\u30eb\u30c0\u30ea\u30f3\u30b0\u30db\u30fc\u30eb\u30c9\u3092\u7528\u3044\u305f\u5730\u5f62\u60c5\u5831\u306e\u4fdd\u7ba1\u5834\u6240 grid_map : \u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306e\u751f\u6210\u3057\u305f\u5730\u5f62\u60c5\u5831\u306e\u4fdd\u7ba1\u5834\u6240 terrain_map : \u5b9f\u5730\u5f62\u30de\u30c3\u30d7\u306e\u4fdd\u7ba1\u5834\u6240 uneven_map : \u30d5\u30e9\u30af\u30bf\u30eb\u3092\u5229\u7528\u3057\u305f\u4e0d\u6574\u5730\u30de\u30c3\u30d7\u306e\u4fdd\u7ba1\u5834\u6240 map_grid_desingner.m : \u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306e\u30de\u30c3\u30d7\u306e\u751f\u6210\u3092\u3059\u308b\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb \u5730\u5f62\u60c5\u5831\u30fb\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306b\u95a2\u3059\u308binitialize\u95a2\u6570\u7fa4 : ini_environment.m , ini_surface.m , ini_graspable_points.m map_format_conversion.m : RealSense\u30ab\u30e1\u30e9\u3067\u53d6\u5f97\u3057\u3066PCD\u304b\u30893\u00d7N\u884c\u5217\u3068\u3057\u305f\u70b9\u7fa4\u60c5\u5831\u3092\uff0c\u5ea7\u6a19\u5909\u63db\u30fb\u7dda\u5f62\u88dc\u9593\u3057\u3066\u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306b\u5909\u63db\u3059\u308b\u95a2\u6570\uff0e misc : \u672a\u5206\u985e\u306e\u95a2\u6570\u7fa4\uff0e\u30c7\u30fc\u30bf\u4fdd\u5b58\u306b\u95a2\u308f\u308bsave\u95a2\u6570\u306a\u3069\u304c\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e robot : \u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u306e\u5b9a\u7fa9\u3084\u305d\u306e\u521d\u671f\u8a2d\u5b9a\u30fb\u89e3\u6790\u3092\u884c\u3046\u95a2\u6570\u3092\u53ce\u5bb9\uff0e LP_analysis : \u30ed\u30dc\u30c3\u30c8\u306e\u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf(LP)\u304b\u3089\u811a\u5148\u53ef\u52d5\u7bc4\u56f2\u3092\u63cf\u753b\u3059\u308b\u95a2\u6570 ini_12DOF_SV.m , ini_nDOF_SV.m : \u8a2d\u5b9a\u3055\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u81ea\u7531\u5ea6\u306b\u3082\u3068\u3065\u304d\u72b6\u614b\u5909\u6570(SV)\u3092\u8a2d\u5b9a\u3059\u308b\u95a2\u6570 ini_(Robot\u540d)\u95a2\u6570\u7fa4 : \u5404\u30ed\u30dc\u30c3\u30c8\u306eLP\u3092\u5185\u90e8\u3067\u6307\u5b9a\u3057\u3066\u30e1\u30a4\u30f3\u306b\u8aad\u307f\u8fbc\u3080 ini_joint_angle.m ini_reachable_area.m ini_robot.m sensing : \u30ab\u30e1\u30e9\u3084\u30bb\u30f3\u30b5\u306b\u3082\u3068\u3065\u304f\u30bb\u30f3\u30b7\u30f3\u30b0\u306b\u95a2\u9023\u3059\u308bini_,upd_\u95a2\u6570\u7fa4\u3092\u4e3b\u8981 visualization : \u5168\u3066\u306evisualize\u95a2\u6570\u7fa4\u306e\u4fdd\u5b58\u5834\u6240 ini_path.m : main_sim.m \u306e\u5b9f\u884c\u306e\u305f\u3081\u306b\uff0c\u5b9f\u884c\u3057\u3066\u3044\u308b\u30d5\u30a9\u30eb\u30c0\u306e\u73fe\u5728\u4f4d\u7f6e\u78ba\u8a8d\u3068\uff0c\u30d1\u30b9\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\uff0e `main_sim.m : ClimbLab\u306e\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb \u4ee5\u4e0a\u304cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u306e\u6982\u8981\u3067\u3042\u308b\uff0e","title":"5. Folder Tree"},{"location":"6_development_policy/","text":"6. Development Policy \u672c\u7ae0\u3067\u306fClimbLab\u3092\u4f7f\u3063\u3066\u958b\u767a\u3092\u304a\u3053\u306a\u3046\u5834\u5408\u306e\u6ce8\u610f\u70b9\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e \u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u308a\u6a5f\u80fd\u3092\u8ffd\u52a0\u3059\u308b\u5834\u5408\u306f\uff0c\u6b21\u306e\u53d6\u308a\u6c7a\u3081\u3092\u5b88\u3063\u3066\u304a\u3053\u306a\u3046\uff0e\u57fa\u672c\u7684\u306a\u30b3\u30f3\u30bb\u30d7\u30c8\u3068\u3057\u3066\uff0c\u30b7\u30f3\u30d7\u30eb\uff0c\u304b\u3064\u4eca\u5f8c\u3082\u958b\u767a\u3092\u7d9a\u3051\u3084\u3059\u3044\u3088\u3046\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u30d5\u30a9\u30fc\u30de\u30c3\u30c8\u3092\u5b88\u308a\uff0c\u304b\u3064\u8ab0\u304c\u8aad\u3093\u3067\u3082\u8aad\u307f\u3084\u3059\u304f\u7406\u89e3\u3057\u3084\u3059\u3044\u3088\u3046\u306b\u66f8\u304f\u3053\u3068\u3092\u5fc3\u304c\u3051\u308b\uff0e \u3000\u3053\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u7406\u5ff5\u3092\u5b88\u308b\u3053\u3068\u306f\u975e\u5e38\u306b\u91cd\u8981\u3067\u3042\u308a\uff0c\u305d\u306e\u305f\u3081\u306b\u91cd\u8981\u306a\u3053\u3068\u3068\u3057\u3066\uff0c\u65e2\u5b58\u306e main_sim \u4ee5\u5916\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7528Main\u95a2\u6570\u306f\u4f5c\u6210\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u305f\u308b\u6240\u4ee5\u306f\uff0c\u300c1\u3064\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3067\u591a\u69d8\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u53ef\u80fd\u3067\u3042\u308b\u300d\u3053\u3068\u306b\u3042\u308b\u305f\u3081\uff0c\u305d\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3092\u5897\u3084\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u305d\u306e\u305f\u3081\uff0c\u65b0\u305f\u306a\u95a2\u6570\u3084\u6a5f\u80fd\u3092\u4f5c\u6210\u3059\u308b\u5834\u5408\u3082\uff0c\u65e2\u5b58\u306e main_sim \u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u5fc5\u305a\u5b9f\u88c5\u3059\u308b\uff0e \u65b0\u3057\u3044\u6a5f\u80fd\u3092\u691c\u8a3c\u3057\u306a\u304c\u3089\u5b9f\u88c5\u3059\u308b\u969b\uff0c\u6b21\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\u3068\u958b\u767a\u304c\u30b9\u30e0\u30fc\u30ba\u306b\u9032\u3080\u305f\u3081\uff0c\u5fc5\u8981\u3067\u306f\u306a\u3044\u8a2d\u5b9a\u306foff\u306b\u3059\u308b\u3068\u3088\u3044\uff0e * dynamics\u304c\u5fc5\u8981\u3067\u306a\u3044\u5834\u5408\u306f\uff0cdynamics\u3092off\u306b\u3059\u308b * \u6b69\u884c\u3059\u308b\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0cgait type\u3092\u2019do_nothing\u2019\u306b\u3059\u308b * \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u4f55\u79d2\u3082\u56de\u3059\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u6700\u5927\u6642\u9593\u30920\u79d2\u306b\u3059\u308b\uff0e \u307e\u305f\uff0c\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u308b\u5834\u5408\u306e\u95a2\u6570\u306e\u7f6e\u304d\u5834\u6240\u306b\u3064\u3044\u3066\u306f\uff0c4\u7ae0\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3092\u53c2\u8003\u306b\uff0c\u5171\u901a\u3057\u305f\u5f79\u5272\u3067\u304f\u304f\u3089\u308c\u308b\u9069\u5207\u306a\u30d5\u30a9\u30eb\u30c0\u306b\u7f6e\u304f\uff0e \u305d\u306e\u6642\u306e\uff0c\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\uff0e \u30b9\u30cd\u30fc\u30af\u30b1\u30fc\u30b9\u3092\u7528\u3044\u308b \u2715 updGiaCalculation.m \u3007 upd_gia_calulation.m \u95a2\u6570\u540d\u306b\u5927\u6587\u5b57\u306f\u4f7f\u308f\u306a\u3044 \u2715 upd_GIA_calculation.m \u3007 upd_gia_calculation.m \u95a2\u6570\u306e\u63a5\u982d\u8f9e\u3092\uff0c\u6b21\u306e\u65e2\u5b58\u306e\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u306e\u3063\u3068\u3063\u3066\u63a1\u7528\u3059\u308b config_: 2.4\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570\uff0e ini_: 2.5\u7bc0\u53c2\u7167\uff0e\u30ed\u30dc\u30c3\u30c8\u3084\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306e\u521d\u671f\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570 upd_: 2.6\u7bc0\u53c2\u7167\uff0e\u30eb\u30fc\u30d7\u5185\u3067\uff0c\u6b69\u5bb9\u3084\u5236\u5fa1\u30fb\u529b\u5b66\u306b\u95a2\u308f\u308b\u95a2\u6570 vis_: 2.7\u7bc0\u53c2\u7167\uff0e\u56f3\u306e\u63cf\u753b\u306b\u95a2\u308f\u308b\u95a2\u6570 sav_: 2.8\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5c65\u6b74\u306e\u4fdd\u5b58\u306b\u95a2\u308f\u308b\u95a2\u6570 main_ : 3\u7ae0\u53c2\u7167\uff0e\u5358\u4f53\u3067\u5b9f\u884c\u3057\u3066climblab\u306e\u958b\u767a\u306b\u6709\u7528\u306a\u95a2\u6570\u306b\u4ed8\u3051\u308b \u95a2\u6570\u306e\u540d\u524d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u69cb\u308f\u306a\u3044\u306e\u3067\uff0c\u305d\u306e\u95a2\u6570\u304c\u3069\u3046\u3044\u3046\u6a5f\u80fd\u3092\u6709\u3057\u3066\u3044\u308b\u306e\u304b\u5206\u304b\u308b\u3088\u3046\u306b\u66f8\u304f\uff0e \u4e0a\u8a18\u306e\u30eb\u30fc\u30eb\u306b\u306e\u3063\u3068\u3063\u3066\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u5f8c\u306e\uff0c\u5177\u4f53\u7684\u306a\u30b3\u30fc\u30c9\u306e\u8a18\u8ff0\u30eb\u30fc\u30eb\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u4ee5\u964d\u306e\u5185\u5bb9\u306f\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u5b9f\u88c5\u306e\u969b\u306b\u3082\u5171\u901a\u3059\u308b\u6ce8\u610f\u4e8b\u9805\u3067\u3042\u308b\uff0e 1. \u65b0\u3057\u3044\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u306e\u5192\u982d\u306b\u305d\u306e\u95a2\u6570\u306e\u4ed5\u69d8\u306b\u3064\u3044\u3066\u660e\u78ba\u306b\u8a18\u8f09\u3059\u308b\uff0e \u3053\u306e\u5192\u982d\u306e\u8a18\u8ff0\u3092\u8aad\u3080\u3060\u3051\u3067\uff0c\u305d\u306e\u95a2\u6570\u306e\u304a\u304a\u307e\u304b\u306a\u6a5f\u80fd\u304c\u628a\u63e1\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e \u8a18\u8ff0\u3059\u308b\u9805\u76ee\u306f\uff0c \u95a2\u6570\u306e\u304f\u304f\u308a(configuration/update/visualize/save/main) \u95a2\u6570\u540d \u95a2\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u4f5c\u6210\u65e5\u6642 \u4f5c\u6210\u8005 \u6700\u7d42\u7de8\u96c6\u65e5\u6642 \u6700\u7d42\u7de8\u96c6\u8005 \u95a2\u6570\u306e\u8a73\u7d30\u306a\u8aac\u660e \u51fa\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u5165\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u3067\u3042\u308b\uff0e\u4ee5\u4e0b\u306b\u8a18\u8ff0\u4f8b\u3092\u793a\u3059\uff0e 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 %%%%%% Configuration %%%%%% config_save_settings %%%%%% %%%%%% Configure default saving settings %%%%%% %%%%%% Created 2020 - 07 - 08 %%%%%% Warley Ribeiro %%%%%% Last update : 2021 - 03 - 31 %%%%%% Keigo Haji % % % Load default configurations for saving % % Function variables : % % OUTPUT % save_settings : Data saving settings ( struct ) % INPUT % - 2. \u3080\u3084\u307f\u306bmain_sim\u5185\u306b\u65b0\u305f\u306a\u95a2\u6570\u306e\u8a18\u8ff0\u3092\u5897\u3084\u3055\u305a\uff0cmain_sim\u5185\u3067\u5b9f\u884c\u3055\u308c\u3066\u3044\u308b\u65e2\u5b58\u306e\u95a2\u6570\u5185\u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\uff0e \u3053\u308c\u306f\uff0cClimbLab\u304c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u6a5f\u80fd\u3057\u3066\u3044\u304f\u305f\u3081\u306bmain_sim\u306e\u4e00\u822c\u6027\u3092\u62c5\u4fdd\u3059\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u307e\u305f\uff0c\u540c\u6642\u306bmain_sim\u3092\u8907\u6570\u4eba\u304c\u7de8\u96c6\u3059\u308b\u3068Git\u306emerge\u306e\u969b\u306bconflict\u304c\u767a\u751f\u3057\u3084\u3059\u304f\u306a\u308b\u306e\u3067\uff0c\u305d\u306e\u554f\u984c\u3092\u907f\u3051\u308b\u3068\u3044\u3046\u76ee\u7684\u3082\u3042\u308b\uff0e \u60aa\u3044\u4f8b\uff09main_sim\u5185\u306b\u76f4\u63a5\u5b9f\u88c5 1 2 3 4 5 6 7 8 9 10 MAIN_FILE . m ... disp ( time ); if gait_param . type = \u2018 new_gait \u2019 new_gait ( ... ) else path_planning_param = upd_path_planning ( ... ); end [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... \u826f\u3044\u4f8b\uff09main_sim\u306f\u305d\u306e\u307e\u307e\u306b\uff0cupd\u95a2\u6570\u5185\u3067\u5834\u5408\u5206\u3051\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u308b 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 MAIN_FILE . m ... disp ( time ); path_planning_param = upd_path_planning ( ... ); [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... FUNCTION_FILE . m function path_planning_param = upd_path_planning ( ... ) switch gait_param . type case \u2018 new_gait \u2019 new_gait ( ... ); case \u2018 old_gait \u2019 ... 3. \u5909\u6570\u306f\u306a\u308b\u3079\u304fclass\u306b\u53ce\u5bb9\u3059\u308b \u5927\u91cf\u306e\u30ed\u30fc\u30ab\u30eb\u5909\u6570\u3092\u95a2\u6570\u5185\u3067\u306a\u308b\u3079\u304f\u6271\u308f\u306a\u3044\u3088\u3046\u306b\u3059\u308b\uff0e\u3053\u308c\u306fMATLAB\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\u3067\u306e\u5909\u6570\u306e\u628a\u63e1\u304c\u96e3\u3057\u304f\u306a\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u5909\u6570\u306e\"\u304f\u304f\u308a\"\u3092\u8003\u3048\u3066\uff0c\u65e2\u5b58\u306eclass\u306b\u3042\u3066\u306f\u307e\u308b\u5834\u5408\u306f\u65e2\u5b58\u306eclass( gait_planning_param , motion_planning_param \u7b49)\u306b\u53ce\u5bb9\u3057\uff0c\u306a\u3044\u5834\u5408\u306f\u81ea\u5206\u306e\u6a5f\u80fd\u306b\u3042\u3063\u305f\u65b0\u305f\u306aclass\u3092\u4f5c\u6210\u3059\u308b\u3053\u3068\uff0e \u60aa\u3044\u4f8b\uff09local\u5909\u6570\u304c\u591a\u3044\uff0e 1 2 3 4 5 6 7 8 ... leg1_des_pos = \u2026 leg2_des_pos = \u2026 leg3_des_pos = \u2026 leg4_des_pos = \u2026 base_des_pos = ... generate_trajectory ( leg1_des_pos , leg2_des_pos , leg3_des_pos , leg4_des_pos , base_des_pos ); ... \u3044\u3044\u4f8b\uff09\u5909\u6570\u304cclass\u306b\u5206\u985e\u3055\u308c\u3066\u3044\u308b 1 2 3 4 5 ... path_planning_param . leg_des_pos = \u2026 path_planning_param . base_des_pos = \u2026 generate_trajectory ( path_planning_param ); ... 4. \u5909\u6570\u540d\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u3064\u3051\u308b \u5909\u6570\u540d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u3044\u3044\u306e\u3067\uff0c\u8ab0\u306b\u3067\u3082\u308f\u304b\u308b\u3088\u3046\u306b\u4ed8\u3051\u308b\uff0e\u5909\u6570\u540d\u306e\u4ed8\u3051\u65b9\u306f\u95a2\u6570\u3068\u540c\u3058\u304f\uff0csnake_case\u3067\u7d71\u4e00\u3057\uff0ccamelCase\u306f\u4f7f\u308f\u306a\u3044\uff0e\u307e\u305f\uff0c\u305d\u306e\u5909\u6570\u304c\u3069\u3046\u3044\u3046\u5024\u3092\u53ce\u5bb9\u3057\uff0c\u305d\u306e\u5358\u4f4d(\u6b21\u5143)\u306f\u306a\u3093\u306a\u306e\u304b\u3092\u30b3\u30e1\u30f3\u30c8\u3067\u660e\u8a18\u3059\u308b\uff0e \u60aa\u3044\u4f8b\uff09\u4eba\u304c\u8aad\u3093\u3067\u3082\u4f55\u306e\u7565\u79f0\u304b\u308f\u304b\u3089\u306a\u3044 1 2 3 4 5 ... L1 = \u2026 WP . T = \u2026 GPM = ... ... \u3044\u3044\u4f8b\uff09\u30b3\u30e1\u30f3\u30c8\u3084\u5909\u6570\u540d\u304b\u3089\u4f55\u306e\u5024\u304c\u3069\u3046\u3044\u3046\u5358\u4f4d\u6b21\u5143\u3067\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\u304b\u5206\u304b\u308b 1 2 3 4 5 6 7 8 \u2026 % Desired position of a leg [m] motion_planning_param . des_leg_pos = \u2026 % Period for crawl gait [s] gait_parameter . T = \u2026 % Grippable points [m] surface_param . grippable_points = ... ... 5. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u5fc5\u305a\u7e70\u308a\u8fd4\u3057\u30c6\u30b9\u30c8\u3092\u304a\u3053\u306a\u3046 \u65b0\u3057\u3044\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u5f8c\u306f\uff0c\u30d1\u30e9\u30e1\u30fc\u30bf\u3084\u8a2d\u5b9a\u3092\u5909\u3048\u3066\u30c6\u30b9\u30c8\u3092\u7e70\u308a\u8fd4\u3057\uff0c\u30d0\u30b0\u304c\u767a\u751f\u3057\u306a\u3044\u3053\u3068\u3092\u78ba\u304b\u3081\u3066\u304b\u3089\u4e0a\u7d1a\u751f\u306bReview\u3092\u304a\u9858\u3044\u3059\u308b\uff0e 6. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u65e2\u5b58\u306epreset\u3067\u3082\u5b9f\u884c\u3057\uff0c\u554f\u984c\u304c\u306a\u3044\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b \u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3053\u3068\u3067\uff0c\u3053\u308c\u307e\u306epreset\u304c\u56de\u3089\u306a\u304f\u306a\u3063\u305f\u308a\uff0c\u4ed6\u306e\u958b\u767a\u8005\u306e\u958b\u767a\u74b0\u5883\u3068\u5e72\u6e09\u3059\u308b\u6050\u308c\u304c\u3042\u308b\u305f\u3081\uff0cconfig\u8a2d\u5b9a\u3092\u65e2\u5b58\u306epreset\u306b\u3057\u3066\u5168\u3066\u306epreset\u3092\u5b9f\u884c\u3057\uff0c\u554f\u984c\u306a\u304f\u5b9f\u884c\u3055\u308c\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e 7. \u95a2\u6570\u3092\u6d88\u3055\u306a\u3044 \u3069\u3093\u306a\u95a2\u6570\u3067\u3042\u308c\uff0c\u3080\u3084\u307f\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65b0\u305f\u306a\u6a5f\u80fd\u306b\u3088\u3063\u3066\uff0c\u6b69\u884c\u304c\u5b89\u5b9a\u3057\u305f\u308a\u901f\u304f\u306a\u3063\u305f\u308a\u3059\u308b\u3088\u3046\u306a\u4f55\u304b\u7d50\u679c\u304c\u3088\u304f\u306a\u308b\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3068\u3057\u3066\u3082\uff0c\u524d\u307e\u3067\u3042\u3063\u305f\u95a2\u6570\u306f\u7d76\u5bfe\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65e2\u5b58\u306e\u95a2\u6570\u306f\uff0c\u3053\u308c\u307e\u3067\u306e\u8ca1\u7523\u3067\u3042\u308a\uff0c\u78ba\u5b9f\u306b\u3053\u308c\u307e\u3067\u7a3c\u52d5\u3057\u3066\u3044\u305f\u3068\u3044\u3046\u70b9\u3067\u975e\u5e38\u306b\u6709\u7528\u306a\u3082\u306e\u3067\u3042\u308b\uff0e\u624b\u6cd5\u306e\u6bd4\u8f03\u3092\u304a\u3053\u306a\u3046\u969b\u3084\uff0c\u307e\u305f\u30b7\u30f3\u30d7\u30eb\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u65b9\u304c\u7406\u89e3\u3057\u3084\u3059\u3044\u3068\u3044\u3046\u70b9\u3067\u597d\u307e\u308c\uff0c\u5fc5\u8981\u3068\u3055\u308c\u308b\u5834\u5408\u3082\u3042\u308b\uff0e\u305d\u308c\u307e\u3067\u306e\u95a2\u6570\u3092\u524a\u9664\u30fb\u66f4\u65b0\u3059\u308b\u306e\u3067\u306f\u306a\u304f\uff0c\u65b0\u305f\u306a\u6a5f\u80fd\u30fb\u30b1\u30fc\u30b9\u3092\u8ffd\u52a0\u3059\u308b\u3068\u3044\u3046\u70b9\u3092\u610f\u8b58\u3057\uff0c\u65e2\u5b58\u306e\u95a2\u6570\u30fb\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u4e21\u65b9\u304c\u6271\u3048\u308b\u3088\u3046\u306b\u958b\u767a\u3092\u9032\u3081\u308b\uff0e 8. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3082\u540c\u6642\u9032\u884c\u3067\u958b\u767a\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u5fd8\u308c\u306a\u3044 ClimbLab\u306f\u5e38\u306b\u8907\u6570\u540d\u304c\u540c\u6642\u306b\u958b\u767a\u3092\u3059\u3059\u3081\u3066\u3044\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u3057\u3066\u3044\u308b\u9593\u306b\uff0c\u8ab0\u304b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u958b\u767a\u3092\u7d42\u308f\u3089\u305b\u3066\u65b0\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\u3053\u3068\u304c\u3088\u304f\u767a\u751f\u3059\u308b\uff0e\u3053\u306e\u969b\uff0cdevelop\u30d6\u30e9\u30f3\u30c1\u306erebase\u3092\u5e38\u306b\u304a\u3053\u306a\u3046\u3053\u3068\uff0e\u81ea\u5206\u304c\u958b\u767a\u6bb5\u968e\u3067\u63a1\u7528\u3057\u3066\u3044\u305f\u95a2\u6570\u304c\uff0c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u4e00\u90e8\u5909\u66f4\u3055\u308c\u3066\u3044\u308b\u53ef\u80fd\u6027\u304c\u3042\u308b\u305f\u3081\uff0c\u5e38\u306b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u958b\u767a\u72b6\u6cc1\u306b\u3064\u3044\u3066\u628a\u63e1\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u5f53\u7136\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u304c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306b\u3082\u5f71\u97ff\u3092\u4e0e\u3048\u308b\u305f\u3081\uff0c\u5e38\u306b\u5831\u544a\u30fb\u9023\u7d61\u30fb\u76f8\u8ac7\u3092\u5fd8\u308c\u306a\u3044\uff0e 9. \u81ea\u5206\u306e\u304a\u3053\u306a\u3063\u305f\u5909\u66f4\u70b9\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u30e1\u30f3\u30d0\u30fc\u306b\u5171\u6709\u3059\u308b \u4e0a\u3067\u3082\u8ff0\u3079\u305f\u3068\u304a\u308a\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u306f\u4ed6\u4eba\u306e\u958b\u767a\u306b\u5f71\u97ff\u3092\u4e0e\u3048\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u4f55\u304b\u65b0\u3057\u3044\u6a5f\u80fd\u306e\u958b\u767a\u3092\u7d42\u3048\u305f\u3089\uff0c\u305d\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u3069\u3093\u306a\u70b9\u304c\u5909\u66f4\u3055\u308c\u305f\u306e\u304b\u3092\uff0c\u305d\u306e\u4f5c\u696d\u306e\u5f53\u4e8b\u8005\u3067\u306f\u306a\u3044\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u9054\u306b\u3082\u308f\u304b\u308a\u3084\u3059\u304f\u5171\u6709\u3059\u308b\uff0e 10. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3068\u7591\u554f\u70b9\u30fb\u554f\u984c\u70b9\u3092\u5171\u6709\u3059\u308b \u540c\u3058\u7591\u554f\u3092\u4ed6\u306e\u958b\u767a\u30e1\u30f3\u30d0\u30fc\u3082\u62b1\u3044\u3066\u3044\u305f\u308a\uff0c\u3082\u3057\u304f\u306f\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u7d4c\u9a13\u304c\u3042\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e\u307e\u305f\u306f\uff0c\u305d\u306e\u554f\u984c\u3092\u89e3\u6c7a\u3059\u308b\u3088\u3046\u306a\u6a5f\u80fd\u3092\u65b0\u305f\u306b\u5225\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u5b9f\u88c5\u3057\u3066\u304f\u308c\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e 11. \u898b\u3064\u3051\u305f\u30d0\u30b0\u3092\u5831\u544a\u3059\u308b \u958b\u767a\u4e2d\u306b\u30d0\u30b0\u3092\u898b\u3064\u3051\u305f\u3089\uff0c\u307f\u3093\u306a\u306b\u5171\u6709\u3059\u308b\u3053\u3068\uff0e\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u3068\u601d\u308f\u308c\u3066\u3044\u305f\u30d0\u30b0\u306e\u767a\u898b\u3084\u81f4\u547d\u7684\u306a\u6b20\u9665\u304c\u3042\u308b\u307e\u307e\u958b\u767a\u3092\u9032\u3081\u306a\u3044\u3088\u3046\u306b\uff0c\u3059\u3050\u306b\u82bd\u3092\u3064\u3080\uff0e","title":"6. Appendix"},{"location":"6_development_policy/#6-development-policy","text":"\u672c\u7ae0\u3067\u306fClimbLab\u3092\u4f7f\u3063\u3066\u958b\u767a\u3092\u304a\u3053\u306a\u3046\u5834\u5408\u306e\u6ce8\u610f\u70b9\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e \u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u308a\u6a5f\u80fd\u3092\u8ffd\u52a0\u3059\u308b\u5834\u5408\u306f\uff0c\u6b21\u306e\u53d6\u308a\u6c7a\u3081\u3092\u5b88\u3063\u3066\u304a\u3053\u306a\u3046\uff0e\u57fa\u672c\u7684\u306a\u30b3\u30f3\u30bb\u30d7\u30c8\u3068\u3057\u3066\uff0c\u30b7\u30f3\u30d7\u30eb\uff0c\u304b\u3064\u4eca\u5f8c\u3082\u958b\u767a\u3092\u7d9a\u3051\u3084\u3059\u3044\u3088\u3046\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u30d5\u30a9\u30fc\u30de\u30c3\u30c8\u3092\u5b88\u308a\uff0c\u304b\u3064\u8ab0\u304c\u8aad\u3093\u3067\u3082\u8aad\u307f\u3084\u3059\u304f\u7406\u89e3\u3057\u3084\u3059\u3044\u3088\u3046\u306b\u66f8\u304f\u3053\u3068\u3092\u5fc3\u304c\u3051\u308b\uff0e \u3000\u3053\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u7406\u5ff5\u3092\u5b88\u308b\u3053\u3068\u306f\u975e\u5e38\u306b\u91cd\u8981\u3067\u3042\u308a\uff0c\u305d\u306e\u305f\u3081\u306b\u91cd\u8981\u306a\u3053\u3068\u3068\u3057\u3066\uff0c\u65e2\u5b58\u306e main_sim \u4ee5\u5916\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7528Main\u95a2\u6570\u306f\u4f5c\u6210\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u305f\u308b\u6240\u4ee5\u306f\uff0c\u300c1\u3064\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3067\u591a\u69d8\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u53ef\u80fd\u3067\u3042\u308b\u300d\u3053\u3068\u306b\u3042\u308b\u305f\u3081\uff0c\u305d\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3092\u5897\u3084\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u305d\u306e\u305f\u3081\uff0c\u65b0\u305f\u306a\u95a2\u6570\u3084\u6a5f\u80fd\u3092\u4f5c\u6210\u3059\u308b\u5834\u5408\u3082\uff0c\u65e2\u5b58\u306e main_sim \u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u5fc5\u305a\u5b9f\u88c5\u3059\u308b\uff0e \u65b0\u3057\u3044\u6a5f\u80fd\u3092\u691c\u8a3c\u3057\u306a\u304c\u3089\u5b9f\u88c5\u3059\u308b\u969b\uff0c\u6b21\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\u3068\u958b\u767a\u304c\u30b9\u30e0\u30fc\u30ba\u306b\u9032\u3080\u305f\u3081\uff0c\u5fc5\u8981\u3067\u306f\u306a\u3044\u8a2d\u5b9a\u306foff\u306b\u3059\u308b\u3068\u3088\u3044\uff0e * dynamics\u304c\u5fc5\u8981\u3067\u306a\u3044\u5834\u5408\u306f\uff0cdynamics\u3092off\u306b\u3059\u308b * \u6b69\u884c\u3059\u308b\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0cgait type\u3092\u2019do_nothing\u2019\u306b\u3059\u308b * \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u4f55\u79d2\u3082\u56de\u3059\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u6700\u5927\u6642\u9593\u30920\u79d2\u306b\u3059\u308b\uff0e \u307e\u305f\uff0c\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u308b\u5834\u5408\u306e\u95a2\u6570\u306e\u7f6e\u304d\u5834\u6240\u306b\u3064\u3044\u3066\u306f\uff0c4\u7ae0\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3092\u53c2\u8003\u306b\uff0c\u5171\u901a\u3057\u305f\u5f79\u5272\u3067\u304f\u304f\u3089\u308c\u308b\u9069\u5207\u306a\u30d5\u30a9\u30eb\u30c0\u306b\u7f6e\u304f\uff0e \u305d\u306e\u6642\u306e\uff0c\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\uff0e \u30b9\u30cd\u30fc\u30af\u30b1\u30fc\u30b9\u3092\u7528\u3044\u308b \u2715 updGiaCalculation.m \u3007 upd_gia_calulation.m \u95a2\u6570\u540d\u306b\u5927\u6587\u5b57\u306f\u4f7f\u308f\u306a\u3044 \u2715 upd_GIA_calculation.m \u3007 upd_gia_calculation.m \u95a2\u6570\u306e\u63a5\u982d\u8f9e\u3092\uff0c\u6b21\u306e\u65e2\u5b58\u306e\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u306e\u3063\u3068\u3063\u3066\u63a1\u7528\u3059\u308b config_: 2.4\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570\uff0e ini_: 2.5\u7bc0\u53c2\u7167\uff0e\u30ed\u30dc\u30c3\u30c8\u3084\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306e\u521d\u671f\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570 upd_: 2.6\u7bc0\u53c2\u7167\uff0e\u30eb\u30fc\u30d7\u5185\u3067\uff0c\u6b69\u5bb9\u3084\u5236\u5fa1\u30fb\u529b\u5b66\u306b\u95a2\u308f\u308b\u95a2\u6570 vis_: 2.7\u7bc0\u53c2\u7167\uff0e\u56f3\u306e\u63cf\u753b\u306b\u95a2\u308f\u308b\u95a2\u6570 sav_: 2.8\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5c65\u6b74\u306e\u4fdd\u5b58\u306b\u95a2\u308f\u308b\u95a2\u6570 main_ : 3\u7ae0\u53c2\u7167\uff0e\u5358\u4f53\u3067\u5b9f\u884c\u3057\u3066climblab\u306e\u958b\u767a\u306b\u6709\u7528\u306a\u95a2\u6570\u306b\u4ed8\u3051\u308b \u95a2\u6570\u306e\u540d\u524d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u69cb\u308f\u306a\u3044\u306e\u3067\uff0c\u305d\u306e\u95a2\u6570\u304c\u3069\u3046\u3044\u3046\u6a5f\u80fd\u3092\u6709\u3057\u3066\u3044\u308b\u306e\u304b\u5206\u304b\u308b\u3088\u3046\u306b\u66f8\u304f\uff0e \u4e0a\u8a18\u306e\u30eb\u30fc\u30eb\u306b\u306e\u3063\u3068\u3063\u3066\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u5f8c\u306e\uff0c\u5177\u4f53\u7684\u306a\u30b3\u30fc\u30c9\u306e\u8a18\u8ff0\u30eb\u30fc\u30eb\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u4ee5\u964d\u306e\u5185\u5bb9\u306f\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u5b9f\u88c5\u306e\u969b\u306b\u3082\u5171\u901a\u3059\u308b\u6ce8\u610f\u4e8b\u9805\u3067\u3042\u308b\uff0e","title":"6. Development Policy"},{"location":"6_development_policy/#1","text":"\u3053\u306e\u5192\u982d\u306e\u8a18\u8ff0\u3092\u8aad\u3080\u3060\u3051\u3067\uff0c\u305d\u306e\u95a2\u6570\u306e\u304a\u304a\u307e\u304b\u306a\u6a5f\u80fd\u304c\u628a\u63e1\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e \u8a18\u8ff0\u3059\u308b\u9805\u76ee\u306f\uff0c \u95a2\u6570\u306e\u304f\u304f\u308a(configuration/update/visualize/save/main) \u95a2\u6570\u540d \u95a2\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u4f5c\u6210\u65e5\u6642 \u4f5c\u6210\u8005 \u6700\u7d42\u7de8\u96c6\u65e5\u6642 \u6700\u7d42\u7de8\u96c6\u8005 \u95a2\u6570\u306e\u8a73\u7d30\u306a\u8aac\u660e \u51fa\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u5165\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u3067\u3042\u308b\uff0e\u4ee5\u4e0b\u306b\u8a18\u8ff0\u4f8b\u3092\u793a\u3059\uff0e 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 %%%%%% Configuration %%%%%% config_save_settings %%%%%% %%%%%% Configure default saving settings %%%%%% %%%%%% Created 2020 - 07 - 08 %%%%%% Warley Ribeiro %%%%%% Last update : 2021 - 03 - 31 %%%%%% Keigo Haji % % % Load default configurations for saving % % Function variables : % % OUTPUT % save_settings : Data saving settings ( struct ) % INPUT % -","title":"1. \u65b0\u3057\u3044\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u306e\u5192\u982d\u306b\u305d\u306e\u95a2\u6570\u306e\u4ed5\u69d8\u306b\u3064\u3044\u3066\u660e\u78ba\u306b\u8a18\u8f09\u3059\u308b\uff0e"},{"location":"6_development_policy/#2-main_simmain_sim","text":"\u3053\u308c\u306f\uff0cClimbLab\u304c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u6a5f\u80fd\u3057\u3066\u3044\u304f\u305f\u3081\u306bmain_sim\u306e\u4e00\u822c\u6027\u3092\u62c5\u4fdd\u3059\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u307e\u305f\uff0c\u540c\u6642\u306bmain_sim\u3092\u8907\u6570\u4eba\u304c\u7de8\u96c6\u3059\u308b\u3068Git\u306emerge\u306e\u969b\u306bconflict\u304c\u767a\u751f\u3057\u3084\u3059\u304f\u306a\u308b\u306e\u3067\uff0c\u305d\u306e\u554f\u984c\u3092\u907f\u3051\u308b\u3068\u3044\u3046\u76ee\u7684\u3082\u3042\u308b\uff0e \u60aa\u3044\u4f8b\uff09main_sim\u5185\u306b\u76f4\u63a5\u5b9f\u88c5 1 2 3 4 5 6 7 8 9 10 MAIN_FILE . m ... disp ( time ); if gait_param . type = \u2018 new_gait \u2019 new_gait ( ... ) else path_planning_param = upd_path_planning ( ... ); end [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... \u826f\u3044\u4f8b\uff09main_sim\u306f\u305d\u306e\u307e\u307e\u306b\uff0cupd\u95a2\u6570\u5185\u3067\u5834\u5408\u5206\u3051\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u308b 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 MAIN_FILE . m ... disp ( time ); path_planning_param = upd_path_planning ( ... ); [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... FUNCTION_FILE . m function path_planning_param = upd_path_planning ( ... ) switch gait_param . type case \u2018 new_gait \u2019 new_gait ( ... ); case \u2018 old_gait \u2019 ...","title":"2. \u3080\u3084\u307f\u306bmain_sim\u5185\u306b\u65b0\u305f\u306a\u95a2\u6570\u306e\u8a18\u8ff0\u3092\u5897\u3084\u3055\u305a\uff0cmain_sim\u5185\u3067\u5b9f\u884c\u3055\u308c\u3066\u3044\u308b\u65e2\u5b58\u306e\u95a2\u6570\u5185\u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\uff0e"},{"location":"6_development_policy/#3-class","text":"\u5927\u91cf\u306e\u30ed\u30fc\u30ab\u30eb\u5909\u6570\u3092\u95a2\u6570\u5185\u3067\u306a\u308b\u3079\u304f\u6271\u308f\u306a\u3044\u3088\u3046\u306b\u3059\u308b\uff0e\u3053\u308c\u306fMATLAB\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\u3067\u306e\u5909\u6570\u306e\u628a\u63e1\u304c\u96e3\u3057\u304f\u306a\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u5909\u6570\u306e\"\u304f\u304f\u308a\"\u3092\u8003\u3048\u3066\uff0c\u65e2\u5b58\u306eclass\u306b\u3042\u3066\u306f\u307e\u308b\u5834\u5408\u306f\u65e2\u5b58\u306eclass( gait_planning_param , motion_planning_param \u7b49)\u306b\u53ce\u5bb9\u3057\uff0c\u306a\u3044\u5834\u5408\u306f\u81ea\u5206\u306e\u6a5f\u80fd\u306b\u3042\u3063\u305f\u65b0\u305f\u306aclass\u3092\u4f5c\u6210\u3059\u308b\u3053\u3068\uff0e \u60aa\u3044\u4f8b\uff09local\u5909\u6570\u304c\u591a\u3044\uff0e 1 2 3 4 5 6 7 8 ... leg1_des_pos = \u2026 leg2_des_pos = \u2026 leg3_des_pos = \u2026 leg4_des_pos = \u2026 base_des_pos = ... generate_trajectory ( leg1_des_pos , leg2_des_pos , leg3_des_pos , leg4_des_pos , base_des_pos ); ... \u3044\u3044\u4f8b\uff09\u5909\u6570\u304cclass\u306b\u5206\u985e\u3055\u308c\u3066\u3044\u308b 1 2 3 4 5 ... path_planning_param . leg_des_pos = \u2026 path_planning_param . base_des_pos = \u2026 generate_trajectory ( path_planning_param ); ...","title":"3. \u5909\u6570\u306f\u306a\u308b\u3079\u304fclass\u306b\u53ce\u5bb9\u3059\u308b"},{"location":"6_development_policy/#4","text":"\u5909\u6570\u540d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u3044\u3044\u306e\u3067\uff0c\u8ab0\u306b\u3067\u3082\u308f\u304b\u308b\u3088\u3046\u306b\u4ed8\u3051\u308b\uff0e\u5909\u6570\u540d\u306e\u4ed8\u3051\u65b9\u306f\u95a2\u6570\u3068\u540c\u3058\u304f\uff0csnake_case\u3067\u7d71\u4e00\u3057\uff0ccamelCase\u306f\u4f7f\u308f\u306a\u3044\uff0e\u307e\u305f\uff0c\u305d\u306e\u5909\u6570\u304c\u3069\u3046\u3044\u3046\u5024\u3092\u53ce\u5bb9\u3057\uff0c\u305d\u306e\u5358\u4f4d(\u6b21\u5143)\u306f\u306a\u3093\u306a\u306e\u304b\u3092\u30b3\u30e1\u30f3\u30c8\u3067\u660e\u8a18\u3059\u308b\uff0e \u60aa\u3044\u4f8b\uff09\u4eba\u304c\u8aad\u3093\u3067\u3082\u4f55\u306e\u7565\u79f0\u304b\u308f\u304b\u3089\u306a\u3044 1 2 3 4 5 ... L1 = \u2026 WP . T = \u2026 GPM = ... ... \u3044\u3044\u4f8b\uff09\u30b3\u30e1\u30f3\u30c8\u3084\u5909\u6570\u540d\u304b\u3089\u4f55\u306e\u5024\u304c\u3069\u3046\u3044\u3046\u5358\u4f4d\u6b21\u5143\u3067\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\u304b\u5206\u304b\u308b 1 2 3 4 5 6 7 8 \u2026 % Desired position of a leg [m] motion_planning_param . des_leg_pos = \u2026 % Period for crawl gait [s] gait_parameter . T = \u2026 % Grippable points [m] surface_param . grippable_points = ... ...","title":"4. \u5909\u6570\u540d\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u3064\u3051\u308b"},{"location":"6_development_policy/#5","text":"\u65b0\u3057\u3044\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u5f8c\u306f\uff0c\u30d1\u30e9\u30e1\u30fc\u30bf\u3084\u8a2d\u5b9a\u3092\u5909\u3048\u3066\u30c6\u30b9\u30c8\u3092\u7e70\u308a\u8fd4\u3057\uff0c\u30d0\u30b0\u304c\u767a\u751f\u3057\u306a\u3044\u3053\u3068\u3092\u78ba\u304b\u3081\u3066\u304b\u3089\u4e0a\u7d1a\u751f\u306bReview\u3092\u304a\u9858\u3044\u3059\u308b\uff0e","title":"5. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u5fc5\u305a\u7e70\u308a\u8fd4\u3057\u30c6\u30b9\u30c8\u3092\u304a\u3053\u306a\u3046"},{"location":"6_development_policy/#6-preset","text":"\u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3053\u3068\u3067\uff0c\u3053\u308c\u307e\u306epreset\u304c\u56de\u3089\u306a\u304f\u306a\u3063\u305f\u308a\uff0c\u4ed6\u306e\u958b\u767a\u8005\u306e\u958b\u767a\u74b0\u5883\u3068\u5e72\u6e09\u3059\u308b\u6050\u308c\u304c\u3042\u308b\u305f\u3081\uff0cconfig\u8a2d\u5b9a\u3092\u65e2\u5b58\u306epreset\u306b\u3057\u3066\u5168\u3066\u306epreset\u3092\u5b9f\u884c\u3057\uff0c\u554f\u984c\u306a\u304f\u5b9f\u884c\u3055\u308c\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e","title":"6. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u65e2\u5b58\u306epreset\u3067\u3082\u5b9f\u884c\u3057\uff0c\u554f\u984c\u304c\u306a\u3044\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b"},{"location":"6_development_policy/#7","text":"\u3069\u3093\u306a\u95a2\u6570\u3067\u3042\u308c\uff0c\u3080\u3084\u307f\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65b0\u305f\u306a\u6a5f\u80fd\u306b\u3088\u3063\u3066\uff0c\u6b69\u884c\u304c\u5b89\u5b9a\u3057\u305f\u308a\u901f\u304f\u306a\u3063\u305f\u308a\u3059\u308b\u3088\u3046\u306a\u4f55\u304b\u7d50\u679c\u304c\u3088\u304f\u306a\u308b\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3068\u3057\u3066\u3082\uff0c\u524d\u307e\u3067\u3042\u3063\u305f\u95a2\u6570\u306f\u7d76\u5bfe\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65e2\u5b58\u306e\u95a2\u6570\u306f\uff0c\u3053\u308c\u307e\u3067\u306e\u8ca1\u7523\u3067\u3042\u308a\uff0c\u78ba\u5b9f\u306b\u3053\u308c\u307e\u3067\u7a3c\u52d5\u3057\u3066\u3044\u305f\u3068\u3044\u3046\u70b9\u3067\u975e\u5e38\u306b\u6709\u7528\u306a\u3082\u306e\u3067\u3042\u308b\uff0e\u624b\u6cd5\u306e\u6bd4\u8f03\u3092\u304a\u3053\u306a\u3046\u969b\u3084\uff0c\u307e\u305f\u30b7\u30f3\u30d7\u30eb\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u65b9\u304c\u7406\u89e3\u3057\u3084\u3059\u3044\u3068\u3044\u3046\u70b9\u3067\u597d\u307e\u308c\uff0c\u5fc5\u8981\u3068\u3055\u308c\u308b\u5834\u5408\u3082\u3042\u308b\uff0e\u305d\u308c\u307e\u3067\u306e\u95a2\u6570\u3092\u524a\u9664\u30fb\u66f4\u65b0\u3059\u308b\u306e\u3067\u306f\u306a\u304f\uff0c\u65b0\u305f\u306a\u6a5f\u80fd\u30fb\u30b1\u30fc\u30b9\u3092\u8ffd\u52a0\u3059\u308b\u3068\u3044\u3046\u70b9\u3092\u610f\u8b58\u3057\uff0c\u65e2\u5b58\u306e\u95a2\u6570\u30fb\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u4e21\u65b9\u304c\u6271\u3048\u308b\u3088\u3046\u306b\u958b\u767a\u3092\u9032\u3081\u308b\uff0e","title":"7. \u95a2\u6570\u3092\u6d88\u3055\u306a\u3044"},{"location":"6_development_policy/#8","text":"ClimbLab\u306f\u5e38\u306b\u8907\u6570\u540d\u304c\u540c\u6642\u306b\u958b\u767a\u3092\u3059\u3059\u3081\u3066\u3044\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u3057\u3066\u3044\u308b\u9593\u306b\uff0c\u8ab0\u304b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u958b\u767a\u3092\u7d42\u308f\u3089\u305b\u3066\u65b0\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\u3053\u3068\u304c\u3088\u304f\u767a\u751f\u3059\u308b\uff0e\u3053\u306e\u969b\uff0cdevelop\u30d6\u30e9\u30f3\u30c1\u306erebase\u3092\u5e38\u306b\u304a\u3053\u306a\u3046\u3053\u3068\uff0e\u81ea\u5206\u304c\u958b\u767a\u6bb5\u968e\u3067\u63a1\u7528\u3057\u3066\u3044\u305f\u95a2\u6570\u304c\uff0c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u4e00\u90e8\u5909\u66f4\u3055\u308c\u3066\u3044\u308b\u53ef\u80fd\u6027\u304c\u3042\u308b\u305f\u3081\uff0c\u5e38\u306b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u958b\u767a\u72b6\u6cc1\u306b\u3064\u3044\u3066\u628a\u63e1\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u5f53\u7136\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u304c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306b\u3082\u5f71\u97ff\u3092\u4e0e\u3048\u308b\u305f\u3081\uff0c\u5e38\u306b\u5831\u544a\u30fb\u9023\u7d61\u30fb\u76f8\u8ac7\u3092\u5fd8\u308c\u306a\u3044\uff0e","title":"8. 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\u81ea\u5206\u306e\u304a\u3053\u306a\u3063\u305f\u5909\u66f4\u70b9\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u30e1\u30f3\u30d0\u30fc\u306b\u5171\u6709\u3059\u308b"},{"location":"6_development_policy/#10","text":"\u540c\u3058\u7591\u554f\u3092\u4ed6\u306e\u958b\u767a\u30e1\u30f3\u30d0\u30fc\u3082\u62b1\u3044\u3066\u3044\u305f\u308a\uff0c\u3082\u3057\u304f\u306f\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u7d4c\u9a13\u304c\u3042\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e\u307e\u305f\u306f\uff0c\u305d\u306e\u554f\u984c\u3092\u89e3\u6c7a\u3059\u308b\u3088\u3046\u306a\u6a5f\u80fd\u3092\u65b0\u305f\u306b\u5225\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u5b9f\u88c5\u3057\u3066\u304f\u308c\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e","title":"10. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3068\u7591\u554f\u70b9\u30fb\u554f\u984c\u70b9\u3092\u5171\u6709\u3059\u308b"},{"location":"6_development_policy/#11","text":"\u958b\u767a\u4e2d\u306b\u30d0\u30b0\u3092\u898b\u3064\u3051\u305f\u3089\uff0c\u307f\u3093\u306a\u306b\u5171\u6709\u3059\u308b\u3053\u3068\uff0e\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u3068\u601d\u308f\u308c\u3066\u3044\u305f\u30d0\u30b0\u306e\u767a\u898b\u3084\u81f4\u547d\u7684\u306a\u6b20\u9665\u304c\u3042\u308b\u307e\u307e\u958b\u767a\u3092\u9032\u3081\u306a\u3044\u3088\u3046\u306b\uff0c\u3059\u3050\u306b\u82bd\u3092\u3064\u3080\uff0e","title":"11. \u898b\u3064\u3051\u305f\u30d0\u30b0\u3092\u5831\u544a\u3059\u308b"},{"location":"top/","text":"ClimbLab Manual Author(s) and maintainer(s): Space Robotics Lab. Climbing Robotics Team Contact email: srl-limb@grp.tohoku.ac.jp The climbing simulator is being developed by the Climbing Robotics Team in Space Robotics Laboratory at Tohoku University, Japan. The source code is released under a BSD 3-Clause license . This developpers manual is originally written in Google Document and maintained in SRL-Limb's shared drive . Reference Note If you use this simulator in an academic context, please put the following citation. Uno K. et al. (2022) ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics. In: Chugo D., Tokhi M.O., Silva M.F., Nakamura T., Goher K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_20 1 2 3 4 5 6 7 8 @inproceedings { uno2021climblab , title = { ClimbLab : MATLAB Simulation Platform for Legged Climbing Robotics } , author = { Kentaro Uno and Warley F . R . Ribeiro and Yusuke Koizumi and Keigo Haji and Koki Kurihara and William Jones and Kazuya Yoshida } , booktitle = { Robotics for Sustainable Future } , pages = { 229 -- 241 } , year = { 2022 } , publisher = \"Springer International Publishing\" , } Release note The version of this manual is synchronized with the version of ClimbLab simulator. Since this online manual is deployed since the v4.0, the oldest version is v4.0. v4.0: released on 2021. First released version.","title":"Top"},{"location":"top/#climblab-manual","text":"Author(s) and maintainer(s): Space Robotics Lab. Climbing Robotics Team Contact email: srl-limb@grp.tohoku.ac.jp The climbing simulator is being developed by the Climbing Robotics Team in Space Robotics Laboratory at Tohoku University, Japan. The source code is released under a BSD 3-Clause license . This developpers manual is originally written in Google Document and maintained in SRL-Limb's shared drive .","title":"ClimbLab Manual"},{"location":"top/#reference","text":"Note If you use this simulator in an academic context, please put the following citation. Uno K. et al. (2022) ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics. In: Chugo D., Tokhi M.O., Silva M.F., Nakamura T., Goher K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_20 1 2 3 4 5 6 7 8 @inproceedings { uno2021climblab , title = { ClimbLab : MATLAB Simulation Platform for Legged Climbing Robotics } , author = { Kentaro Uno and Warley F . R . Ribeiro and Yusuke Koizumi and Keigo Haji and Koki Kurihara and William Jones and Kazuya Yoshida } , booktitle = { Robotics for Sustainable Future } , pages = { 229 -- 241 } , year = { 2022 } , publisher = \"Springer International Publishing\" , }","title":"Reference"},{"location":"top/#release-note","text":"The version of this manual is synchronized with the version of ClimbLab simulator. Since this online manual is deployed since the v4.0, the oldest version is v4.0. v4.0: released on 2021. First released version.","title":"Release note"}]}
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Examples of ClimbLab applications"},{"location":"1_ClimbLab/#13-open-sourcing","text":"\u69d8\u3005\u306a\u30e2\u30c7\u30eb\u3092\u7528\u3044\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u6319\u52d5\u306e\u5206\u6790\u304c\u53ef\u80fd\u3068\u306a\u308b\uff0eGitHub\u306b\u3066\u5b66\u5916\u7684\u306b\u516c\u958b\u3057\u3066\u3044\u308b\uff0e","title":"1.3 Open sourcing"},{"location":"2_ClimbLab_simulation_flow/","text":"2. ClimbLab\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d5\u30ed\u30fc \u672c\u7ae0\u3067\u306f\uff0cClimbLab\u3067\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u6d41\u308c\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e MATLAB\u306f\uff0c\u5b9f\u884c\u3059\u308b\u30e1\u30a4\u30f3\u30d5\u30a1\u30a4\u30eb\u304c\u4e00\u3064\u3042\u308a\uff0c\u305d\u306e\u30e1\u30a4\u30f3\u30d5\u30a1\u30a4\u30eb\u306e\u4e2d\u3067\uff0c\u691c\u7d22\u30d1\u30b9\u304c\u901a\u3063\u3066\u3044\u308b\u30d5\u30a9\u30eb\u30c0\u5185\u306b\u3042\u308b\u3044\u304f\u3064\u3082\u306e\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u3092\u547c\u3073\u51fa\u3059\u3053\u3068\u3067\u8907\u96d1\u306a\u6f14\u7b97\u3092\u884c\u3046\uff0eClimbLab\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/src \u4e0b\u306b\u3042\u308b main_sim.m \u3068\u3044\u3046\u30e1\u30a4\u30f3\u30d5\u30a1\u30a4\u30eb\u3092\u5b9f\u884c\u3059\u308b\u3053\u3068\u3067\u6a5f\u80fd\u3057\uff0c\u30d5\u30a9\u30eb\u30c0 ../climblab/ \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u3092\u547c\u3073\u51fa\u3057\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u884c\u3046\uff0e ClimbLab\u5185\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308b\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u306b\u306f\u5927\u304d\u304f2\u7a2e\u985e\u3042\u308b\uff0e1\u3064\u76ee\u306f\uff0c\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306b\u9650\u3089\u305a\u4e00\u822c\u7684\u306a\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u30c0\u30a4\u30ca\u30df\u30af\u30b9\u8a08\u7b97\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u304c\u3067\u304d\u308b SpaceDyn \u3068\u3044\u3046\u4e00\u9023\u306e\u95a2\u6570\u7fa4\u3067\u3042\u308b\uff0e\u672c\u7814\u7a76\u5ba4\u3067\u958b\u767a\u3055\u308c\u305f\u3053\u306eSpaceDyn\u3068\u3044\u3046MATLAB\u30c4\u30fc\u30eb\u30dc\u30c3\u30af\u30b9\u306f\uff0c1999\u5e74\u304b\u3089\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u3068\u3057\u3066\u516c\u958b\u3055\u308c\u3066\u304a\u308a\uff0c\u73fe\u5728\u3067\u3082GitHub\u304b\u3089\u5229\u7528\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u3053\u306eSpaceDyn\u3082ClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u4e0b\u306b\u53ce\u5bb9\u3055\u308c\uff0cClimbLab\u306b\u6d3b\u7528\u3055\u308c\u3066\u3044\u308b\uff0eClimbLab\u5185\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308b2\u3064\u76ee\u306e\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u306f\uff0c\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u305f\u3081\u306b\u65b0\u305f\u306b\u958b\u767a\u3055\u308c\u3066\u304d\u305f\u95a2\u6570\u7fa4\u3067\u3042\u308a\uff0c\u3053\u308c\u3089\u306f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u69cb\u6210\u4e0a\u3055\u3089\u306b5\u3064\u306e\u7a2e\u985e\u306b\u5206\u985e\u3055\u308c\u3066\u3044\u308b\uff0e\u305d\u308c\u305e\u308c\uff0cConfiguration\u95a2\u6570\u30fbInitialize\u95a2\u6570\u30fbUpdate\u95a2\u6570\u30fbVisualize\u95a2\u6570\u30fbSave\u95a2\u6570\u3068\u547d\u540d\u3055\u308c\u3066\u3044\u308b\uff0e \u672c\u7ae0\u3067\u306f\uff0c\u307e\u305a main_sim.m \u306e\u69cb\u9020\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u7d9a\u3044\u3066\uff0c\u305d\u306e\u4e2d\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308bMATLAB class\u3068\u3044\u3046\u69cb\u9020\u4f53\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e\u305d\u3057\u3066\uff0c\u30c0\u30a4\u30ca\u30df\u30af\u30b9\u8a08\u7b97\u306e\u305f\u3081\u306eMATLAB\u30c4\u30fc\u30eb\u30dc\u30c3\u30af\u30b9\u3067\u3042\u308bSpaceDyn\u304cClimbLab\u5185\u3067\u3069\u3046\u5229\u7528\u3055\u308c\u3066\u3044\u308b\u304b\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e\u6700\u5f8c\u306b\uff0cClimbLab\u306e\u305f\u3081\u306b\u958b\u767a\u3055\u308c\u305f5\u7a2e\u985e\u306e\u95a2\u6570\u7fa4\u306b\u3064\u3044\u3066\u305d\u308c\u305e\u308c\u306e\u5f79\u5272\u3092\u7a2e\u985e\u3054\u3068\u306b\u8aac\u660e\u3059\u308b\uff0e 2.1. Overview of main function: main_sim.m ClimbLab\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u69cb\u6210\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\u305f\u3081\u306b\uff0c\u305d\u3082\u305d\u3082\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u3092\u7528\u3044\u3066\u304a\u3053\u306a\u308f\u308c\u308b\u5168\u3066\u306e\u6570\u5024\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u4ed5\u7d44\u307f\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u73fe\u5b9f\u4e16\u754c\u306e\u73fe\u8c61\u3067\u6642\u9593\u306f\u9023\u7d9a\u7684\u3067\u3042\u308a\uff0c\u5168\u3066\u306e\u5909\u6570\u304c\u9023\u7d9a\u6642\u9593\u306e\u3082\u3068\u306b\u5909\u5316\u3059\u308b\uff0e\u3057\u304b\u3057\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u4e0a\u306e\u8a08\u7b97\u51e6\u7406\u3067\u306f\u9023\u7d9a\u6642\u9593\u4e0a\u306e\u73fe\u8c61\u3092\u305d\u306e\u307e\u307e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u518d\u73fe\u3059\u308b\u3053\u3068\u306f\u3067\u304d\u306a\u3044\uff0e\u6642\u9593\u3092\u7d30\u304b\u3044\u5e45\u306b\u533a\u5207\u308a\u305d\u306e\u9593\u306e\u5909\u5316\u3092\u7a4d\u7b97\u3057\u3066\u3044\u304f\u3068\u3044\u3046\u96e2\u6563\u6642\u9593\u7684\u306a\u7e70\u308a\u8fd4\u3057\u8a08\u7b97\u306b\u3088\u3063\u3066\uff0c\u9023\u7d9a\u6642\u9593\u306e\u73fe\u8c61\u3092\u518d\u73fe\u3059\u308b\uff0e\u3064\u307e\u308a\uff0c\u3042\u308b\u6642\u523bt\u306e\u72b6\u614b\u306b\u3082\u3068\u3065\u304d\uff0c\u305d\u3053\u304b\u3089\u523b\u307f\u6642\u9593\u0394t \u79fb\u3063\u305f\u6642\u523bt+\u0394t \u306e\u72b6\u614b\u3092\u8a08\u7b97\u3059\u308b\uff0e\u6b21\u306b\uff0c\u305d\u306e\u6c42\u3081\u305ft+\u0394t \u306e\u72b6\u614b\u304b\u3089t+2\u0394t \u306e\u72b6\u614b\u3092\u6c42\u3081\u308b\u3068\u3044\u3046\u51e6\u7406\u3092\u7e70\u308a\u8fd4\u3057\u30eb\u30fc\u30d7\u3055\u305b\u308b\uff0e \u4ee5\u4e0a\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u3064\u3044\u3066\u306e\u57fa\u790e\u3092\u8e0f\u307e\u3048\u305f\u4e0a\u3067\uff0cClimbLab\u306e\u69cb\u6210\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0eClimbLab\u306e\u30e1\u30a4\u30f3\u30d5\u30a1\u30a4\u30eb main_sim.m \u306e\u30d5\u30ed\u30fc\u30c1\u30e3\u30fc\u30c8\u3092\u6b21\u306e\u56f3\u306b\u793a\u3059\uff0e \u307e\u305aConfiguration\u95a2\u6570\u3067\u5404\u7a2e\u8a2d\u5b9a\u3092\u8aad\u307f\u8fbc\u307f\uff0c\u3053\u308c\u304b\u3089\u304a\u3053\u306a\u3046\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\uff0e\u3053\u306e\u51e6\u7406\u306b\u3088\u308a\uff0c\u3069\u3093\u306a\u30ed\u30dc\u30c3\u30c8\u30fb\u5730\u5f62\u30fb\u74b0\u5883\u30fb\u7d4c\u8def\u8a08\u753b\u30fb\u6b69\u5bb9\u8a08\u753b\u30fb\u904b\u52d5\u8a08\u753b\u30fb\u5236\u5fa1\u624b\u6cd5\u3092\u9069\u7528\u3059\u308b\u304b\u304c\u6c7a\u5b9a\u3055\u308c\u308b\uff0e\u6b21\u306b\uff0cInitialize\u95a2\u6570\u306b\u3088\u308a\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30eb\u30fc\u30d7\u3092\u958b\u59cb\u3059\u308b\u305f\u3081\u306b\u5fc5\u8981\u306a\u5168\u3066\u306e\u5909\u6570\u3092\u7528\u610f\u3057\uff0c\u305d\u308c\u3089\u306e\u5909\u6570\u306b\u5bfe\u3057\u3066\u521d\u671f\u72b6\u614b\u3092\u8a2d\u5b9a\u3059\u308b\uff0e\u53b3\u5bc6\u306b\u306f\uff0c\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u6642\u523b0\u79d2\u304b\u3089\u59cb\u307e\u308b\u305f\u3081\uff0cInitialize\u95a2\u6570\u3067\u306f\u6642\u523b0 - \u0394t \u79d2\u306e\u72b6\u614b\u304c\u8a2d\u5b9a\u3055\u308c\u308b\u30a4\u30e1\u30fc\u30b8\u3067\u3042\u308b\uff0eInitialize\u95a2\u6570\u306b\u3088\u3063\u3066\u521d\u671f\u72b6\u614b\u304c\u8a2d\u5b9a\u3055\u308c\u305f\u305f\u3081\uff0c\u305d\u306e\u72b6\u614b\u3092\u8d77\u70b9\u3068\u3057\u3066\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u0394t \u79d2\u6bce\u306b\u96e2\u6563\u7684\u306b\u6642\u9593\u3092\u9032\u3081\u3066\u8a08\u7b97\u3057\uff0c\u5404\u5909\u6570\u306e\u5024\u3092\u66f4\u65b0(Update)\u3057\u3066\u3044\u304f\u3053\u3068\u3067\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u3059\u3081\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u5185\u3067\u306f\u8a08\u7b97\u51e6\u7406\u306b\u52a0\u3048\u3066\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u9032\u3093\u3067\u3044\u308b\u69d8\u5b50\u3092\u78ba\u8a8d\u3059\u308b\u305f\u3081\u306b\uff0cVisualize\u95a2\u6570\u306b\u3088\u3063\u3066\u305d\u306e\u6642\u306e\u30ed\u30dc\u30c3\u30c8\u306e\u72b6\u614b\u306a\u3069\u3092\u753b\u9762\u4e0a\u306b\u8868\u793a\u3055\u305b\u308b\uff0e\u305d\u3057\u3066\uff0c\u5404\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u306b\u304a\u3044\u3066\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u7d42\u4e86\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u3044\u308b\u304b\u3092\u78ba\u8a8d\u3059\u308b\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306f\uff0c\u4ee5\u4e0b\u306e\u6761\u4ef6\uff1a \u8a2d\u5b9a\u3057\u305f\u7d42\u4e86\u6642\u523b\u306b\u306a\u308b\u307e\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u6642\u9593\u304c\u9032\u3080\uff0e \u8a2d\u5b9a\u3057\u305f\u76ee\u7684\u5730\u70b9\u306b\u30ed\u30dc\u30c3\u30c8\u304c\u5230\u9054\u3059\u308b\uff0e \u30ed\u30dc\u30c3\u30c8\u304c\u8ee2\u5012\u3084\u6ed1\u843d\u306a\u3069\u3092\u5f15\u304d\u8d77\u3053\u3057\u3066\u6b69\u884c\u306e\u7d99\u7d9a\u304c\u4e0d\u53ef\u80fd\u3068\u306a\u308b\uff0e \u30ed\u30dc\u30c3\u30c8\u306e\u95a2\u7bc0\u89d2\u5ea6\u304c\u4e0a\u4e0b\u9650\u306b\u9054\u3059\u308b\u304b\u7279\u7570\u59ff\u52e2\u306b\u9665\u308b\uff0e \u306e\u3044\u305a\u308c\u304b\u3092\u6e80\u305f\u3057\u305f\u5834\u5408\uff0c\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u3092\u7d42\u4e86\u3059\u308b\uff0e\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u7d42\u4e86\u5f8c\uff0c\u6307\u5b9a\u3057\u305f\u5909\u6570\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u4e2d\u306e\u6642\u9593\u5c65\u6b74\u3092\u30d7\u30ed\u30c3\u30c8\u3059\u308b\uff0e\u307e\u305f\uff0c\u5f8c\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u7d50\u679c\u306e\u89e3\u6790\u3092\u3059\u308b\u305f\u3081\u306b\uff0cSave\u95a2\u6570\u306b\u3088\u3063\u3066\uff0c\u5185\u90e8\u3067\u66f4\u65b0\u3055\u308c\u3066\u3044\u3063\u305f\u5404\u5909\u6570\u306e\u6642\u9593\u5c65\u6b74\u3084\u521d\u671f\u8a2d\u5b9a\uff0c\u6b69\u884c\u3057\u3066\u3044\u308b\u69d8\u5b50\u306e\u52d5\u753b\u3092\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u306b\u81ea\u52d5\u3067\u4fdd\u5b58\u3059\u308b\uff0e \u3000\u4ee5\u4e0a\u304c main_sim.m \u306e\u69cb\u9020\u3067\u3042\u308b\uff0e 2.2. MATLAB class \u4e0a\u8ff0\u3057\u305f\u3088\u3046\u306bClimbLab\u5185\u3067\u306f\u69d8\u3005\u306a\u95a2\u6570\u304c\u4f7f\u7528\u3055\u308c\u3066\u3044\u308b\u304c\uff0c\u305d\u308c\u3089\u306e\u95a2\u6570\u306e\u5165\u51fa\u529b\u306b\u983b\u7e41\u306b\u7528\u3044\u3089\u308c\u3066\u3044\u308bclass\u3068\u3044\u3046\u6982\u5ff5\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0eclass\u3068\u306fMATLAB\u306b\u304a\u3051\u308b\u30c7\u30fc\u30bf\u69cb\u9020\u306e\u4e00\u3064\u3067\u3042\u308b\uff0e\u69d8\u3005\u306a\u6d3b\u7528\u65b9\u6cd5\u304c\u3042\u308b\u304c\uff0cClimbLab\u306b\u304a\u3051\u308bclass\u306e\u4f7f\u7528\u610f\u7fa9\u306f\uff0c\u3042\u308b\u5171\u901a\u306e\u76ee\u7684\u306b\u4f7f\u308f\u308c\u308b\u6570\u5024\u3084\u6587\u5b57\u30fb\u30d9\u30af\u30c8\u30eb\u306a\u3069\u306e\u591a\u69d8\u306a\u5909\u6570\u3092\u3072\u3068\u304f\u304f\u308a\u306b\u3057\u3066\u307e\u3068\u3081\u308b\u3053\u3068\u306b\u3042\u308b\uff0e\u3053\u3046\u3059\u308b\u3053\u3068\u3067\uff0cMATLAB\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\u3067\u6271\u308f\u308c\u308b\u5927\u91cf\u306e\u5909\u6570\u3092\u3042\u308b\u7a0b\u5ea6\u898b\u3084\u3059\u304f\u7406\u89e3\u3057\u3084\u3059\u3044\u5f62\u614b\u306b\u307e\u3068\u3081\u308b\u3053\u3068\u304c\u3067\u304d\uff0c\u307e\u305f\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u4f5c\u696d\u3092\u5358\u7d14\u5316\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0eClimbLab\u5185\u3067\u4f7f\u7528\u3055\u308c\u3066\u3044\u308bclass\u3068class\u5185\u306b\u683c\u7d0d\u3057\u3066\u3044\u308b\u5909\u6570\u306e\u201c\u304f\u304f\u308a\u201d\u3092\u4ee5\u4e0b\u306b\u5217\u6319\u3059\u308b\uff0e LP : \u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf(SpaceDyn) SV : \u72b6\u614b\u5909\u6570(State Variables, SpaceDyn) des_SV : \u76ee\u6a19\u72b6\u614b\u5909\u6570(Desired State Variables, SpaceDyn) robot_param : \u4f7f\u7528\u3059\u308b\u30ed\u30dc\u30c3\u30c8\u30bf\u30a4\u30d7\u3068\u305d\u306e\u521d\u671f\u914d\u7f6e environment_param : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883 surface_param : \u6b69\u884c\u3055\u305b\u308b\u5730\u8868 gait_planning_param : \u6b69\u5bb9\u8a08\u753b(gait planning) motion_planning_param : \u904b\u52d5\u8a08\u753b contorl_param : \u5236\u5fa1 equibilium_param : \u59ff\u52e2\u306e\u5b89\u5b9a\u6027\u8a55\u4fa1 ani_settings : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u4e2d\u306e\u52d5\u753b\u306e\u63cf\u753b plot_settings : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5f8c\u306b\u63cf\u753b\u3059\u308b\u7d50\u679c\u56f3 save_settings : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u5c65\u6b74\u306e\u4fdd\u5b58 sensing_camera_param : \u5730\u5f62\u30bb\u30f3\u30b7\u30f3\u30b0 gripper_param : \u628a\u6301\u5019\u88dc\u70b9\u691c\u51fa\u3067\u4f7f\u3046\u30b0\u30ea\u30c3\u30d1 map_param : \u628a\u6301\u5019\u88dc\u70b9\u691c\u51fa\u306b\u304a\u3051\u308b\u30de\u30c3\u30d7\u3078\u306e\u51e6\u7406 matching_settings : \u628a\u6301\u5019\u88dc\u70b9\u691c\u51fa\u624b\u6cd5\u306e\u8a2d\u5b9a variables_saved :\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5185\u306e\u5909\u6570\u5c65\u6b74 \u201c\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u6307\u5411\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u201d\u3068\u3044\u3046\u3088\u3046\u306a\u96e3\u89e3\u306a\u8a9e\u3092\u7528\u3044\u305aClimbLab\u306b\u304a\u3051\u308bclass\u306e\u5f79\u5272\u3092\u65e5\u5e38\u751f\u6d3b\u3092\u4f8b\u306b\u3057\u3066\u8aac\u660e\u3059\u308b\u3068\uff0c\u5bb6\u306e\u4e2d\u306b\u3042\u308b\u69d8\u3005\u306a\u751f\u6d3b\u7528\u54c1\u3092\u305d\u306e\u307e\u307e\u5168\u90e8\u5e8a\u306b\u7f6e\u304f\u306e\u3067\u306f\u306a\u304f\uff0c\u98df\u5668\u68da\u30fb\u8863\u88c5\u30b1\u30fc\u30b9\u30fb\u7b46\u7bb1\u306a\u3069\u306b\u6574\u7406\u3057\u3066\u5165\u308c\u308b\u69d8\u5b50\u306b\u4f8b\u3048\u3089\u308c\u308b\uff0e\u5bb6\u306e\u4e2d\u306b\u306f\u69d8\u3005\u306a\u3082\u306e\u304c\u3042\u308b\u304c\uff0c\u98df\u5668\u68da\u306b\u5165\u3063\u3066\u3044\u308b\u3082\u306e\u306f\u4f8b\u3048\u3069\u3093\u306a\u5f62\u72b6\u3084\u6750\u8cea\u3067\u3042\u308c\u98df\u4e8b\u306b\u95a2\u4fc2\u3059\u308b\u3082\u306e\u3067\u3042\u308b\uff0e\u305d\u308c\u3068\u540c\u3058\u3088\u3046\u306b\uff0c robot_param \u3068\u3044\u3046class\u306b\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\u5909\u6570\u306f\u3069\u3093\u306a\u3082\u306e\u3067\u3042\u308c\u30ed\u30dc\u30c3\u30c8\u306b\u95a2\u4fc2\u3057\u305f\u3082\u306e\u3067\u3042\u308a\uff0c environment_param \u306b\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\u5909\u6570\u306f\u30ed\u30dc\u30c3\u30c8\u3068\u306f\u95a2\u4fc2\u306a\u304f\u74b0\u5883\u306b\u95a2\u4fc2\u3059\u308b\u3082\u306e\u3067\u3042\u308b\uff0e \u3053\u3046\u3057\u305f\u69d8\u3005\u306aclass\u3092\u5165\u51fa\u529b\u306b\u7528\u3044\u3066ClimbLab\u5185\u306e\u95a2\u6570\u306f\u5b9f\u884c\u3055\u308c\u3066\u3044\u308b\uff0e 2.3. SpaceDyn ClimbLab\u5185\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308b\u95a2\u6570\u7fa4\u306e\u4e00\u3064\u3067\u3042\u308bSpaceDyn(\u30b9\u30da\u30fc\u30b9\u30c0\u30a4\u30f3)\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u305d\u306e\u5177\u4f53\u7684\u306a\u610f\u7fa9\u3084\u8a73\u7d30\u306b\u3064\u3044\u3066\u306f\uff0c\u3053\u308c\u307e\u3067\u767a\u8868\u3055\u308c\u305f\u6587\u732e\u3067\u8a73\u8aac\u3055\u308c\u3066\u3044\u308b\u305f\u3081\uff0c\u672c\u7bc0\u3067\u306fSpaceDyn\u306eClimbLab\u306b\u304a\u3051\u308b\u5f79\u5272\u306b\u7126\u70b9\u3092\u7d5e\u308a\u7c21\u5358\u306b\u8ff0\u3079\u308b\uff0e SpaceDyn\u3068\u306f\uff0c\u5fae\u5c0f\u91cd\u529b\u7a7a\u9593(Space)\u3092\u542b\u3080\u69d8\u3005\u306a\u74b0\u5883\u3067\u306e\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u306e\u904b\u52d5\u3084\u529b\u5b66\u89e3\u6790\u304c\u304a\u3053\u306a\u3048\u308bMATLAB\u306e\u30c4\u30fc\u30eb\u30dc\u30c3\u30af\u30b9\u3067\u3042\u308a\uff0cClimbLab\u5185\u3067\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/lib/spacedyn \u4ee5\u4e0b\u306b\u5168\u3066\u306e\u95a2\u6570\u304c\u4fdd\u5b58\u3055\u308c\u3066\u3044\u308b\uff0eDyn\u306fDynamics\u3092\u8868\u3059\uff0e\u30ed\u30dc\u30c3\u30c8\u306e\u6a5f\u69cb\u30fb\u529b\u5b66\u30fb\u5236\u5fa1\u306b\u95a2\u308f\u308b\u57fa\u672c\u7684\u306a\u95a2\u6570\u7fa4\u304c\u53ce\u5bb9\u3055\u308c\u3066\u304a\u308a\uff0c\u69d8\u3005\u306a\u30ed\u30dc\u30c3\u30c8\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u304c\u3067\u304d\u308b\uff0e SpaceDyn\u306e\u95a2\u6570\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308b\u91cd\u8981\u306aclass\u3068\u3057\u3066\u307e\u305a\u4ee5\u4e0b\u306e2\u3064\u304c\u3042\u308b\uff0e LP : Link Parameters \u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf \u30ed\u30dc\u30c3\u30c8\u306e\u5177\u4f53\u7684\u306a\u6a5f\u69cb\u3092\u8868\u3059\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u53ce\u5bb9\u3057\u3066\u304a\u308a\uff0c\u6642\u9593\u7684\u306b\u4e0d\u5909\u3067\u3042\u308b SV : State Variables \u72b6\u614b\u5909\u6570 \u30ed\u30dc\u30c3\u30c8\u306e\u305d\u306e\u6642\u523b\u3067\u306e\u72b6\u614b \uff08\u4f4d\u7f6e\u30fb\u901f\u5ea6\u30fb\u95a2\u7bc0\u89d2\u5ea6etc\uff09 \u3092\u8868\u3059\u5909\u6570\u3092\u53ce\u5bb9\u3057\u3066\u304a\u308a\uff0c\u5404\u6642\u9593\u6bce\u306b\u66f4\u65b0\u3055\u308c\u308b LP\u3068\u3044\u3046class\u3067\u5b9a\u7fa9\u3055\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u306b\u5bfe\u3057\u3066\uff0c\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u6559\u79d1\u66f8\u306b\u8f09\u3063\u3066\u3044\u308b\u3088\u3046\u306a\u5ea7\u6a19\u5909\u63db\u30fb\u9806\u904b\u52d5\u5b66\u30fb\u9806\u52d5\u529b\u5b66\u3092\u9069\u7528\u3057\uff0c\u305d\u306e\u6642\u523b\u3067\u306e\u72b6\u614b\u5024SV\u3092\u5f97\u308b\uff0c\u3068\u3044\u3046\u6d41\u308c\u3067\u3042\u308b\uff0e\u307e\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u904b\u52d5\u8a08\u753b\u3084\u5236\u5fa1\u3092\u3059\u308b\u305f\u3081\u306bSpaceDyn\u5185\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308b\u91cd\u8981\u306aclass\u304c\u3082\u30461\u3064\u3042\u308b\uff0e des_SV : desired state variables \u76ee\u6a19\u72b6\u614b\u5909\u6570 \u30ed\u30dc\u30c3\u30c8\u304c\u6b21\u306b\u76ee\u6307\u3059\u76ee\u6a19\u5024\u3092\u53ce\u5bb9\u3057\u3066\u304a\u308a\uff0c\u3053\u306e\u5024\u3092\u76ee\u6307\u3057\u3066\u904b\u52d5\u30fb\u5236\u5fa1\u3092\u304a\u3053\u306a\u3046 \u30ed\u30dc\u30c3\u30c8\u306b\u95a2\u3059\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u524d\u63d0\u3068\u3057\u3066\uff0c\u300c\u76ee\u6307\u3057\u305f\u3044\u201c\u72b6\u614b\u201d\u304c\u3042\u308a\uff0c\u305d\u306e\u72b6\u614b\u3068\u73fe\u5728\u306e\u72b6\u614b\u3092\u5e38\u306b\u6bd4\u8f03\u3057\u306a\u304c\u3089\u5236\u5fa1\u3059\u308b\u3053\u3068\u3067\uff0c\u76ee\u6307\u3059\u3079\u304d\u201c\u72b6\u614b\u201d\u306b\u8fd1\u3065\u3051\u52d5\u4f5c\u3092\u5b9f\u73fe\u3059\u308b\u300d\u3053\u3068\u304c\u76ee\u7684\u3067\u3042\u308b\uff0e\u3053\u306e\u201c\u6b21\u306e\u76ee\u6307\u3059\u3079\u304d\u72b6\u614b\u201d\u304cdes_SV\u3067\u3042\u308b\uff0e \u4e3b\u306b\u3053\u308c\u30893\u3064\u306eclass\u3092\u7528\u3044\u308b\u3053\u3068\u3067\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u6a5f\u69cb\u306e\u5b9a\u7fa9\u3084\u57fa\u672c\u7684\u306a\u529b\u5b66\u30fb\u5236\u5fa1\u30fb\u904b\u52d5\u8a08\u753b\u306e\u8a08\u7b97\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u308b\uff0e \u3000ClimbLab\u3067\u306f\uff0c\u4ee5\u4e0b\u306e3\u3064\u306e\u51e6\u7406\u3092SpaceDyn\u306e\u95a2\u6570\u3067\u304a\u3053\u306a\u3063\u3066\u3044\u308b\uff0e \u30ed\u30dc\u30c3\u30c8\u306e\u6a5f\u69cb\u3092LP\u3092\u4f7f\u3063\u3066\u5b9a\u7fa9\u3059\u308b\uff0e \u30ed\u30dc\u30c3\u30c8\u306e\u72b6\u614b\u5909\u6570\u3092SV\uff0cdes_SV\u3092\u4f7f\u3063\u3066\u5b9a\u7fa9\u3059\u308b\uff0e \u57fa\u672c\u7684\u306a\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u8a08\u7b97\u3084\uff0c\u30c0\u30a4\u30ca\u30df\u30af\u30b9\u8a08\u7b97\u3092SpaceDyn\u5185\u306e\u95a2\u6570\u3067\u304a\u3053\u306a\u3046\uff0e \u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u5bb9\u306b\u7279\u5316\u3057\u305f\u8a08\u7b97\u51e6\u7406\u306f\uff0cClimbLab\u306e\u305f\u3081\u306b\u65b0\u305f\u306b\u958b\u767a\u3055\u308c\u305f\u95a2\u6570\u7fa4\u3092\u7528\u3044\u3066\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308b\u304c\uff0c\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30c4\u30fc\u30eb\u3068\u3057\u3066\u571f\u53f0\u3068\u306a\u308b\u9818\u57df\u306bSpaceDyn\u3092\u7528\u3044\u3066\u3044\u308b\uff0e \u307e\u305f\uff0c\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306b\u95a2\u308f\u308b\u91cd\u8981\u306a\u9805\u76ee\u3068\u3057\u3066\u5ea7\u6a19\u7cfb\u306e\u53d6\u308a\u6271\u3044\u304c\u6319\u3052\u3089\u308c\u308b\uff0eSpaceDyn\u3092\u7528\u3044\u305fClimbLab\u306b\u304a\u3051\u308b\u5ea7\u6a19\u7cfb\u306e\u6271\u3044\u3068\uff0c\u305d\u306e\u6ce8\u610f\u70b9\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e SpaceDyn\u3067\u306f\u91cd\u529b\u3092\u4ed6\u306e\u5916\u529b\u3068\u533a\u5225\u305b\u305a\uff0c\u7279\u5225\u8996\u3057\u306a\u3044\uff0e\u3088\u3063\u3066\uff0cSpaceDyn\u3092\u6d3b\u7528\u3057\u3066\u3044\u308bClimbLab\u306b\u304a\u3044\u3066\u3082\uff0c\u91cd\u529b\u30d9\u30af\u30c8\u30eb\u306f\u305f\u3060\u306e\u5916\u529b\u3068\u3057\u3066\u53d6\u308a\u6271\u3046\uff0e\u3053\u308c\u306b\u3088\u308a\u8a08\u7b97\u51e6\u7406\u3092\u7c21\u6f54\u306b\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e \u4f8b\u3048\u3070\uff0c\u50be\u659c\u89d2\u03b1\u3092\u6301\u3064\u50be\u3044\u305f\u5730\u9762\u3092\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u304c\u767b\u6500\u3057\u3066\u3044\u308b\u69d8\u5b50\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u3068\u304d\uff0c\u6163\u6027\u5ea7\u6a19\u7cfb\u03a3~I~ (z\u8ef8\u8ca0\u65b9\u5411\u3068\u91cd\u529b\u304c\u540c\u3058\u5411\u304d\u306e\u5ea7\u6a19)\u3067\u8a08\u7b97\u3057\u3088\u3046\u3068\u3059\u308b\u3068\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u904b\u52d5\u3084\u5730\u5f62\u60c5\u5831\u306b\u95a2\u3059\u308b\u5168\u3066\u306e\u5ea7\u6a19\u7cfb\u3092\u5730\u9762\u306e\u50be\u304d\u306b\u5408\u308f\u305b\u3066\u305d\u306e\u90fd\u5ea6\u56de\u8ee2\u3055\u305b\u308b\u5fc5\u8981\u304c\u3042\u308a\uff0c\u8a08\u7b97\u306e\u51e6\u7406\u91cf\u304c\u591a\u304f\u306a\u308b\uff0e\u3053\u306e\u554f\u984c\u306f\uff0c\u91cd\u529b\u3092\u7279\u5225\u8996\u3057\uff0c\u03a3~I~\u306ez\u8ef8\u306e\u8ca0\u306e\u65b9\u5411\u306b\u91cd\u529b\u30d9\u30af\u30c8\u30eb\u3092\u5408\u308f\u305b\u3088\u3046\u3068\u3059\u308b\u305f\u3081\u306b\u767a\u751f\u3059\u308b\uff0e\u8a08\u7b97\u3059\u308b\u5ea7\u6a19\u7cfb\u3092\u6163\u6027\u5ea7\u6a19\u7cfb\u3067\u306f\u306a\u304f\uff0c\u50be\u3044\u305f\u5730\u9762\u306b\u56fa\u5b9a\u3055\u308c\u305f\u5730\u9762\u5ea7\u6a19\u7cfb\u03a3~g~(ground)\u3068\u3057\uff0c\u91cd\u529b\u3092\u5916\u529b\u3068\u3057\u3066\u89d2\u5ea6\u03b1\u50be\u3051\u3066\u30ed\u30dc\u30c3\u30c8\u306b\u4f5c\u7528\u3059\u308b\u3082\u306e\u3068\u3057\u3066\u8a08\u7b97\u3059\u308b\u3068\u8a08\u7b97\u8ca0\u8377\u306f\u8efd\u304f\u306a\u308b\uff0e\u3059\u306a\u308f\u3061 \u8a08\u7b97\u4e0a\u30ed\u30dc\u30c3\u30c8\u306f\uff0c\u50be\u659c\u3092\u6301\u3063\u305f\u5742\u3067\u306f\u306a\u304f\u5e73\u5730\u3092\u6b69\u884c\u3057\u3066\u304a\u308a\uff0c\u305d\u3053\u306b\u5730\u9762\u771f\u4e0b\u65b9\u5411\u304b\u3089\u50be\u3044\u305f\u5411\u304d\u306b\u5916\u529b(\u91cd\u529b)\u304c\u304b\u304b\u3063\u3066\u3044\u308b \u3068\u8003\u3048\u308b\uff0e\u305d\u306e\u5f8c\uff0c\u52d5\u753b\u3092\u63cf\u753b\u3059\u308b\u6642\u3060\u3051\uff0c\u3064\u3058\u3064\u307e\u5408\u308f\u305b\u3068\u3057\u3066\u63cf\u753b\u3092\u56de\u8ee2\u3055\u305b\u3066\u50be\u659c\u3084\u58c1\u3092\u767b\u3063\u3066\u3044\u308b\u3088\u3046\u306b\u8868\u793a\u3057\u3066\u3044\u308b\u306e\u3067\u3042\u308b\uff0e \u3053\u306e\u8003\u3048\u65b9\u306f\uff0c2.5\u7bc0\u3067\u8ff0\u3079\u308b ini_environment.m \u3067\u306e\u91cd\u529b\u30d9\u30af\u30c8\u30eb\u306e\u5b9a\u7fa9\u30842.6\u7bc0\u3067\u8ff0\u3079\u308bVisualize\u95a2\u6570\u3067\u306e\u50be\u304d\u306e\u53d6\u308a\u6271\u3044\u306b\u95a2\u4fc2\u3057\u3066\u3044\u308b\uff0e\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306b\u304a\u3044\u3066\u306f\uff0c\u6271\u3046\u5909\u6570\u3084\u30d9\u30af\u30c8\u30eb\u304c\u3069\u306e\u5ea7\u6a19\u7cfb\u3067\u8868\u8a18\u3055\u308c\u305f\u3082\u306e\u306a\u306e\u304b\u5e38\u306b\u6ce8\u610f\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\u305f\u3081\uff0c\u6163\u6027\u5ea7\u6a19\u7cfb\u3068\u5730\u9762\u5ea7\u6a19\u7cfb\u30fb\u30ed\u30dc\u30c3\u30c8\u30d9\u30fc\u30b9\u5ea7\u6a19\u7cfb\u3092\u610f\u8b58\u3057\u3066\u533a\u5225\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e 2.4. Configuration Functions \u3053\u3053\u304b\u3089\u306f\uff0cClimbLab\u306e\u305f\u3081\u306b\u5f53\u7814\u7a76\u30b0\u30eb\u30fc\u30d7\u3067\u65b0\u305f\u306b\u958b\u767a\u3055\u308c\u305f\u95a2\u6570\u7fa4\u306b\u3064\u3044\u3066\uff0c\u305d\u308c\u305e\u308c\u5206\u3051\u3066\u8aac\u660e\u3059\u308b\uff0e \u3000\u307e\u305a\u521d\u3081\u306b\u5b9f\u884c\u3055\u308c\u308b\u95a2\u6570\u7fa4\u3067\u3042\u308bConfiguration\u95a2\u6570\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0eConfiguration\u95a2\u6570\u3068\u306f\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u6761\u4ef6\u306e\u8a2d\u5b9a\u30fb\u69cb\u7bc9\u3092\u304a\u3053\u306a\u3046\u95a2\u6570\u7fa4\u3067\u3042\u308a\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/config \u4ee5\u4e0b\u306b\u7f6e\u304b\u308c\u308b\u63a5\u982d\u8f9e\u304c config_ \u3067\u59cb\u307e\u308b\u95a2\u6570\u306e\u7dcf\u79f0\u3067\u3042\u308b\uff0eClimbLab\u306f\u591a\u7a2e\u591a\u69d8\u306a\u74b0\u5883\u30fb\u30ed\u30dc\u30c3\u30c8\u30fb\u6b69\u5bb9\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c1\u3064\u306emain\u30d5\u30a1\u30a4\u30eb\u3067\u5b9f\u884c\u53ef\u80fd\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3067\u3042\u308b\u305f\u3081\uff0c\u3069\u3093\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u306e\u304b\u30e6\u30fc\u30b6\u30fc\u3084\u958b\u767a\u8005\u304c\u7d30\u304b\u304f\u8a2d\u5b9a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e \u3057\u304b\u3057\u65b0\u3057\u3044\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u308b\u5ea6\u306b\uff0c\u305d\u306e\u90fd\u5ea6\u5168\u3066\u306e\u5909\u6570\u3092\u8a2d\u5b9a\u3059\u308b\u306e\u306f\u975e\u5e38\u306b\u7169\u96d1\u3067\u3042\u308b\uff0e\u305d\u3053\u3067\uff0c\u307e\u305a\u306f\u81ea\u52d5\u3067\u5168\u3066\u306e\u5909\u6570\u3092\u8aad\u307f\u8fbc\u3093\u3067\u30c7\u30d5\u30a9\u30eb\u30c8\u3068\u3057\u3066\u8a2d\u5b9a\u3057\uff0c\u305d\u306e\u5f8c\uff0c\u30e6\u30fc\u30b6\u30fc\u304c\u671b\u3080\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3048\u308b\u3088\u3046\u306b\uff0c\u5909\u66f4\u3057\u305f\u3044\u5909\u6570\u306b\u3064\u3044\u3066\u3060\u3051\u8a2d\u5b9a\u3055\u308c\u305f\u5909\u6570\u306e\u4e2d\u8eab\u3092\u4e0a\u66f8\u304d\u3059\u308b\u3068\u3044\u30462\u6bb5\u968e\u306e\u624b\u6cd5\u3092\u63a1\u7528\u3057\u3066\u3044\u308b\uff0e\u305d\u306e\u305f\u3081\uff0cConfiguration\u95a2\u6570\u306b\u306f\u5927\u304d\u304f2\u7a2e\u985e\u3042\u308a\uff0c\u81ea\u52d5\u3067\u8aad\u307f\u8fbc\u3080\u305f\u3081\u306b\u5b58\u5728\u3059\u308b\u95a2\u6570\u3068\uff0c\u305d\u306e\u5f8c\u6307\u5b9a\u3057\u305f\u3044\u5185\u5bb9\u306b\u5024\u3092\u4e0a\u66f8\u304d\u3059\u308b\u95a2\u6570\u304c\u3042\u308b\uff0e \u4ee5\u4e0b\uff0cConfig\u95a2\u6570\u306e\u5177\u4f53\u7684\u306a\u69cb\u6210\u3092\u8ff0\u3079\u308b\uff0e\u307e\u305a main_sim \u5185\u3067\uff0cConfiguration\u3092\u8a2d\u5b9a\u3059\u308b\u95a2\u6570\u306e\u304a\u304a\u3082\u3068\u3068\u3057\u3066 config\\_simulation.m \u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e\u3053\u306e\u95a2\u6570\u306e\u4e2d\u3067\u4e0a\u8a18\u306e\u4e8c\u6bb5\u968e\u5f0f\u306econfig\u8a2d\u5b9a\u304c\u304a\u3053\u306a\u308f\u308c\u308b\uff0e\u307e\u305a\uff0c\u7b2c\u4e00\u6bb5\u968e\u3068\u3057\u3066 config\\_all\\_default\\_param.m \u306b\u3088\u3063\u3066\uff0c\u521d\u671f\u306e\u74b0\u5883\u69cb\u7bc9\u306e\u305f\u3081\u306b\u5fc5\u8981\u306a\u5168\u3066\u306eclass\u3068\u305d\u306e\u4e2d\u8eab\u306e\u5909\u6570\u304c\u30c7\u30d5\u30a9\u30eb\u30c8\u3068\u3057\u3066\u8a2d\u5b9a\u3055\u308c\u308b\uff0econfig_all_default_param.m\u306f\uff0c\u305d\u306e\u5185\u90e8\u3067\uff0c config/default \u4ee5\u4e0b\u306b\u5b58\u5728\u3059\u308b\u5404class\u3092\u5b9a\u7fa9\u3059\u308b\u4ee5\u4e0b\u306eConfig\u95a2\u6570\u7fa4\u3092\u5b9f\u884c\u3059\u308b\uff0e config_robot_param.m config_environment_param.m config_gait_planning_param.m config_control_param.m config_equilibrium_param.m config_animation_settings.m config_save_settings.m config_plot_settings.m config_target_detection_param.m : \u3053\u306e\u30d5\u30a1\u30a4\u30eb\u306e\u307f\u30d5\u30a9\u30eb\u30c0 /climblab/lib/target_detection \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b config_sensing_camera_param.m \u5404\u95a2\u6570\u540d\u306f\uff0c\u305d\u306e\u95a2\u6570\u3067\u8aad\u307f\u8fbc\u307e\u308c\u308bclass\u306e\u540d\u524d\u3068\u76f4\u63a5\u30ea\u30f3\u30af\u3057\u3066\u3044\u308b\uff0e \u305d\u306e\u5f8c\uff0c config_simulation.m \u306b\u3066\u7b2c\u4e8c\u6bb5\u968e\u3068\u3057\u3066\uff0c main_sim \u5185\u3067\u8a18\u8ff0\u3057\u3066\u6307\u5b9a\u3057\u305fconfig\u306b\u5fdc\u3058\u3066\uff0c\u5404\u5909\u6570\u306e\u4e0a\u66f8\u304d\u51e6\u7406\u304c\u304a\u3053\u306a\u308f\u308c\u308b\uff0econfig\u306e\u8a2d\u5b9a\u3092 \"default\" \u306b\u3059\u308b\u3068\uff0c\u5909\u6570\u306e\u4e0a\u66f8\u304d\u304c\u4e00\u5207\u304a\u3053\u306a\u308f\u308c\u305a\uff0c\u81ea\u52d5\u7684\u306b\u8a2d\u5b9a\u3055\u308c\u305f\u5909\u6570\u3092\u7528\u3044\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u958b\u59cb\u3059\u308b\uff0e\u8a2d\u5b9a\u3092 \"USER\" \u3059\u308b\u3068\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/config/USER \u4e0b\u306b\u3042\u308b config_USER_param.m \u3092\u53c2\u7167\u3057\u3066\u5909\u6570\u306e\u4e0a\u66f8\u304d\u3092\u304a\u3053\u306a\u3046\uff0e\u305d\u306e\u305f\u3081\uff0cdefault\u304b\u3089\u5909\u66f4\u3057\u305f\u3044\u5909\u6570\u3084\u8a2d\u5b9a\u304c\u3042\u308b\u5834\u5408\u306f\uff0c\u305d\u306e\u8a2d\u5b9a\u3060\u3051 config_USER_param.m \u5185\u3067\u540c\u540d\u306e\u5909\u6570\u3068\u3057\u3066\u65b0\u305f\u306b\u8a18\u8ff0\u3057\u3066\u3084\u308c\u3070\u3088\u3044\uff0e default \u3068 USER \u4ee5\u5916\u306econfig\u8a2d\u5b9a\u3068\u3057\u3066\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/config/preset \u4e0b\u306b\u3044\u304f\u3064\u304bConfig\u95a2\u6570\u304c\u4f5c\u6210\u3055\u308c\u3066\u3044\u308b\uff0e\u3053\u308c\u3089\u306e\u95a2\u6570\u306f\u30c7\u30d5\u30a9\u30eb\u30c8\u3068\u306f\u7570\u306a\u308b\u304c\u534a\u6c38\u4e45\u7684\u306b\u53c2\u8003\u3068\u3055\u308c\u308b\u30d5\u30a9\u30fc\u30de\u30c3\u30c8\u3067\u3042\u308b\uff0e\u3059\u306a\u308f\u3061\uff0cdefault\u4ee5\u5916\u306e\u57fa\u672c\u7684\u306aClimbLab\u306b\u3088\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u4f8b\u3084\uff0c\u307e\u305f\u3053\u308c\u307e\u3067\u306b\u672c\u7814\u7a76\u30c1\u30fc\u30e0\u304c\u6295\u7a3f\u3057\u305f\u8ad6\u6587\u30fb\u5b66\u4f1a\u767a\u8868\u3067\u306e\u7d50\u679c\u3092\u518d\u73fe\u3059\u308b\u305f\u3081\u306b\u4f5c\u6210\u3055\u308c\u3066\u4fdd\u7ba1\u3055\u308c\u3066\u3044\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3067\u3042\u308b\uff0e 2.5. Initialize Functions Configuration\u95a2\u6570\u306b\u3088\u3063\u3066\u74b0\u5883\u69cb\u7bc9\u306e\u305f\u3081\u306b\u5fc5\u8981\u306aclass\u3068\u5909\u6570\u304c\u8a2d\u5b9a\u3055\u308c\u305f\u3042\u3068\u306f\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30eb\u30fc\u30d7\u306e\u958b\u59cb\u306b\u5411\u3051\u3066t=0\u306e\u6642\u306e\u521d\u671f\u72b6\u614b\u3092\u660e\u78ba\u306b\u6307\u5b9a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e\u3053\u306e\u5f79\u5272\u3092\u62c5\u3063\u3066\u3044\u308b\u306e\u304cInitialize\u95a2\u6570\u3067\u3042\u308a\uff0c\u63a5\u982d\u8f9e ini_ \u3067\u59cb\u307e\u308b\u95a2\u6570\u3067\u3042\u308b\uff0eInitialize\u95a2\u6570\u7fa4\u306f\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/src \u4e0b\u306b\uff0c\u8a72\u5f53\u3059\u308b\u51e6\u7406\u6bce\u306b\u30d5\u30a9\u30eb\u30c0\u3092\u5206\u3051\u3066Update\u95a2\u6570\u306a\u3069\u3068\u3068\u3082\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0eInitialize\u95a2\u6570\u306b\u3088\u308a\uff0cConfig\u95a2\u6570\u3067\u6307\u5b9a\u3055\u308c\u305f\u5404\u30d1\u30e9\u30e1\u30fc\u30bf\u304b\u3089\uff0c\u5b9f\u969b\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5185\u3067\u5fc5\u8981\u3068\u306a\u308b\u5168\u5909\u6570\u3092\u8a2d\u5b9a\u3057\uff0c\u305d\u308c\u305e\u308c\u306eclass\u3078\u3068\u683c\u7d0d\u3059\u308b\uff0e Initialize\u95a2\u6570\u306e\u5f79\u5272\u3092\uff0c main_sim \u5185\u3067\u5b9f\u884c\u3055\u308c\u308b\u9806\u756a\u306b\u7c21\u5358\u306b\u8aac\u660e\u3059\u308b\uff0e \u307e\u305a\u5192\u982d\u3067\u5b9f\u884c\u3055\u308c\u308b ini_path.m \u306f\uff0c\u7279\u6b8a\u306ainitialize\u95a2\u6570\u3067\uff0c\u30d1\u30b9\u3068\u3088\u3070\u308c\u308bMATLAB\u306e\u691c\u7d22\u7bc4\u56f2\u306b main_sim \u3092\u5b9f\u884c\u3059\u308b\u305f\u3081\u306b\u5fc5\u8981\u306aClimbLab\u306e\u5185\u90e8\u30d5\u30a9\u30eb\u30c0\u3092\u8ffd\u52a0\u3059\u308b\uff0e\u307e\u305f main_sim \u3092\u5b9f\u884c\u3059\u308b\u969b\u306eMATLAB\u5185\u3067\u306e\u30d5\u30a9\u30eb\u30c0\u5834\u6240\u304c\u9055\u3046\u5834\u5408\u306f\uff0c\u5b9f\u884c\u5834\u6240\u304c\u9593\u9055\u3063\u3066\u308b\u65e8\u306e\u8b66\u544a\u3092\u51fa\u3059\uff0e\u30d5\u30a1\u30a4\u30eb\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/src \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e \u6b21\u306b\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/src/environment \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u4ee5\u4e0b\u306e\u95a2\u6570\u304c\u5b9f\u884c\u3055\u308c\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u3068\u5730\u5f62\u304c\u8a2d\u5b9a\u3055\u308c\u308b\uff0e ini_environment.m \u8a2d\u5b9a\u3055\u308c\u305f\u5730\u5f62\u50be\u659c\u03b1\u304b\u3089\u5730\u9762\u5ea7\u6a19\u7cfb\u306b\u304a\u3051\u308b\u91cd\u529b\u30d9\u30af\u30c8\u30eb\u306e\u5411\u304d\u3092\u5b9a\u7fa9\u3059\u308b\uff0e\u307e\u305f\u523b\u307f\u6642\u9593\u3092\u8a2d\u5b9a\u3059\u308b\uff0e ini_surface.m \u30d5\u30a9\u30eb\u30c0/climblab/src/environment\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u5730\u5f62\u30c7\u30fc\u30bf\u306e\u4e2d\u304b\u3089\uff0cconfig\u3067\u6307\u5b9a\u3055\u308c\u305f\u5730\u5f62\u60c5\u5831\u3092xyz\u306e\u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u3067\u8aad\u307f\u8fbc\u3080\uff0e ini_graspable_points.m xyz\u306e\u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u304b\u30893\u00d7N\u884c\u5217\u306e\u70b9\u7fa4\u5f62\u5f0f\u306b\u5909\u63db\u3057\uff0c\u305d\u306e\u4e2d\u304b\u3089\u628a\u6301\u5bfe\u8c61\u3068\u3059\u308b\u70b9\u7fa4\u3092\u9078\u5b9a\u3059\u308b\uff0e \u3053\u3053\u3067\uff0c\u5730\u5f62\u3068\u3057\u3066\u4e0d\u6574\u5730\u3092\u8a2d\u5b9a\u3059\u308b\u5834\u5408\u306b\u306f\uff0c ini_graspable_points.m \u5185\u306b\u3066\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3092\u5b9f\u884c\u3059\u308b\u3053\u3068\u3067\u5730\u5f62\u5185\u306e\u628a\u6301\u53ef\u80fd\u70b9\u3092\u9078\u51fa\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/lib/target_detection \u4e0b\u306b\u5168\u3066\u306e\u95a2\u6570\u304c\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\uff0e \u6b21\u306b\uff0c\u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u306b\u95a2\u308f\u308bInitialize\u95a2\u6570\u306e\u5927\u5143\u3068\u3057\u3066\uff0c ini_robot.m \u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e ini_robot.m \u306b\u3088\u308a\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u7528\u3044\u308b\u30ed\u30dc\u30c3\u30c8\u306e\u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf(LP)\u3068\u72b6\u614b\u5909\u6570(SV)\u3092\u5b9a\u7fa9\u3057\uff0c\u307e\u305fConfig\u95a2\u6570\u3067\u6307\u5b9a\u3055\u308c\u305f\u521d\u671f\u30d9\u30fc\u30b9\u4f4d\u7f6e\u3084\u9ad8\u3055\u30fbxy\u65b9\u5411\u306e\u811a\u5148\u306e\u5e45\u3092\u3082\u3068\u306b\u5730\u5f62\u4e0a\u306b\u30ed\u30dc\u30c3\u30c8\u306e\u521d\u671f\u914d\u7f6e\u3092\u304a\u3053\u306a\u3046\uff0e \u3000 ini_robot.m \u306e\u5185\u90e8\u3067\u306f\u6b21\u306eInitialize\u95a2\u6570\u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e ini_(\u30ed\u30dc\u30c3\u30c8\u30bf\u30a4\u30d7\u306e\u540d\u524d)_LP.m Config\u95a2\u6570\u3067\u6307\u5b9a\u3055\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u3092\u8aad\u307f\u8fbc\u3093\u3067LP\u3092\u5b9a\u7fa9\u3059\u308b\uff0e ini_12DOF_SV.m 12\u81ea\u7531\u5ea6\u3092\u6301\u3064\u30ed\u30dc\u30c3\u30c8\u306e\u72b6\u614b\u5909\u6570\u3092\u521d\u671f\u5b9a\u7fa9\uff08\u5909\u6570\u3092\u7528\u610f\uff09\u3059\u308b\uff0e ini_joint_angle.m \u30ed\u30dc\u30c3\u30c8\u306e\u521d\u671f\u811a\u5148\u5e45\u304b\u3089\uff0c\u811a\u5148\u306b\u3082\u3063\u3068\u3082\u8fd1\u3044\u628a\u6301\u70b9\u3092\u898b\u3064\u3051\u51fa\u3057\uff0c\u305d\u3053\u304c\u9006\u904b\u52d5\u5b66\u7684\u306b\u53ef\u52d5\u7bc4\u56f2\u5185\u3067\u3042\u308c\u3070\u811a\u5148\u4f4d\u7f6e\u3092\u305d\u3053\u306b\u8a2d\u5b9a\u3057\uff0c\u9006\u904b\u52d5\u5b66\u3067\u6c42\u3081\u305f\u95a2\u7bc0\u89d2\u5ea6\u306b\u95a2\u7bc0\u89d2\u5ea6\u3092\u8a2d\u5b9a\u3059\u308b\uff0e ini_reachable_area.m \u521d\u671f\u8a2d\u7f6e\u3057\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u811a\u5148\u53ef\u52d5\u7bc4\u56f2\u3092\u8a2d\u5b9a\u3059\u308b\uff0e \u6b21\u306b\uff0c\u672a\u77e5\u74b0\u5883\u63a2\u67fb\u3092\u6a21\u64ec\u3059\u308b\u5834\u5408\u306b\u306f\uff0c ini_sensed_graspable_points.m \u306b\u3088\u308a\uff0c\u914d\u7f6e\u3057\u305f\u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u306e\u5468\u56f2\u306e\u628a\u6301\u70b9\u3092\u65e2\u77e5\u3068\u3059\u308b\u3088\u3046\u306b\u5909\u66f4\u3059\u308b\uff0e\u305d\u3057\u3066\uff0c ini_gait.m \u306b\u3088\u308a\uff0c\u6b69\u5bb9\u306b\u95a2\u308f\u308b\u30d1\u30e9\u30e1\u30fc\u30bf\u3068\u3057\u3066\uff0c4\u811a\u652f\u6301\u671f\u3084\u904a\u811a\u671f\u306e\u6642\u9593\u3092config\u3067\u6307\u5b9a\u3055\u308c\u305f\u5024\u304b\u3089\u8a08\u7b97\u3057\u3066\u8a2d\u5b9a\u3059\u308b\uff0e\u305d\u3057\u3066\uff0c\u5927\u5c40\u7684\u7d4c\u8def\u8a08\u753b(Global Path Planning)\u3092\u7528\u3044\u308b\u5834\u5408\u306b\u306f\uff0c\u305d\u306e\u521d\u671f\u8a2d\u5b9a\u3068\u3057\u3066\u4ee5\u4e0b\u306e2\u3064\u306e\u95a2\u6570\u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e ini_obstacle_map.m \u628a\u6301\u53ef\u80fd\u70b9\u4f4d\u7f6e\u60c5\u5831\u3092\u53ce\u5bb9\u3059\u308b\u30b0\u30ea\u30c3\u30c9\u30de\u30c3\u30d7\u3092\u5b9a\u7fa9\u3059\u308b\uff0e ini_global_path_plan.m \u5927\u5c40\u7684\u7d4c\u8def\u3092\u521d\u671f\u8a2d\u5b9a\u3059\u308b\uff0e \u6700\u5f8c\u306b\uff0c\u63cf\u753b\u3084\u4fdd\u5b58\u306b\u95a2\u3059\u308bInitialize\u95a2\u6570\u7fa4\u3068\u3057\u3066\uff0c ini_id.m \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7d50\u679c\u306e\u30c7\u30fc\u30bf\u3092dat\u30d5\u30a9\u30eb\u30c0\u306b\u4fdd\u5b58\u3059\u308b\u969b\u306e\u30d5\u30a9\u30eb\u30c0\u540d\u3092\u8a2d\u5b9a\u3059\u308b\uff0e ini_video\\_file.m \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u52d5\u753b\u306e\u4fdd\u5b58\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\uff0e \u304c\u5b9f\u884c\u3055\u308c\uff0c\u5168\u3066\u306e\u521d\u671f\u8a2d\u5b9a\u304c\u5b8c\u4e86\u3059\u308b\uff0e 2.6. Update Functions \u4e0a\u8a18\u306e\u51e6\u7406\u306b\u3088\u308a\u521d\u671f\u8a2d\u5b9a\u304c\u5b8c\u4e86\u3057\u305f\u305f\u3081\uff0c\u30eb\u30fc\u30d7\u306b\u3088\u3063\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u3059\u3081\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e \u3000Update\u95a2\u6570\u3068\u306f\uff0c\u305d\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30eb\u30fc\u30d7\u5185\u3067\u5b9f\u884c\u3055\u308c\u308b\u95a2\u6570\u7fa4\u3067\u3042\u308a\uff0c\u51e6\u7406\u306b\u3088\u3063\u3066\u5404\u5909\u6570\u306e\u4e2d\u8eab\u3092\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u6bce\u306b\u66f4\u65b0\u3059\u308b\u63a5\u982d\u8f9e upd_ \u3067\u59cb\u307e\u308b\u95a2\u6570\u3067\u3042\u308b\uff0eInitialize\u95a2\u6570\u7fa4\u3068\u540c\u69d8\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/src \u4e0b\u306b\uff0c\u8a72\u5f53\u3059\u308b\u6a5f\u80fd\u6bce\u306b\u30d5\u30a9\u30eb\u30c0\u3092\u5206\u3051\u3066\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0eUpdate\u95a2\u6570\u306e\u5f79\u5272\u306e\u4e00\u4f8b\u3068\u3057\u3066\u306f\uff0c\u305d\u306e\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u306b\u304a\u3051\u308b\u811a\u5148\u4f4d\u7f6e\u3084\u95a2\u7bc0\u89d2\u5ea6\u3092\u8a08\u7b97\u3057\u3066\u6c42\u3081\uff0c\u6c42\u3081\u305f\u5024\u3078\u306e\u5909\u6570\u306e\u66f4\u65b0\u3092\u304a\u3053\u306a\u3046\u306a\u3069\u304c\u6319\u3052\u3089\u308c\u308b\uff0eUpdate\u95a2\u6570\u306e\u7dcf\u6570\u306f40\u3092\u8d85\u3048\u308b\u305f\u3081\uff0c\u3053\u3053\u3067\u306f\u5404\u95a2\u6570\u306e\u8a73\u7d30\u306a\u8a18\u8ff0\u306f\u5272\u611b\u3057\uff0cmain_sim\u306e\u30eb\u30fc\u30d7\u5185\u90e8\u3067\u76f4\u63a5\u547c\u3073\u51fa\u3055\u308c\u3066\u5b9f\u884c\u3055\u308c\u3066\u3044\u308b\u5927\u5143\u306e\u95a2\u6570\u306b\u3064\u3044\u3066\u306e\u307f\u8aac\u660e\u3059\u308b\u306b\u3068\u3069\u3081\uff0cClimbLab\u306e\u5404\u51e6\u7406\u306e\u6982\u8981\u3092\u3055\u3089\u3046\uff0e Sensing \u307e\u305a\uff0c\u30ed\u30dc\u30c3\u30c8\u304c\u672a\u77e5\u74b0\u5883\u3092\u79fb\u52d5\u3057\u3066\u3044\u308b\u72b6\u6cc1\u3092\u60f3\u5b9a\u3057\u305f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u305f\u3081\u306b\uff0c * upd_sensed_graspable_points.m \u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e\u5730\u5f62\u60c5\u5831\u306b\u3064\u3044\u3066\u306f\u524d\u3082\u3063\u3066\u5168\u4f53\u306b\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u308b\uff0e\u305d\u306e\u305f\u3081\u30bb\u30f3\u30b7\u30f3\u30b0\u306b\u95a2\u3057\u3066ClimbLab\u5185\u3067\u306f\uff0c\u5730\u5f62\u60c5\u5831\u5168\u4f53\u306e\u70b9\u7fa4\u3067\u306f\u306a\u304f\uff0c\u6b69\u884c\u306b\u91cd\u8981\u306a\u628a\u6301\u53ef\u80fd\u70b9\u306e\u307f\u3092\u5bfe\u8c61\u3068\u3059\u308b\uff0e \u5177\u4f53\u7684\u306a\u51e6\u7406\u3092\u8ff0\u3079\u308b\uff0e surface_param.graspable_points (\u4ee5\u4e0b surface_param \u3092\u7701\u7565)\u306b\u683c\u7d0d\u3055\u308c\u305f\u5730\u5f62\u5168\u4f53\u306e\u628a\u6301\u53ef\u80fd\u70b9\u306e\u4f4d\u7f6e\u60c5\u5831\u3068\u306f\u5225\u306b\uff0c sensed_graspable_points \u3068\u3044\u3046\u5909\u6570\u3092\u7528\u610f\u3059\u308b\uff0e\u30bb\u30f3\u30b5\u30ab\u30e1\u30e9\u306e\u753b\u89d2\u306b\u5165\u3063\u305f\u3053\u3068\u3067\"\u65e2\u77e5\"\u3068\u306a\u3063\u305f\u70b9\u306e\u5ea7\u6a19\u3092\uff0c graspable_points \u304b\u3089\u30b3\u30d4\u30fc\u3057\u3066\u3053\u306e sensed_graspable_points \u306b\u683c\u7d0d\u3059\u308b\uff0e\u30ed\u30dc\u30c3\u30c8\u306e\u79fb\u52d5\u306b\u3068\u3082\u306a\u3063\u3066\u30bb\u30f3\u30b7\u30f3\u30b0\u30a8\u30ea\u30a2\u3082\u9032\u3093\u3067\u3044\u304f\u305f\u3081\uff0c\u3053\u306e\u51e6\u7406\u3092\u30eb\u30fc\u30d7\u5185\u3067\u7e70\u308a\u8fd4\u3057\u304a\u3053\u306a\u3063\u3066\u3044\u304f\uff0e\u305d\u3057\u3066\uff0c\u6b69\u5bb9\u8a08\u753b\u306a\u3069\u3067\u6271\u3046\u628a\u6301\u53ef\u80fd\u70b9\u306e\u4f4d\u7f6e\u60c5\u5831\u3068\u3057\u3066 sensed_graspable_points \u3092\u5229\u7528\u3059\u308b\u3053\u3068\u3067\uff0c\u672a\u77e5\u74b0\u5883\u3092\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3044\u306a\u304c\u3089\u79fb\u52d5\u3059\u308b\u72b6\u6cc1\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u304d\u308b\uff0e Global Path Planning \u7d9a\u3044\u3066\uff0c\u5927\u5c40\u7684\u7d4c\u8def\u8a08\u753b\u3068\u3057\u3066\uff0c\u6b21\u306e2\u3064\u306e\u95a2\u6570\uff1a upd_obstacle_map.m upd_global_path_plan.m \u304c\u9806\u306b\u5b9f\u884c\u3055\u308c\u308b\uff0e\u307e\u305a upd_obstacle_map.m \u306b\u3088\u3063\u3066\uff0c\u30bb\u30f3\u30b7\u30f3\u30b0\u306e\u7d50\u679c\u306b\u3082\u3068\u3065\u304d\u628a\u6301\u53ef\u80fd\u70b9\u4f4d\u7f6e\u60c5\u5831\u3092\u30b0\u30ea\u30c3\u30c9\u30de\u30c3\u30d7\u306b\u53ce\u5bb9\u3059\u308b\uff0e\u5404\u30b0\u30ea\u30c3\u30c9\u306f\uff0c\u4e2d\u5fc3\u306b\u6709\u3059\u308b\u53c2\u7167\u30ce\u30fc\u30c9\u306e\u72b6\u614b\u306b\u5fdc\u3058\u3066\uff0c\u4eee\u30ce\u30fc\u30c9\u3067\u3042\u308c\u30700\uff0c\u78ba\u5b9a\u30ce\u30fc\u30c9\u306a\u30891\uff0c\u7a7a\u30ce\u30fc\u30c9\u306a\u3089NaN\u5024\u3092\u6301\u3064\u3088\u3046\u306b\u66f4\u65b0\u3055\u308c\u308b\uff0e\u3053\u306e\u3088\u3046\u306b\uff0c\u5404\u30ce\u30fc\u30c9\u306e\u5024\u3092\u53ce\u5bb9\u3057\u3066\u3044\u308b\u884c\u5217\u3068\u3057\u3066\u30b0\u30ea\u30c3\u30c9\u30de\u30c3\u30d7\u3092\u53d6\u308a\u6271\u3046\uff0e\u305d\u3057\u3066\uff0c upd_global_path_plan.m \u3067\u306f\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u73fe\u5728\u4f4d\u7f6e\u3068\u30b4\u30fc\u30eb\u4f4d\u7f6e\uff0c\u305d\u3057\u3066\u5404\u30ce\u30fc\u30c9\u306e\u72b6\u614b\u3092\u53c2\u7167\u3057\u3066\u7d4c\u8def\u3092\u751f\u6210\u3057\uff0c\u4e2d\u9593\u70b9\u3092\u751f\u6210\u3059\u308b\uff0e Local Path Planning \u5c40\u6240\u7684\u7d4c\u8def\u8a08\u753b\u3092\u304a\u3053\u306a\u3046\u95a2\u6570\u3068\u3057\u3066\uff0c upd_local_path_planning.m \u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e\u3053\u306e\u95a2\u6570\u306b\u3088\u3063\u3066\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u6b21\u306e\u4e00\u65b9\u306b\u304a\u3051\u308b\u76ee\u6a19\u79fb\u52d5\u65b9\u5411\u3092\u6c7a\u5b9a\u3059\u308b\uff0e\u95a2\u6570\u5185\u3067\u306f\uff0c\u8a98\u5f15\u3055\u308c\u308b3\u3064\u306e\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u3092\u305d\u308c\u305e\u308c\u7b97\u51fa\u3057\uff0c\u91cd\u307f\u4ed8\u3051\u4fc2\u6570\u3092\u304b\u3051\u3066\u8db3\u3057\u5408\u308f\u305b\u3066\u6b63\u898f\u5316\u3059\u308b\u3053\u3068\u3067\uff0c\u79fb\u52d5\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u3092\u5c0e\u51fa\u3057\u3066\u3044\u308b\uff0e \u306a\u304a\uff0c\u3053\u306e\u5c40\u6240\u7684\u7d4c\u8def\u8a08\u753b\u3092\u7528\u3044\u306a\u3044\u5834\u5408\u306f\uff0c\u6b21\u306e\u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u95a2\u6570\u306e\u306a\u304b\u3067\uff0c\u79fb\u52d5\u65b9\u5411\u3068\u3057\u3066\u30b4\u30fc\u30eb\u65b9\u5411\u306b\u76f4\u9032\u3059\u308b\u30d9\u30af\u30c8\u30eb\u3092\u8a2d\u5b9a\u3057\u3066\u3044\u308b\uff0e Gait Planning \u7d4c\u8def\u8a08\u753b\u306b\u7d9a\u3044\u3066\uff0c\u6b69\u5bb9\u8a08\u753b\u3092\u304a\u3053\u306a\u3046\u5927\u5143\u306e\u95a2\u6570\u3068\u3057\u3066\uff0c upd_gait_planning.m \u304c\u5b9f\u884c\u3055\u308c\u308b\uff0eGait Planning\u3068\u306f\uff0c\u6b69\u5bb9\u8a08\u753b\u3092\u610f\u5473\u3059\u308b\u8a00\u8449\u3067\u3042\u308a\uff0c\u6b21\u306e\u904a\u811a\u30fb\u811a\u5148\u4f4d\u7f6e(\u628a\u6301\u70b9)\u30fb\u30d9\u30fc\u30b9\u4f4d\u7f6e\u30fb\u30d9\u30fc\u30b9\u59ff\u52e2\u3092\u6c7a\u5b9a\u3059\u308b\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3042\u308b\uff0e\u30d5\u30a1\u30a4\u30eb\u306e\u7f6e\u304d\u5834\u6240\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/src/controller/gait \u4e0b\u306b\uff0c\u30d5\u30a7\u30fc\u30ba\u6bce\u306b\u30d5\u30a9\u30eb\u30c0\u3092\u5206\u3051\u3066\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e upd_gait_planning.m \u304c main_sim \u5185\u3067\u5b9f\u884c\u3055\u308c\uff0c\u305d\u306e\u4e2d\u3067 gait_planning_param.type \u306b\u3088\u3063\u3066\u9069\u7528\u3055\u305b\u308b\u6b69\u5bb9\u8a08\u753b\u624b\u6cd5\u3092\u5207\u308a\u66ff\u3048\u3066\u5b9f\u884c\u3055\u308c\u308b\uff0e\u811a\u578b\u30af\u30e9\u30a4\u30df\u30f3\u30b0\u30ed\u30dc\u30c3\u30c8\u306e\u305f\u3081\u306e\u96e2\u6563\u7684\u306a\u811a\u5148\u63a5\u5730\u70b9\u3092\u8003\u616e\u3057\u305f\u6b69\u5bb9\u8a08\u753b\u624b\u6cd5\u3084\uff0c\u5f93\u6765\u624b\u6cd5\u3067\u3042\u308b\u30af\u30ed\u30fc\u30eb\u6b69\u5bb9\u306a\u3069\u304c\u5b9f\u88c5\u3055\u308c\u3066\u3044\u308b\uff0e Motion Planning \u6b69\u5bb9\u8a08\u753b\u306b\u3088\u3063\u3066\uff0c\u6b21\u306e\u4e00\u6b69\u5f8c\u306e\u59ff\u52e2\u304c\u6c7a\u5b9a\u3055\u308c\u305f\u305f\u3081\uff0c\u73fe\u5728\u306e\u59ff\u52e2\u304b\u3089\uff0c\u6b21\u306e\u59ff\u52e2\u3078\u3068\u79fb\u308b\u305f\u3081\u306e\u904b\u52d5\u8a08\u753b(Motion Planning)\u3092\u6b21\u306e upd_motion_planning.m \u306b\u3088\u3063\u3066\u5b9f\u884c\u3059\u308b\uff0e\u307e\u305a\u904a\u811a\u306e\u811a\u5148\u8ecc\u9053\u3092\u8a2d\u8a08\u3057\uff0c\u7d9a\u3044\u3066\u30d9\u30fc\u30b9\u91cd\u5fc3\u306e\u63cf\u304f\u8ecc\u9053\u306e\u8a2d\u8a08\u3092\u304a\u3053\u306a\u3046\uff0e\u305d\u3057\u3066\uff0c\u6c42\u3081\u3089\u308c\u305f\u8ecc\u9053\u304b\u3089\uff0c\u5404\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u3067\u306e\u76ee\u6a19\u811a\u5148\u4f4d\u7f6e\u3068\u76ee\u6a19\u30d9\u30fc\u30b9\u4f4d\u7f6e\u3092\uff0c\u30b9\u30d7\u30e9\u30a4\u30f3\u66f2\u7dda\u3092\u7528\u3044\u3066\u5c0e\u51fa\u3059\u308b\uff0e\u305d\u306e\u7d50\u679c\u304b\u3089\uff0c\u73fe\u5728\u6642\u523b\u3067\u306e\u30ed\u30dc\u30c3\u30c8\u306e\u76ee\u6a19\u72b6\u614b\u3092\uff0c\u9006\u904b\u52d5\u5b66\u3092\u89e3\u3044\u3066\u5404\u95a2\u7bc0\u89d2\u5ea6\u3092\u6c42\u3081\u308b\u3053\u3068\u3067\u5b9a\u7fa9\u3059\u308b\uff0e\u4ee5\u4e0a\u306e\u51e6\u7406\u306b\u3088\u308a\uff0c\u6b69\u5bb9\u8a08\u753b\u3067\u6c7a\u5b9a\u3057\u305f\u6b21\u306e\u628a\u6301\u70b9\u3084\u30d9\u30fc\u30b9\u4f4d\u7f6e\u306b\u5230\u9054\u3059\u308b\u305f\u3081\u306b\uff0c\u30ed\u30dc\u30c3\u30c8\u304c\u304a\u3053\u306a\u3046\u52d5\u4f5c\u3092\uff0c\u5404\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u3054\u3068\u306e\u76ee\u6a19\u95a2\u7bc0\u89d2\u5ea6\u3068\u3057\u3066\u5c0e\u51fa\u3059\u308b\uff0e\u5c0e\u51fa\u3057\u305f\u76ee\u6a19\u95a2\u7bc0\u89d2\u5ea6\u3092 des_SV \u306b\u683c\u7d0d\u3057\uff0c\u3053\u306e des_SV \u3092\u76ee\u6307\u3057\u5236\u5fa1\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u3067\u8a08\u753b\u3057\u305f\u904b\u52d5\u306e\u8ffd\u5f93\u30fb\u5b9f\u73fe\u3092\u304a\u3053\u306a\u3046\uff0e Equilibrium Evaluation \u904b\u52d5\u8a08\u753b\u306b\u7d9a\u3044\u3066\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u5b89\u5b9a\u6027\u8a55\u4fa1\u3092\uff0c upd_equilibrium_eval.m \u306b\u3088\u3063\u3066\u6c42\u3081\uff0c\u5b89\u5b9a\u6027\u3092\u5b9a\u91cf\u7684\u306b\u7b97\u51fa\u3059\u308b\uff0eClimbLab\u306b\u5c0e\u5165\u3055\u308c\u3066\u3044\u308b\u5b89\u5b9a\u6027\u8a55\u4fa1\u6307\u6a19\u306b\u306f2\u3064\u306e\u7a2e\u985e\u304c\u3042\u308b\uff0e\u307e\u305a\u7b2c\u4e00\u306e\u6307\u6a19\u306f\uff0c\u8ee2\u5012\u5b89\u5b9a\u4f59\u88d5(Tumble Stability Margin, TSM)\u3067\u3042\u308b\uff0e\u7d9a\u3044\u3066\u7b2c\u4e8c\u306e\u6307\u6a19\u3068\u3057\u3066\uff0c\u8ee2\u5012\u5b89\u5b9a\u4f59\u88d5\u306e2\u6b21\u5143\u7684\u306a\u6982\u5ff5\u30923\u6b21\u5143\u7684\u306b\u62e1\u5f35\u3055\u305b\u3066\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u52a0\u901f\u5ea6\u30d9\u30af\u30c8\u30eb\u7dcf\u548c(Gravito-Inertial Acceleration, GIA)\u3092\u7528\u3044\u305f\u5b89\u5b9a\u6027\u8a55\u4fa1\u624b\u6cd5\u304c\u3042\u308b\uff0e\u3053\u306e2\u3064\u306e\u624b\u6cd5\u306e\u3069\u3061\u3089\u304b\u306e\u5185\uff0c\u81ea\u5206\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u9069\u5207\u3067\u3042\u308b\u624b\u6cd5\u3092\u5c0e\u5165\u3057\u3066\u5b89\u5b9a\u6027\u3092\u8a55\u4fa1\u3059\u308b\uff0e Robot Controller \u904b\u52d5\u8a08\u753b\u306b\u3088\u3063\u3066\u5c0e\u51fa\u3055\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u76ee\u6a19\u95a2\u7bc0\u89d2\u5ea6\u306b\u8fd1\u3065\u3051\u308b\u305f\u3081\u306b\uff0c\u904b\u52d5\u5236\u5fa1\u3092\u304a\u3053\u306a\u3046\uff0e\u904b\u52d5\u5236\u5fa1\u306f\u4ee5\u4e0b\u306e\u95a2\u6570\uff0c upd_control.m \u3067\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308b\uff0e\u30ed\u30dc\u30c3\u30c8\u306e\u52d5\u529b\u5b66\u3092\u7121\u8996\u3057\u3066\u904b\u52d5\u5b66\u306e\u307f\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u5834\u5408\u306b\u306f\uff0c\u3053\u306e\u51e6\u7406\u306f\u30b9\u30ad\u30c3\u30d7\u3057\uff0c\u904b\u52d5\u8a08\u753b\u3067\u6c42\u3081\u3089\u308c\u305f\u76ee\u6a19\u95a2\u7bc0\u89d2\u5ea6\u3092\u73fe\u5728\u6642\u523b\u306b\u304a\u3051\u308b\u30ed\u30dc\u30c3\u30c8\u306e\u95a2\u7bc0\u89d2\u5ea6\u3068\u3057\u3066\u305d\u306e\u307e\u307e\u63a1\u7528\u3059\u308b\uff0e\u4e00\u65b9\u3067\u30c0\u30a4\u30ca\u30df\u30af\u30b9\u3092\u8003\u616e\u3057\u305f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u5834\u5408\u306b\u306f\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u95a2\u7bc0\u30c8\u30eb\u30af\u03c4~i~\u3092PD\u5236\u5fa1\u3059\u308b\uff0e Kinematics and Dynamics \u30ed\u30dc\u30c3\u30c8\u306b\u95a2\u308f\u308b\u52d5\u529b\u5b66\u3084\u904b\u52d5\u5b66\u3092\u8a08\u7b97\u3059\u308b\uff0e\u307e\u305a\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u811a\u5148\u306e\u30b0\u30ea\u30c3\u30d1\u306b\u5bfe\u3057\u3066\u304b\u304b\u308b\u5f15\u304d\u5265\u304c\u3057\u529b\u3068\uff0c\u30b0\u30ea\u30c3\u30d1\u306e\u628a\u6301\u529b\u3068\u3092\u6bd4\u8f03\u3059\u308b\uff0e\u30b0\u30ea\u30c3\u30d1\u304c\u8010\u3048\u3089\u308c\u308b\u628a\u6301\u529b\u4ee5\u4e0a\u306e\u5f15\u304d\u5265\u304c\u3057\u529b\u304c\u811a\u5148\u306b\u767a\u751f\u3057\u3066\u3044\u308b\u5834\u5408\uff0c\u30b0\u30ea\u30c3\u30d1\u306f\u5265\u96e2\u3057\u305f\u3068\u5224\u5b9a\u3055\u308c\u308b\uff0e\u7d9a\u3044\u3066\uff0c\u5404\u811a\u306e\u811a\u5148\u306e\u30b0\u30ea\u30c3\u30d1\u304c\u5730\u9762\u306b\u62bc\u3057\u4ed8\u3051\u3089\u308c\u308b\u3053\u3068\u3067\u767a\u751f\u3059\u308b\u53cd\u529b\u3092\u8a08\u7b97\u3059\u308b\uff0e\u5730\u9762\u304b\u3089\u53d7\u3051\u308b\u53cd\u529bF~contact~\u306f\uff0c\u3070\u306d-\u30c0\u30f3\u30d1\u30e2\u30c7\u30eb\u3092\u63a1\u7528\u3057\u3066\u7b97\u51fa\u3055\u308c\u308b\uff0e\u811a\u5148\u304c\u5730\u9762\u306b\u4eee\u60f3\u7684\u306b\u3081\u308a\u3053\u3080\u3068\u3057\uff0c\u305d\u306e\u3068\u304d\u306e\u53cd\u529b\u3092\u5f3e\u6027\u4fc2\u6570\u3068\u7c98\u6027\u4fc2\u6570\u3092\u6307\u5b9a\u3059\u308b\u3053\u3068\u3067\u30e2\u30c7\u30eb\u5316\u3059\u308b\uff0e\u9678\u4e0a\u7af6\u6280\u4e0a\u306e\u30c8\u30e9\u30c3\u30af\u3084\uff0c\u516c\u9053\u306e\u30a2\u30b9\u30d5\u30a1\u30eb\u30c8\u30fb\u5ca9\u77f3\u5730\u5f62\u306a\u3069\uff0c\u5730\u9762\u306e\u8edf\u3089\u304b\u3055\u306f\u69d8\u3005\u3067\u3042\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u3053\u308c\u3089\u306e\u4fc2\u6570\u3092\u9069\u5207\u306b\u8a2d\u5b9a\u3057\u3066\u5bfe\u8c61\u3068\u3059\u308b\u5730\u9762\u306e\u53cd\u529b\u3092\u30e2\u30c7\u30eb\u5316\u3059\u308b\uff0e \u305d\u3057\u3066\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u904b\u52d5\u65b9\u7a0b\u5f0f\u3092SpaceDyn\u3092\u7528\u3044\u3066\u30eb\u30f3\u30b2\uff1d\u30af\u30c3\u30bf\u6cd5\u306b\u3088\u3063\u3066\u89e3\u304f\uff0e\u7b97\u51fa\u3055\u308c\u305f\u30d9\u30fc\u30b9\u4f4d\u7f6e\u3068\u5404\u95a2\u7bc0\u306e\u95a2\u7bc0\u89d2\u5ea6\u304b\u3089\uff0c\u9806\u904b\u52d5\u5b66\u306b\u3088\u3063\u3066\u305d\u306e\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u306b\u304a\u3051\u308b\u30ed\u30dc\u30c3\u30c8\u306e\u4f4d\u7f6e\u3068\u59ff\u52e2\u3092\u8a08\u7b97\u3059\u308b\uff0e Variables Saving \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u632f\u308a\u8fd4\u3063\u3066\u5f8c\u306b\u89e3\u6790\u304c\u3067\u304d\u308b\u3088\u3046\u306b\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u4e2d\u306e\u5909\u6570\u306e\u6642\u9593\u5c65\u6b74\u3092\u4fdd\u5b58\u3059\u308b\uff0e\u305d\u306e\u305f\u3081\u306b\uff0c\u30eb\u30fc\u30d7\u5185\u306b\u3066 upd_variables_saved.m \u3092\u5b9f\u884c\u3057\uff0c\u5404\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u306b\u304a\u3051\u308b\u4e3b\u8981\u306a\u5909\u6570\u306e\u5024\u3092 variables_saved \u3068\u3044\u3046class\u306b\u683c\u7d0d\u3057\u3066\u3044\u304f\uff0e\u30eb\u30fc\u30d7\u7d42\u4e86\u5f8c\uff0cSave\u95a2\u6570\u306b\u3088\u3063\u3066\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u306bCSV\u30d5\u30a1\u30a4\u30eb\u3068\u3057\u3066\u4fdd\u5b58\u3059\u308b\uff0e Simulation Stopper \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u3042\u308b\u7279\u5b9a\u306e\u6761\u4ef6\u3092\u6e80\u305f\u3057\u305f\u6642\uff0c\u30eb\u30fc\u30d7\u3092\u8131\u3057\u3066\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u7d42\u4e86\u3059\u308b\uff0e\u305d\u306e\u305f\u3081\u306e\u95a2\u6570\u304c\uff0c upd\\_stop\\_sim.m \u3067\u3042\u308b\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u7d42\u4e86\u6761\u4ef6\u306f\u5148\u306b\u8ff0\u3079\u305f\u3088\u3046\u306b\uff0c\u8a2d\u5b9a\u3057\u305f\u6642\u523b\u307e\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u6642\u9593\u304c\u9032\u3080\u304b\uff0c\u30ed\u30dc\u30c3\u30c8\u304c\u76ee\u7684\u5730\u70b9\u306b\u5230\u9054\uff0c\u3082\u3057\u304f\u306f\u79fb\u52d5\u306e\u7d99\u7d9a\u304c\u4e0d\u53ef\u80fd\u3068\u306a\u3063\u305f\u5834\u5408\u3067\u3042\u308b\uff0e\u3053\u308c\u3089\u306e\u6761\u4ef6\u306e\u3046\u3061\u3044\u305a\u308c\u304b\u3092\u6e80\u305f\u3057\u305f\u5834\u5408\uff0c\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u3092\u7d42\u4e86\u3057\u3066\uff0cSave\u95a2\u6570\u306e\u5b9f\u884c\u3078\u3068\u79fb\u308b\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u7d42\u4e86\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u3044\u306a\u3044\u5834\u5408\u306f\uff0c\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u306e\u5148\u982d\u306b\u623b\u3063\u3066\u30bb\u30f3\u30b7\u30f3\u30b0\u304b\u3089\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u7d99\u7d9a\u3059\u308b\uff0e \u4ee5\u4e0a\u304c main_sim.m \u5185\u3067\u5b9f\u884c\u3055\u308c\u308bUpdate\u95a2\u6570\u306e\u6982\u8981\u3067\u3042\u308b\uff0e\u3053\u3053\u3067\u8ff0\u3079\u305f\u305d\u308c\u305e\u308c\u306e\u95a2\u6570\u304c\u5185\u90e8\u3067\u307e\u305f\u8907\u6570\u306eUpdate\u95a2\u6570\u3092\u547c\u3073\u51fa\u3057\u3066\u5b9f\u884c\u3057\u3066\u3044\u308b\uff0e\u5404\u95a2\u6570\u306e\u51e6\u7406\u306e\u8a73\u7d30\u3092\u77e5\u308a\u305f\u3044\u5834\u5408\u306f\uff0c\u95a2\u6570\u306e\u4e2d\u8eab\u3092\u5b9f\u969b\u306b\u898b\u3066\u307f\u308b\u3053\u3068\u304c\u63a8\u5968\u3055\u308c\u308b\uff0e 2.7. Visualize Functions Visualize\u95a2\u6570\u3068\u306f\uff0cMATLAB figure\u306b\u5909\u6570\u3084\u30c7\u30fc\u30bf\u3092\u56f3\u3068\u3057\u3066\u63cf\u753b\u3059\u308b\u305f\u3081\u306e\u63a5\u982d\u8f9e vis_ \u306e\u3064\u304f\u95a2\u6570\u7fa4\u3067\uff0c\u30d5\u30a1\u30a4\u30eb\u306e\u7f6e\u304d\u5834\u6240\u306f\u5168\u3066\u30d5\u30a9\u30eb\u30c0 /climbla/src/visulaization \u3067\u3042\u308b\uff0eVisualize\u95a2\u6570\u306b\u306f2\u7a2e\u985e\u3042\u308a\uff0c \u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u69d8\u5b50\u3092\u52d5\u753b\u306b\u63cf\u753b\u3059\u308b\u305f\u3081\u306e\u95a2\u6570 \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5f8c\u306b\u5909\u6570\u306e\u5c65\u6b74\u3092\u30d7\u30ed\u30c3\u30c8\u3059\u308b\u305f\u3081\u306e\u95a2\u6570 \u306b\u5206\u3051\u3089\u308c\u308b\uff0e \u524d\u8005\u306e\uff0c\u52d5\u753b\u306e\u305f\u3081\u306eVisualize\u95a2\u6570\u306b\u3064\u3044\u3066\u306f\uff0c\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u5185\u3067\u5b9f\u884c\u3055\u308c\u3066\u304a\u308a\uff0c\u8a2d\u5b9a\u3055\u308c\u305f\u30d5\u30ec\u30fc\u30e0\u306e\u30bf\u30a4\u30df\u30f3\u30b0\u306b\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u304c\u306a\u308b\u6bce\u306b\u307e\u3068\u3081\u3066\u5b9f\u884c\u3055\u308c\uff0c\u540c\u3058figure\u306b\u7e70\u308a\u8fd4\u3057\u63cf\u753b\u3057\u3066\u3044\u304f\uff0e animation_param \u306b\u3088\u3063\u3066\uff0c\u8868\u793a\u3059\u308b\u9805\u76ee\u3092\u9078\u3073\uff0c\u307e\u305f\u63cf\u753b\u306e\u8272\u30fb\u592a\u3055\u30fb\u30de\u30fc\u30ab\u30fc\u3092\u5168\u3066\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u307e\u305f\u3053\u308c\u3089\u306e\u95a2\u6570\u306e\u7559\u610f\u70b9\u3068\u3057\u3066\uff0c\u5730\u8868\u9762\u306e\u50be\u659c\u89d2\u5ea6(Inclination: inc)\u306e\u53d6\u308a\u6271\u3044\u3092\u8a8d\u8b58\u3057\u3066\u304a\u304f\u5fc5\u8981\u304c\u3042\u308b\uff0e\u6025\u50be\u659c\u5730\u5f62\u306e\u767b\u6500\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u969b\u306b\u304a\u3044\u3066\u3082\uff0cClimbLab\u5185\u306e\u5909\u6570\u306f\u5168\u3066\u50be\u3044\u305f\u5730\u9762\u4e0a\u306e\u5730\u9762\u5ea7\u6a19\u7cfb\u3067\u8a08\u7b97\u3055\u308c\u3066\u3044\u308b\u305f\u3081\uff0c\u5909\u6570\u3092\u52d5\u753b\u306b\u63cf\u753b\u3059\u308b\u969b\u306b\u306f\uff0c\u3059\u3079\u3066\u306eVisualize\u95a2\u6570\u306e\u4e2d\u3067rot(\u5730\u9762\u5ea7\u6a19\u7cfb\u3068\u6163\u6027\u5ea7\u6a19\u7cfb\u3068\u306e\u9593\u306e\u56de\u8ee2\u884c\u5217)\u3092\u8a08\u7b97\u3057\uff0c\u5909\u6570\u306b\u5bfe\u3057\u3066\u5ea7\u6a19\u5909\u63db\u3092\u304a\u3053\u306a\u3063\u3066\u6163\u6027\u5ea7\u6a19\u7cfb\u306b\u304a\u3051\u308b\u6025\u50be\u659c\u767b\u6500\u3092\u793a\u3057\u3066\u3044\u308b\uff0e \u5f8c\u8005\u306e\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5f8c\u306b\u5909\u6570\u306e\u5c65\u6b74\u3092\u30d7\u30ed\u30c3\u30c8\u3059\u308b\u305f\u3081\u306e\u95a2\u6570\u306b\u3064\u3044\u3066\u306f\uff0c main_sim.m \u306e\u30eb\u30fc\u30d7\u5f8c\u306b\u304a\u304a\u3082\u3068\u306e\u95a2\u6570\u3067\u3042\u308b vis_plot_graph.m \u304c\u5b9f\u884c\u3055\u308c\u308b\u3053\u3068\u3067\u6a5f\u80fd\u3059\u308b\uff0e\u30d7\u30ed\u30c3\u30c8\u3059\u308b\u5909\u6570\u5c65\u6b74\u306e\u7a2e\u985e\u306f plot_param \u3067\u8a2d\u5b9a\u304c\u53ef\u80fd\u3067\u3042\u308b\uff0e\u5c65\u6b74\u3092\u30d7\u30ed\u30c3\u30c8\u3059\u308b\u305f\u3081\u306b\u4f7f\u3046\u305f\u3081\u306e\u5171\u901a\u306e\u95a2\u6570\u3068\u3057\u3066\uff0c vis_graph_time_history.m \u304c\u5b58\u5728\u3057\uff0c vis_plot_graph.m \u306e\u5185\u90e8\u3067\u5909\u6570\u3054\u3068\u306b\u7e70\u308a\u8fd4\u3057\u3053\u306e\u95a2\u6570\u304c\u4f7f\u7528\u3055\u308c\u3066\u3044\u308b\uff0e\u307e\u305f\uff0c\u3053\u306e\u5171\u901a\u306e vis_graph_time_history.m \u3067\u306f\u793a\u305b\u306a\u3044\u5f62\u614b\u306e\u30c7\u30fc\u30bf\u3084\uff0c\u5b89\u5b9a\u6027\u89e3\u6790\u4e0a\u91cd\u8981\u306a\u9805\u76ee\u306b\u5bfe\u3057\u3066\u306f\uff0c\u4ee5\u4e0b\u306e5\u3064\u306e\u5358\u72ec\u306e\u30d7\u30ed\u30c3\u30c8\u7528Visualize\u95a2\u6570\u304c\u4f5c\u6210\u3055\u308c\u3066\u3044\u308b\uff0e vis_footholds.m vis_graph_tsm.m vis_graph_gia_margin.m vis_graph_gia_inclination_margin.m vis_graph_trajectory_comparison.m 2.8. Save Function Save\u95a2\u6570\u3068\u306f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u30a8\u30f3\u30c9\u30d5\u30a7\u30a4\u30ba\u6642\u306b\u5b9f\u884c\u3055\u308c\uff0c\u5909\u6570\u3084\u30c7\u30fc\u30bf\u3092MATLAB\u306e\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u304b\u3089\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u306b\u4fdd\u5b58\u3059\u308b\u95a2\u6570\u306e\u3053\u3068\u3067\u3042\u308b\uff0e\u30d5\u30a1\u30a4\u30eb\u306e\u7f6e\u304d\u5834\u6240\u306f\uff0c\u30d5\u30a9\u30eb\u30c0/climblab/src/misc\uff08misc\u306f\u300c\u305d\u306e\u4ed6\u300d\u306e\u610f\u5473\uff09\u3067\u3042\u308b\uff0eSave\u95a2\u6570\u3068\u3057\u3066\u5206\u985e\u3055\u308c\u308b\u306e\u306f\uff0c sav_data_file.m \u3060\u3051\u3067\u3042\u308b\uff0e\u3053\u306e\u95a2\u6570\u306b\u3088\u3063\u3066\uff0c\u305d\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u30e6\u30fc\u30b6\u30fc\u304c\u6307\u5b9a\u3057\u3066\u8aad\u307f\u8fbc\u3093\u3060Config\u30d5\u30a1\u30a4\u30eb\u3068\uff0c\u5185\u90e8\u3067\u5909\u5316\u3057\u305f\u5909\u6570\u306e\u5c65\u6b74\u3092CSV\u5f62\u5f0f\u3068\u3057\u3066\u4fdd\u5b58\u3057\u305f\u30d5\u30a1\u30a4\u30eb\u3092\uff0c\u5b9f\u884c\u3057\u305f\u6642\u523b\u3092\u30d5\u30a9\u30eb\u30c0\u540d\u3068\u3057\u3066\u30d5\u30a9\u30eb\u30c0 /climblab/dat \u4e0b(dat: data\u306e\u610f)\u306b\u65b0\u305f\u306b\u30d5\u30a9\u30eb\u30c0\u3092\u4f5c\u6210\u3057\u3066\u4fdd\u5b58\u3059\u308b\uff0e\u4fdd\u5b58\u3059\u308b\u969b\u306e\u30d5\u30a9\u30eb\u30c0\u540d\u3084\u30d5\u30a1\u30a4\u30eb\u540d\u306f run_cod \u3084 run_id \u3068\u3044\u3046\u5909\u6570\u3067\u6307\u5b9a\u3067\u304d\u308b\uff0e\u3053\u306e\u4fdd\u5b58\u3055\u308c\u305fCSV\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u5fc5\u8981\u306a\u30c7\u30fc\u30bf\u3092\u62bd\u51fa\u3059\u308b\u3053\u3068\u3067\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7d42\u4e86\u5f8c\u306b\u6539\u3081\u3066\u8a73\u7d30\u306a\u89e3\u6790\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u304c\u3067\u304d\u308b\uff0e","title":"2. Simulation"},{"location":"2_ClimbLab_simulation_flow/#2-climblab","text":"\u672c\u7ae0\u3067\u306f\uff0cClimbLab\u3067\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u6d41\u308c\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e MATLAB\u306f\uff0c\u5b9f\u884c\u3059\u308b\u30e1\u30a4\u30f3\u30d5\u30a1\u30a4\u30eb\u304c\u4e00\u3064\u3042\u308a\uff0c\u305d\u306e\u30e1\u30a4\u30f3\u30d5\u30a1\u30a4\u30eb\u306e\u4e2d\u3067\uff0c\u691c\u7d22\u30d1\u30b9\u304c\u901a\u3063\u3066\u3044\u308b\u30d5\u30a9\u30eb\u30c0\u5185\u306b\u3042\u308b\u3044\u304f\u3064\u3082\u306e\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u3092\u547c\u3073\u51fa\u3059\u3053\u3068\u3067\u8907\u96d1\u306a\u6f14\u7b97\u3092\u884c\u3046\uff0eClimbLab\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/src \u4e0b\u306b\u3042\u308b main_sim.m \u3068\u3044\u3046\u30e1\u30a4\u30f3\u30d5\u30a1\u30a4\u30eb\u3092\u5b9f\u884c\u3059\u308b\u3053\u3068\u3067\u6a5f\u80fd\u3057\uff0c\u30d5\u30a9\u30eb\u30c0 ../climblab/ \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u3092\u547c\u3073\u51fa\u3057\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u884c\u3046\uff0e ClimbLab\u5185\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308b\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u306b\u306f\u5927\u304d\u304f2\u7a2e\u985e\u3042\u308b\uff0e1\u3064\u76ee\u306f\uff0c\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306b\u9650\u3089\u305a\u4e00\u822c\u7684\u306a\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u30c0\u30a4\u30ca\u30df\u30af\u30b9\u8a08\u7b97\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u304c\u3067\u304d\u308b SpaceDyn \u3068\u3044\u3046\u4e00\u9023\u306e\u95a2\u6570\u7fa4\u3067\u3042\u308b\uff0e\u672c\u7814\u7a76\u5ba4\u3067\u958b\u767a\u3055\u308c\u305f\u3053\u306eSpaceDyn\u3068\u3044\u3046MATLAB\u30c4\u30fc\u30eb\u30dc\u30c3\u30af\u30b9\u306f\uff0c1999\u5e74\u304b\u3089\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u3068\u3057\u3066\u516c\u958b\u3055\u308c\u3066\u304a\u308a\uff0c\u73fe\u5728\u3067\u3082GitHub\u304b\u3089\u5229\u7528\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u3053\u306eSpaceDyn\u3082ClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u4e0b\u306b\u53ce\u5bb9\u3055\u308c\uff0cClimbLab\u306b\u6d3b\u7528\u3055\u308c\u3066\u3044\u308b\uff0eClimbLab\u5185\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308b2\u3064\u76ee\u306e\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u306f\uff0c\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u305f\u3081\u306b\u65b0\u305f\u306b\u958b\u767a\u3055\u308c\u3066\u304d\u305f\u95a2\u6570\u7fa4\u3067\u3042\u308a\uff0c\u3053\u308c\u3089\u306f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u69cb\u6210\u4e0a\u3055\u3089\u306b5\u3064\u306e\u7a2e\u985e\u306b\u5206\u985e\u3055\u308c\u3066\u3044\u308b\uff0e\u305d\u308c\u305e\u308c\uff0cConfiguration\u95a2\u6570\u30fbInitialize\u95a2\u6570\u30fbUpdate\u95a2\u6570\u30fbVisualize\u95a2\u6570\u30fbSave\u95a2\u6570\u3068\u547d\u540d\u3055\u308c\u3066\u3044\u308b\uff0e \u672c\u7ae0\u3067\u306f\uff0c\u307e\u305a main_sim.m \u306e\u69cb\u9020\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u7d9a\u3044\u3066\uff0c\u305d\u306e\u4e2d\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308bMATLAB class\u3068\u3044\u3046\u69cb\u9020\u4f53\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e\u305d\u3057\u3066\uff0c\u30c0\u30a4\u30ca\u30df\u30af\u30b9\u8a08\u7b97\u306e\u305f\u3081\u306eMATLAB\u30c4\u30fc\u30eb\u30dc\u30c3\u30af\u30b9\u3067\u3042\u308bSpaceDyn\u304cClimbLab\u5185\u3067\u3069\u3046\u5229\u7528\u3055\u308c\u3066\u3044\u308b\u304b\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e\u6700\u5f8c\u306b\uff0cClimbLab\u306e\u305f\u3081\u306b\u958b\u767a\u3055\u308c\u305f5\u7a2e\u985e\u306e\u95a2\u6570\u7fa4\u306b\u3064\u3044\u3066\u305d\u308c\u305e\u308c\u306e\u5f79\u5272\u3092\u7a2e\u985e\u3054\u3068\u306b\u8aac\u660e\u3059\u308b\uff0e","title":"2. ClimbLab\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d5\u30ed\u30fc"},{"location":"2_ClimbLab_simulation_flow/#21-overview-of-main-function-main_simm","text":"ClimbLab\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u69cb\u6210\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\u305f\u3081\u306b\uff0c\u305d\u3082\u305d\u3082\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u3092\u7528\u3044\u3066\u304a\u3053\u306a\u308f\u308c\u308b\u5168\u3066\u306e\u6570\u5024\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u4ed5\u7d44\u307f\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u73fe\u5b9f\u4e16\u754c\u306e\u73fe\u8c61\u3067\u6642\u9593\u306f\u9023\u7d9a\u7684\u3067\u3042\u308a\uff0c\u5168\u3066\u306e\u5909\u6570\u304c\u9023\u7d9a\u6642\u9593\u306e\u3082\u3068\u306b\u5909\u5316\u3059\u308b\uff0e\u3057\u304b\u3057\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u4e0a\u306e\u8a08\u7b97\u51e6\u7406\u3067\u306f\u9023\u7d9a\u6642\u9593\u4e0a\u306e\u73fe\u8c61\u3092\u305d\u306e\u307e\u307e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u518d\u73fe\u3059\u308b\u3053\u3068\u306f\u3067\u304d\u306a\u3044\uff0e\u6642\u9593\u3092\u7d30\u304b\u3044\u5e45\u306b\u533a\u5207\u308a\u305d\u306e\u9593\u306e\u5909\u5316\u3092\u7a4d\u7b97\u3057\u3066\u3044\u304f\u3068\u3044\u3046\u96e2\u6563\u6642\u9593\u7684\u306a\u7e70\u308a\u8fd4\u3057\u8a08\u7b97\u306b\u3088\u3063\u3066\uff0c\u9023\u7d9a\u6642\u9593\u306e\u73fe\u8c61\u3092\u518d\u73fe\u3059\u308b\uff0e\u3064\u307e\u308a\uff0c\u3042\u308b\u6642\u523bt\u306e\u72b6\u614b\u306b\u3082\u3068\u3065\u304d\uff0c\u305d\u3053\u304b\u3089\u523b\u307f\u6642\u9593\u0394t \u79fb\u3063\u305f\u6642\u523bt+\u0394t \u306e\u72b6\u614b\u3092\u8a08\u7b97\u3059\u308b\uff0e\u6b21\u306b\uff0c\u305d\u306e\u6c42\u3081\u305ft+\u0394t \u306e\u72b6\u614b\u304b\u3089t+2\u0394t \u306e\u72b6\u614b\u3092\u6c42\u3081\u308b\u3068\u3044\u3046\u51e6\u7406\u3092\u7e70\u308a\u8fd4\u3057\u30eb\u30fc\u30d7\u3055\u305b\u308b\uff0e \u4ee5\u4e0a\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u3064\u3044\u3066\u306e\u57fa\u790e\u3092\u8e0f\u307e\u3048\u305f\u4e0a\u3067\uff0cClimbLab\u306e\u69cb\u6210\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0eClimbLab\u306e\u30e1\u30a4\u30f3\u30d5\u30a1\u30a4\u30eb main_sim.m \u306e\u30d5\u30ed\u30fc\u30c1\u30e3\u30fc\u30c8\u3092\u6b21\u306e\u56f3\u306b\u793a\u3059\uff0e \u307e\u305aConfiguration\u95a2\u6570\u3067\u5404\u7a2e\u8a2d\u5b9a\u3092\u8aad\u307f\u8fbc\u307f\uff0c\u3053\u308c\u304b\u3089\u304a\u3053\u306a\u3046\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\uff0e\u3053\u306e\u51e6\u7406\u306b\u3088\u308a\uff0c\u3069\u3093\u306a\u30ed\u30dc\u30c3\u30c8\u30fb\u5730\u5f62\u30fb\u74b0\u5883\u30fb\u7d4c\u8def\u8a08\u753b\u30fb\u6b69\u5bb9\u8a08\u753b\u30fb\u904b\u52d5\u8a08\u753b\u30fb\u5236\u5fa1\u624b\u6cd5\u3092\u9069\u7528\u3059\u308b\u304b\u304c\u6c7a\u5b9a\u3055\u308c\u308b\uff0e\u6b21\u306b\uff0cInitialize\u95a2\u6570\u306b\u3088\u308a\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30eb\u30fc\u30d7\u3092\u958b\u59cb\u3059\u308b\u305f\u3081\u306b\u5fc5\u8981\u306a\u5168\u3066\u306e\u5909\u6570\u3092\u7528\u610f\u3057\uff0c\u305d\u308c\u3089\u306e\u5909\u6570\u306b\u5bfe\u3057\u3066\u521d\u671f\u72b6\u614b\u3092\u8a2d\u5b9a\u3059\u308b\uff0e\u53b3\u5bc6\u306b\u306f\uff0c\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u6642\u523b0\u79d2\u304b\u3089\u59cb\u307e\u308b\u305f\u3081\uff0cInitialize\u95a2\u6570\u3067\u306f\u6642\u523b0 - \u0394t \u79d2\u306e\u72b6\u614b\u304c\u8a2d\u5b9a\u3055\u308c\u308b\u30a4\u30e1\u30fc\u30b8\u3067\u3042\u308b\uff0eInitialize\u95a2\u6570\u306b\u3088\u3063\u3066\u521d\u671f\u72b6\u614b\u304c\u8a2d\u5b9a\u3055\u308c\u305f\u305f\u3081\uff0c\u305d\u306e\u72b6\u614b\u3092\u8d77\u70b9\u3068\u3057\u3066\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u0394t \u79d2\u6bce\u306b\u96e2\u6563\u7684\u306b\u6642\u9593\u3092\u9032\u3081\u3066\u8a08\u7b97\u3057\uff0c\u5404\u5909\u6570\u306e\u5024\u3092\u66f4\u65b0(Update)\u3057\u3066\u3044\u304f\u3053\u3068\u3067\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u3059\u3081\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u5185\u3067\u306f\u8a08\u7b97\u51e6\u7406\u306b\u52a0\u3048\u3066\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u9032\u3093\u3067\u3044\u308b\u69d8\u5b50\u3092\u78ba\u8a8d\u3059\u308b\u305f\u3081\u306b\uff0cVisualize\u95a2\u6570\u306b\u3088\u3063\u3066\u305d\u306e\u6642\u306e\u30ed\u30dc\u30c3\u30c8\u306e\u72b6\u614b\u306a\u3069\u3092\u753b\u9762\u4e0a\u306b\u8868\u793a\u3055\u305b\u308b\uff0e\u305d\u3057\u3066\uff0c\u5404\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u306b\u304a\u3044\u3066\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u7d42\u4e86\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u3044\u308b\u304b\u3092\u78ba\u8a8d\u3059\u308b\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306f\uff0c\u4ee5\u4e0b\u306e\u6761\u4ef6\uff1a \u8a2d\u5b9a\u3057\u305f\u7d42\u4e86\u6642\u523b\u306b\u306a\u308b\u307e\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u6642\u9593\u304c\u9032\u3080\uff0e \u8a2d\u5b9a\u3057\u305f\u76ee\u7684\u5730\u70b9\u306b\u30ed\u30dc\u30c3\u30c8\u304c\u5230\u9054\u3059\u308b\uff0e \u30ed\u30dc\u30c3\u30c8\u304c\u8ee2\u5012\u3084\u6ed1\u843d\u306a\u3069\u3092\u5f15\u304d\u8d77\u3053\u3057\u3066\u6b69\u884c\u306e\u7d99\u7d9a\u304c\u4e0d\u53ef\u80fd\u3068\u306a\u308b\uff0e \u30ed\u30dc\u30c3\u30c8\u306e\u95a2\u7bc0\u89d2\u5ea6\u304c\u4e0a\u4e0b\u9650\u306b\u9054\u3059\u308b\u304b\u7279\u7570\u59ff\u52e2\u306b\u9665\u308b\uff0e \u306e\u3044\u305a\u308c\u304b\u3092\u6e80\u305f\u3057\u305f\u5834\u5408\uff0c\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u3092\u7d42\u4e86\u3059\u308b\uff0e\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u7d42\u4e86\u5f8c\uff0c\u6307\u5b9a\u3057\u305f\u5909\u6570\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u4e2d\u306e\u6642\u9593\u5c65\u6b74\u3092\u30d7\u30ed\u30c3\u30c8\u3059\u308b\uff0e\u307e\u305f\uff0c\u5f8c\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u7d50\u679c\u306e\u89e3\u6790\u3092\u3059\u308b\u305f\u3081\u306b\uff0cSave\u95a2\u6570\u306b\u3088\u3063\u3066\uff0c\u5185\u90e8\u3067\u66f4\u65b0\u3055\u308c\u3066\u3044\u3063\u305f\u5404\u5909\u6570\u306e\u6642\u9593\u5c65\u6b74\u3084\u521d\u671f\u8a2d\u5b9a\uff0c\u6b69\u884c\u3057\u3066\u3044\u308b\u69d8\u5b50\u306e\u52d5\u753b\u3092\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u306b\u81ea\u52d5\u3067\u4fdd\u5b58\u3059\u308b\uff0e \u3000\u4ee5\u4e0a\u304c main_sim.m \u306e\u69cb\u9020\u3067\u3042\u308b\uff0e","title":"2.1. Overview of main function: main_sim.m"},{"location":"2_ClimbLab_simulation_flow/#22-matlab-class","text":"\u4e0a\u8ff0\u3057\u305f\u3088\u3046\u306bClimbLab\u5185\u3067\u306f\u69d8\u3005\u306a\u95a2\u6570\u304c\u4f7f\u7528\u3055\u308c\u3066\u3044\u308b\u304c\uff0c\u305d\u308c\u3089\u306e\u95a2\u6570\u306e\u5165\u51fa\u529b\u306b\u983b\u7e41\u306b\u7528\u3044\u3089\u308c\u3066\u3044\u308bclass\u3068\u3044\u3046\u6982\u5ff5\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0eclass\u3068\u306fMATLAB\u306b\u304a\u3051\u308b\u30c7\u30fc\u30bf\u69cb\u9020\u306e\u4e00\u3064\u3067\u3042\u308b\uff0e\u69d8\u3005\u306a\u6d3b\u7528\u65b9\u6cd5\u304c\u3042\u308b\u304c\uff0cClimbLab\u306b\u304a\u3051\u308bclass\u306e\u4f7f\u7528\u610f\u7fa9\u306f\uff0c\u3042\u308b\u5171\u901a\u306e\u76ee\u7684\u306b\u4f7f\u308f\u308c\u308b\u6570\u5024\u3084\u6587\u5b57\u30fb\u30d9\u30af\u30c8\u30eb\u306a\u3069\u306e\u591a\u69d8\u306a\u5909\u6570\u3092\u3072\u3068\u304f\u304f\u308a\u306b\u3057\u3066\u307e\u3068\u3081\u308b\u3053\u3068\u306b\u3042\u308b\uff0e\u3053\u3046\u3059\u308b\u3053\u3068\u3067\uff0cMATLAB\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\u3067\u6271\u308f\u308c\u308b\u5927\u91cf\u306e\u5909\u6570\u3092\u3042\u308b\u7a0b\u5ea6\u898b\u3084\u3059\u304f\u7406\u89e3\u3057\u3084\u3059\u3044\u5f62\u614b\u306b\u307e\u3068\u3081\u308b\u3053\u3068\u304c\u3067\u304d\uff0c\u307e\u305f\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u4f5c\u696d\u3092\u5358\u7d14\u5316\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0eClimbLab\u5185\u3067\u4f7f\u7528\u3055\u308c\u3066\u3044\u308bclass\u3068class\u5185\u306b\u683c\u7d0d\u3057\u3066\u3044\u308b\u5909\u6570\u306e\u201c\u304f\u304f\u308a\u201d\u3092\u4ee5\u4e0b\u306b\u5217\u6319\u3059\u308b\uff0e LP : \u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf(SpaceDyn) SV : \u72b6\u614b\u5909\u6570(State Variables, SpaceDyn) des_SV : \u76ee\u6a19\u72b6\u614b\u5909\u6570(Desired State Variables, SpaceDyn) robot_param : \u4f7f\u7528\u3059\u308b\u30ed\u30dc\u30c3\u30c8\u30bf\u30a4\u30d7\u3068\u305d\u306e\u521d\u671f\u914d\u7f6e environment_param : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883 surface_param : \u6b69\u884c\u3055\u305b\u308b\u5730\u8868 gait_planning_param : \u6b69\u5bb9\u8a08\u753b(gait planning) motion_planning_param : \u904b\u52d5\u8a08\u753b contorl_param : \u5236\u5fa1 equibilium_param : \u59ff\u52e2\u306e\u5b89\u5b9a\u6027\u8a55\u4fa1 ani_settings : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u4e2d\u306e\u52d5\u753b\u306e\u63cf\u753b plot_settings : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5f8c\u306b\u63cf\u753b\u3059\u308b\u7d50\u679c\u56f3 save_settings : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u5c65\u6b74\u306e\u4fdd\u5b58 sensing_camera_param : \u5730\u5f62\u30bb\u30f3\u30b7\u30f3\u30b0 gripper_param : \u628a\u6301\u5019\u88dc\u70b9\u691c\u51fa\u3067\u4f7f\u3046\u30b0\u30ea\u30c3\u30d1 map_param : \u628a\u6301\u5019\u88dc\u70b9\u691c\u51fa\u306b\u304a\u3051\u308b\u30de\u30c3\u30d7\u3078\u306e\u51e6\u7406 matching_settings : \u628a\u6301\u5019\u88dc\u70b9\u691c\u51fa\u624b\u6cd5\u306e\u8a2d\u5b9a variables_saved :\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5185\u306e\u5909\u6570\u5c65\u6b74 \u201c\u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u6307\u5411\u30d7\u30ed\u30b0\u30e9\u30df\u30f3\u30b0\u201d\u3068\u3044\u3046\u3088\u3046\u306a\u96e3\u89e3\u306a\u8a9e\u3092\u7528\u3044\u305aClimbLab\u306b\u304a\u3051\u308bclass\u306e\u5f79\u5272\u3092\u65e5\u5e38\u751f\u6d3b\u3092\u4f8b\u306b\u3057\u3066\u8aac\u660e\u3059\u308b\u3068\uff0c\u5bb6\u306e\u4e2d\u306b\u3042\u308b\u69d8\u3005\u306a\u751f\u6d3b\u7528\u54c1\u3092\u305d\u306e\u307e\u307e\u5168\u90e8\u5e8a\u306b\u7f6e\u304f\u306e\u3067\u306f\u306a\u304f\uff0c\u98df\u5668\u68da\u30fb\u8863\u88c5\u30b1\u30fc\u30b9\u30fb\u7b46\u7bb1\u306a\u3069\u306b\u6574\u7406\u3057\u3066\u5165\u308c\u308b\u69d8\u5b50\u306b\u4f8b\u3048\u3089\u308c\u308b\uff0e\u5bb6\u306e\u4e2d\u306b\u306f\u69d8\u3005\u306a\u3082\u306e\u304c\u3042\u308b\u304c\uff0c\u98df\u5668\u68da\u306b\u5165\u3063\u3066\u3044\u308b\u3082\u306e\u306f\u4f8b\u3048\u3069\u3093\u306a\u5f62\u72b6\u3084\u6750\u8cea\u3067\u3042\u308c\u98df\u4e8b\u306b\u95a2\u4fc2\u3059\u308b\u3082\u306e\u3067\u3042\u308b\uff0e\u305d\u308c\u3068\u540c\u3058\u3088\u3046\u306b\uff0c robot_param \u3068\u3044\u3046class\u306b\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\u5909\u6570\u306f\u3069\u3093\u306a\u3082\u306e\u3067\u3042\u308c\u30ed\u30dc\u30c3\u30c8\u306b\u95a2\u4fc2\u3057\u305f\u3082\u306e\u3067\u3042\u308a\uff0c environment_param \u306b\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\u5909\u6570\u306f\u30ed\u30dc\u30c3\u30c8\u3068\u306f\u95a2\u4fc2\u306a\u304f\u74b0\u5883\u306b\u95a2\u4fc2\u3059\u308b\u3082\u306e\u3067\u3042\u308b\uff0e \u3053\u3046\u3057\u305f\u69d8\u3005\u306aclass\u3092\u5165\u51fa\u529b\u306b\u7528\u3044\u3066ClimbLab\u5185\u306e\u95a2\u6570\u306f\u5b9f\u884c\u3055\u308c\u3066\u3044\u308b\uff0e","title":"2.2. MATLAB class"},{"location":"2_ClimbLab_simulation_flow/#23-spacedyn","text":"ClimbLab\u5185\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308b\u95a2\u6570\u7fa4\u306e\u4e00\u3064\u3067\u3042\u308bSpaceDyn(\u30b9\u30da\u30fc\u30b9\u30c0\u30a4\u30f3)\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u305d\u306e\u5177\u4f53\u7684\u306a\u610f\u7fa9\u3084\u8a73\u7d30\u306b\u3064\u3044\u3066\u306f\uff0c\u3053\u308c\u307e\u3067\u767a\u8868\u3055\u308c\u305f\u6587\u732e\u3067\u8a73\u8aac\u3055\u308c\u3066\u3044\u308b\u305f\u3081\uff0c\u672c\u7bc0\u3067\u306fSpaceDyn\u306eClimbLab\u306b\u304a\u3051\u308b\u5f79\u5272\u306b\u7126\u70b9\u3092\u7d5e\u308a\u7c21\u5358\u306b\u8ff0\u3079\u308b\uff0e SpaceDyn\u3068\u306f\uff0c\u5fae\u5c0f\u91cd\u529b\u7a7a\u9593(Space)\u3092\u542b\u3080\u69d8\u3005\u306a\u74b0\u5883\u3067\u306e\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u306e\u904b\u52d5\u3084\u529b\u5b66\u89e3\u6790\u304c\u304a\u3053\u306a\u3048\u308bMATLAB\u306e\u30c4\u30fc\u30eb\u30dc\u30c3\u30af\u30b9\u3067\u3042\u308a\uff0cClimbLab\u5185\u3067\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/lib/spacedyn \u4ee5\u4e0b\u306b\u5168\u3066\u306e\u95a2\u6570\u304c\u4fdd\u5b58\u3055\u308c\u3066\u3044\u308b\uff0eDyn\u306fDynamics\u3092\u8868\u3059\uff0e\u30ed\u30dc\u30c3\u30c8\u306e\u6a5f\u69cb\u30fb\u529b\u5b66\u30fb\u5236\u5fa1\u306b\u95a2\u308f\u308b\u57fa\u672c\u7684\u306a\u95a2\u6570\u7fa4\u304c\u53ce\u5bb9\u3055\u308c\u3066\u304a\u308a\uff0c\u69d8\u3005\u306a\u30ed\u30dc\u30c3\u30c8\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u304c\u3067\u304d\u308b\uff0e SpaceDyn\u306e\u95a2\u6570\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308b\u91cd\u8981\u306aclass\u3068\u3057\u3066\u307e\u305a\u4ee5\u4e0b\u306e2\u3064\u304c\u3042\u308b\uff0e LP : Link Parameters \u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf \u30ed\u30dc\u30c3\u30c8\u306e\u5177\u4f53\u7684\u306a\u6a5f\u69cb\u3092\u8868\u3059\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u53ce\u5bb9\u3057\u3066\u304a\u308a\uff0c\u6642\u9593\u7684\u306b\u4e0d\u5909\u3067\u3042\u308b SV : State Variables \u72b6\u614b\u5909\u6570 \u30ed\u30dc\u30c3\u30c8\u306e\u305d\u306e\u6642\u523b\u3067\u306e\u72b6\u614b \uff08\u4f4d\u7f6e\u30fb\u901f\u5ea6\u30fb\u95a2\u7bc0\u89d2\u5ea6etc\uff09 \u3092\u8868\u3059\u5909\u6570\u3092\u53ce\u5bb9\u3057\u3066\u304a\u308a\uff0c\u5404\u6642\u9593\u6bce\u306b\u66f4\u65b0\u3055\u308c\u308b LP\u3068\u3044\u3046class\u3067\u5b9a\u7fa9\u3055\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u306b\u5bfe\u3057\u3066\uff0c\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u6559\u79d1\u66f8\u306b\u8f09\u3063\u3066\u3044\u308b\u3088\u3046\u306a\u5ea7\u6a19\u5909\u63db\u30fb\u9806\u904b\u52d5\u5b66\u30fb\u9806\u52d5\u529b\u5b66\u3092\u9069\u7528\u3057\uff0c\u305d\u306e\u6642\u523b\u3067\u306e\u72b6\u614b\u5024SV\u3092\u5f97\u308b\uff0c\u3068\u3044\u3046\u6d41\u308c\u3067\u3042\u308b\uff0e\u307e\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u904b\u52d5\u8a08\u753b\u3084\u5236\u5fa1\u3092\u3059\u308b\u305f\u3081\u306bSpaceDyn\u5185\u3067\u7528\u3044\u3089\u308c\u3066\u3044\u308b\u91cd\u8981\u306aclass\u304c\u3082\u30461\u3064\u3042\u308b\uff0e des_SV : desired state variables \u76ee\u6a19\u72b6\u614b\u5909\u6570 \u30ed\u30dc\u30c3\u30c8\u304c\u6b21\u306b\u76ee\u6307\u3059\u76ee\u6a19\u5024\u3092\u53ce\u5bb9\u3057\u3066\u304a\u308a\uff0c\u3053\u306e\u5024\u3092\u76ee\u6307\u3057\u3066\u904b\u52d5\u30fb\u5236\u5fa1\u3092\u304a\u3053\u306a\u3046 \u30ed\u30dc\u30c3\u30c8\u306b\u95a2\u3059\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u524d\u63d0\u3068\u3057\u3066\uff0c\u300c\u76ee\u6307\u3057\u305f\u3044\u201c\u72b6\u614b\u201d\u304c\u3042\u308a\uff0c\u305d\u306e\u72b6\u614b\u3068\u73fe\u5728\u306e\u72b6\u614b\u3092\u5e38\u306b\u6bd4\u8f03\u3057\u306a\u304c\u3089\u5236\u5fa1\u3059\u308b\u3053\u3068\u3067\uff0c\u76ee\u6307\u3059\u3079\u304d\u201c\u72b6\u614b\u201d\u306b\u8fd1\u3065\u3051\u52d5\u4f5c\u3092\u5b9f\u73fe\u3059\u308b\u300d\u3053\u3068\u304c\u76ee\u7684\u3067\u3042\u308b\uff0e\u3053\u306e\u201c\u6b21\u306e\u76ee\u6307\u3059\u3079\u304d\u72b6\u614b\u201d\u304cdes_SV\u3067\u3042\u308b\uff0e \u4e3b\u306b\u3053\u308c\u30893\u3064\u306eclass\u3092\u7528\u3044\u308b\u3053\u3068\u3067\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u6a5f\u69cb\u306e\u5b9a\u7fa9\u3084\u57fa\u672c\u7684\u306a\u529b\u5b66\u30fb\u5236\u5fa1\u30fb\u904b\u52d5\u8a08\u753b\u306e\u8a08\u7b97\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u308b\uff0e \u3000ClimbLab\u3067\u306f\uff0c\u4ee5\u4e0b\u306e3\u3064\u306e\u51e6\u7406\u3092SpaceDyn\u306e\u95a2\u6570\u3067\u304a\u3053\u306a\u3063\u3066\u3044\u308b\uff0e \u30ed\u30dc\u30c3\u30c8\u306e\u6a5f\u69cb\u3092LP\u3092\u4f7f\u3063\u3066\u5b9a\u7fa9\u3059\u308b\uff0e \u30ed\u30dc\u30c3\u30c8\u306e\u72b6\u614b\u5909\u6570\u3092SV\uff0cdes_SV\u3092\u4f7f\u3063\u3066\u5b9a\u7fa9\u3059\u308b\uff0e \u57fa\u672c\u7684\u306a\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u8a08\u7b97\u3084\uff0c\u30c0\u30a4\u30ca\u30df\u30af\u30b9\u8a08\u7b97\u3092SpaceDyn\u5185\u306e\u95a2\u6570\u3067\u304a\u3053\u306a\u3046\uff0e \u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u5bb9\u306b\u7279\u5316\u3057\u305f\u8a08\u7b97\u51e6\u7406\u306f\uff0cClimbLab\u306e\u305f\u3081\u306b\u65b0\u305f\u306b\u958b\u767a\u3055\u308c\u305f\u95a2\u6570\u7fa4\u3092\u7528\u3044\u3066\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308b\u304c\uff0c\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30c4\u30fc\u30eb\u3068\u3057\u3066\u571f\u53f0\u3068\u306a\u308b\u9818\u57df\u306bSpaceDyn\u3092\u7528\u3044\u3066\u3044\u308b\uff0e \u307e\u305f\uff0c\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306b\u95a2\u308f\u308b\u91cd\u8981\u306a\u9805\u76ee\u3068\u3057\u3066\u5ea7\u6a19\u7cfb\u306e\u53d6\u308a\u6271\u3044\u304c\u6319\u3052\u3089\u308c\u308b\uff0eSpaceDyn\u3092\u7528\u3044\u305fClimbLab\u306b\u304a\u3051\u308b\u5ea7\u6a19\u7cfb\u306e\u6271\u3044\u3068\uff0c\u305d\u306e\u6ce8\u610f\u70b9\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e SpaceDyn\u3067\u306f\u91cd\u529b\u3092\u4ed6\u306e\u5916\u529b\u3068\u533a\u5225\u305b\u305a\uff0c\u7279\u5225\u8996\u3057\u306a\u3044\uff0e\u3088\u3063\u3066\uff0cSpaceDyn\u3092\u6d3b\u7528\u3057\u3066\u3044\u308bClimbLab\u306b\u304a\u3044\u3066\u3082\uff0c\u91cd\u529b\u30d9\u30af\u30c8\u30eb\u306f\u305f\u3060\u306e\u5916\u529b\u3068\u3057\u3066\u53d6\u308a\u6271\u3046\uff0e\u3053\u308c\u306b\u3088\u308a\u8a08\u7b97\u51e6\u7406\u3092\u7c21\u6f54\u306b\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e \u4f8b\u3048\u3070\uff0c\u50be\u659c\u89d2\u03b1\u3092\u6301\u3064\u50be\u3044\u305f\u5730\u9762\u3092\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u304c\u767b\u6500\u3057\u3066\u3044\u308b\u69d8\u5b50\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u3068\u304d\uff0c\u6163\u6027\u5ea7\u6a19\u7cfb\u03a3~I~ (z\u8ef8\u8ca0\u65b9\u5411\u3068\u91cd\u529b\u304c\u540c\u3058\u5411\u304d\u306e\u5ea7\u6a19)\u3067\u8a08\u7b97\u3057\u3088\u3046\u3068\u3059\u308b\u3068\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u904b\u52d5\u3084\u5730\u5f62\u60c5\u5831\u306b\u95a2\u3059\u308b\u5168\u3066\u306e\u5ea7\u6a19\u7cfb\u3092\u5730\u9762\u306e\u50be\u304d\u306b\u5408\u308f\u305b\u3066\u305d\u306e\u90fd\u5ea6\u56de\u8ee2\u3055\u305b\u308b\u5fc5\u8981\u304c\u3042\u308a\uff0c\u8a08\u7b97\u306e\u51e6\u7406\u91cf\u304c\u591a\u304f\u306a\u308b\uff0e\u3053\u306e\u554f\u984c\u306f\uff0c\u91cd\u529b\u3092\u7279\u5225\u8996\u3057\uff0c\u03a3~I~\u306ez\u8ef8\u306e\u8ca0\u306e\u65b9\u5411\u306b\u91cd\u529b\u30d9\u30af\u30c8\u30eb\u3092\u5408\u308f\u305b\u3088\u3046\u3068\u3059\u308b\u305f\u3081\u306b\u767a\u751f\u3059\u308b\uff0e\u8a08\u7b97\u3059\u308b\u5ea7\u6a19\u7cfb\u3092\u6163\u6027\u5ea7\u6a19\u7cfb\u3067\u306f\u306a\u304f\uff0c\u50be\u3044\u305f\u5730\u9762\u306b\u56fa\u5b9a\u3055\u308c\u305f\u5730\u9762\u5ea7\u6a19\u7cfb\u03a3~g~(ground)\u3068\u3057\uff0c\u91cd\u529b\u3092\u5916\u529b\u3068\u3057\u3066\u89d2\u5ea6\u03b1\u50be\u3051\u3066\u30ed\u30dc\u30c3\u30c8\u306b\u4f5c\u7528\u3059\u308b\u3082\u306e\u3068\u3057\u3066\u8a08\u7b97\u3059\u308b\u3068\u8a08\u7b97\u8ca0\u8377\u306f\u8efd\u304f\u306a\u308b\uff0e\u3059\u306a\u308f\u3061 \u8a08\u7b97\u4e0a\u30ed\u30dc\u30c3\u30c8\u306f\uff0c\u50be\u659c\u3092\u6301\u3063\u305f\u5742\u3067\u306f\u306a\u304f\u5e73\u5730\u3092\u6b69\u884c\u3057\u3066\u304a\u308a\uff0c\u305d\u3053\u306b\u5730\u9762\u771f\u4e0b\u65b9\u5411\u304b\u3089\u50be\u3044\u305f\u5411\u304d\u306b\u5916\u529b(\u91cd\u529b)\u304c\u304b\u304b\u3063\u3066\u3044\u308b \u3068\u8003\u3048\u308b\uff0e\u305d\u306e\u5f8c\uff0c\u52d5\u753b\u3092\u63cf\u753b\u3059\u308b\u6642\u3060\u3051\uff0c\u3064\u3058\u3064\u307e\u5408\u308f\u305b\u3068\u3057\u3066\u63cf\u753b\u3092\u56de\u8ee2\u3055\u305b\u3066\u50be\u659c\u3084\u58c1\u3092\u767b\u3063\u3066\u3044\u308b\u3088\u3046\u306b\u8868\u793a\u3057\u3066\u3044\u308b\u306e\u3067\u3042\u308b\uff0e \u3053\u306e\u8003\u3048\u65b9\u306f\uff0c2.5\u7bc0\u3067\u8ff0\u3079\u308b ini_environment.m \u3067\u306e\u91cd\u529b\u30d9\u30af\u30c8\u30eb\u306e\u5b9a\u7fa9\u30842.6\u7bc0\u3067\u8ff0\u3079\u308bVisualize\u95a2\u6570\u3067\u306e\u50be\u304d\u306e\u53d6\u308a\u6271\u3044\u306b\u95a2\u4fc2\u3057\u3066\u3044\u308b\uff0e\u30ed\u30dc\u30c6\u30a3\u30af\u30b9\u306b\u304a\u3044\u3066\u306f\uff0c\u6271\u3046\u5909\u6570\u3084\u30d9\u30af\u30c8\u30eb\u304c\u3069\u306e\u5ea7\u6a19\u7cfb\u3067\u8868\u8a18\u3055\u308c\u305f\u3082\u306e\u306a\u306e\u304b\u5e38\u306b\u6ce8\u610f\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\u305f\u3081\uff0c\u6163\u6027\u5ea7\u6a19\u7cfb\u3068\u5730\u9762\u5ea7\u6a19\u7cfb\u30fb\u30ed\u30dc\u30c3\u30c8\u30d9\u30fc\u30b9\u5ea7\u6a19\u7cfb\u3092\u610f\u8b58\u3057\u3066\u533a\u5225\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e","title":"2.3. SpaceDyn"},{"location":"2_ClimbLab_simulation_flow/#24-configuration-functions","text":"\u3053\u3053\u304b\u3089\u306f\uff0cClimbLab\u306e\u305f\u3081\u306b\u5f53\u7814\u7a76\u30b0\u30eb\u30fc\u30d7\u3067\u65b0\u305f\u306b\u958b\u767a\u3055\u308c\u305f\u95a2\u6570\u7fa4\u306b\u3064\u3044\u3066\uff0c\u305d\u308c\u305e\u308c\u5206\u3051\u3066\u8aac\u660e\u3059\u308b\uff0e \u3000\u307e\u305a\u521d\u3081\u306b\u5b9f\u884c\u3055\u308c\u308b\u95a2\u6570\u7fa4\u3067\u3042\u308bConfiguration\u95a2\u6570\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0eConfiguration\u95a2\u6570\u3068\u306f\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u6761\u4ef6\u306e\u8a2d\u5b9a\u30fb\u69cb\u7bc9\u3092\u304a\u3053\u306a\u3046\u95a2\u6570\u7fa4\u3067\u3042\u308a\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/config \u4ee5\u4e0b\u306b\u7f6e\u304b\u308c\u308b\u63a5\u982d\u8f9e\u304c config_ \u3067\u59cb\u307e\u308b\u95a2\u6570\u306e\u7dcf\u79f0\u3067\u3042\u308b\uff0eClimbLab\u306f\u591a\u7a2e\u591a\u69d8\u306a\u74b0\u5883\u30fb\u30ed\u30dc\u30c3\u30c8\u30fb\u6b69\u5bb9\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c1\u3064\u306emain\u30d5\u30a1\u30a4\u30eb\u3067\u5b9f\u884c\u53ef\u80fd\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3067\u3042\u308b\u305f\u3081\uff0c\u3069\u3093\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u306e\u304b\u30e6\u30fc\u30b6\u30fc\u3084\u958b\u767a\u8005\u304c\u7d30\u304b\u304f\u8a2d\u5b9a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e \u3057\u304b\u3057\u65b0\u3057\u3044\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u308b\u5ea6\u306b\uff0c\u305d\u306e\u90fd\u5ea6\u5168\u3066\u306e\u5909\u6570\u3092\u8a2d\u5b9a\u3059\u308b\u306e\u306f\u975e\u5e38\u306b\u7169\u96d1\u3067\u3042\u308b\uff0e\u305d\u3053\u3067\uff0c\u307e\u305a\u306f\u81ea\u52d5\u3067\u5168\u3066\u306e\u5909\u6570\u3092\u8aad\u307f\u8fbc\u3093\u3067\u30c7\u30d5\u30a9\u30eb\u30c8\u3068\u3057\u3066\u8a2d\u5b9a\u3057\uff0c\u305d\u306e\u5f8c\uff0c\u30e6\u30fc\u30b6\u30fc\u304c\u671b\u3080\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3048\u308b\u3088\u3046\u306b\uff0c\u5909\u66f4\u3057\u305f\u3044\u5909\u6570\u306b\u3064\u3044\u3066\u3060\u3051\u8a2d\u5b9a\u3055\u308c\u305f\u5909\u6570\u306e\u4e2d\u8eab\u3092\u4e0a\u66f8\u304d\u3059\u308b\u3068\u3044\u30462\u6bb5\u968e\u306e\u624b\u6cd5\u3092\u63a1\u7528\u3057\u3066\u3044\u308b\uff0e\u305d\u306e\u305f\u3081\uff0cConfiguration\u95a2\u6570\u306b\u306f\u5927\u304d\u304f2\u7a2e\u985e\u3042\u308a\uff0c\u81ea\u52d5\u3067\u8aad\u307f\u8fbc\u3080\u305f\u3081\u306b\u5b58\u5728\u3059\u308b\u95a2\u6570\u3068\uff0c\u305d\u306e\u5f8c\u6307\u5b9a\u3057\u305f\u3044\u5185\u5bb9\u306b\u5024\u3092\u4e0a\u66f8\u304d\u3059\u308b\u95a2\u6570\u304c\u3042\u308b\uff0e \u4ee5\u4e0b\uff0cConfig\u95a2\u6570\u306e\u5177\u4f53\u7684\u306a\u69cb\u6210\u3092\u8ff0\u3079\u308b\uff0e\u307e\u305a main_sim \u5185\u3067\uff0cConfiguration\u3092\u8a2d\u5b9a\u3059\u308b\u95a2\u6570\u306e\u304a\u304a\u3082\u3068\u3068\u3057\u3066 config\\_simulation.m \u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e\u3053\u306e\u95a2\u6570\u306e\u4e2d\u3067\u4e0a\u8a18\u306e\u4e8c\u6bb5\u968e\u5f0f\u306econfig\u8a2d\u5b9a\u304c\u304a\u3053\u306a\u308f\u308c\u308b\uff0e\u307e\u305a\uff0c\u7b2c\u4e00\u6bb5\u968e\u3068\u3057\u3066 config\\_all\\_default\\_param.m \u306b\u3088\u3063\u3066\uff0c\u521d\u671f\u306e\u74b0\u5883\u69cb\u7bc9\u306e\u305f\u3081\u306b\u5fc5\u8981\u306a\u5168\u3066\u306eclass\u3068\u305d\u306e\u4e2d\u8eab\u306e\u5909\u6570\u304c\u30c7\u30d5\u30a9\u30eb\u30c8\u3068\u3057\u3066\u8a2d\u5b9a\u3055\u308c\u308b\uff0econfig_all_default_param.m\u306f\uff0c\u305d\u306e\u5185\u90e8\u3067\uff0c config/default \u4ee5\u4e0b\u306b\u5b58\u5728\u3059\u308b\u5404class\u3092\u5b9a\u7fa9\u3059\u308b\u4ee5\u4e0b\u306eConfig\u95a2\u6570\u7fa4\u3092\u5b9f\u884c\u3059\u308b\uff0e config_robot_param.m config_environment_param.m config_gait_planning_param.m config_control_param.m config_equilibrium_param.m config_animation_settings.m config_save_settings.m config_plot_settings.m config_target_detection_param.m : \u3053\u306e\u30d5\u30a1\u30a4\u30eb\u306e\u307f\u30d5\u30a9\u30eb\u30c0 /climblab/lib/target_detection \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b config_sensing_camera_param.m \u5404\u95a2\u6570\u540d\u306f\uff0c\u305d\u306e\u95a2\u6570\u3067\u8aad\u307f\u8fbc\u307e\u308c\u308bclass\u306e\u540d\u524d\u3068\u76f4\u63a5\u30ea\u30f3\u30af\u3057\u3066\u3044\u308b\uff0e \u305d\u306e\u5f8c\uff0c config_simulation.m \u306b\u3066\u7b2c\u4e8c\u6bb5\u968e\u3068\u3057\u3066\uff0c main_sim \u5185\u3067\u8a18\u8ff0\u3057\u3066\u6307\u5b9a\u3057\u305fconfig\u306b\u5fdc\u3058\u3066\uff0c\u5404\u5909\u6570\u306e\u4e0a\u66f8\u304d\u51e6\u7406\u304c\u304a\u3053\u306a\u308f\u308c\u308b\uff0econfig\u306e\u8a2d\u5b9a\u3092 \"default\" \u306b\u3059\u308b\u3068\uff0c\u5909\u6570\u306e\u4e0a\u66f8\u304d\u304c\u4e00\u5207\u304a\u3053\u306a\u308f\u308c\u305a\uff0c\u81ea\u52d5\u7684\u306b\u8a2d\u5b9a\u3055\u308c\u305f\u5909\u6570\u3092\u7528\u3044\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u958b\u59cb\u3059\u308b\uff0e\u8a2d\u5b9a\u3092 \"USER\" \u3059\u308b\u3068\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/config/USER \u4e0b\u306b\u3042\u308b config_USER_param.m \u3092\u53c2\u7167\u3057\u3066\u5909\u6570\u306e\u4e0a\u66f8\u304d\u3092\u304a\u3053\u306a\u3046\uff0e\u305d\u306e\u305f\u3081\uff0cdefault\u304b\u3089\u5909\u66f4\u3057\u305f\u3044\u5909\u6570\u3084\u8a2d\u5b9a\u304c\u3042\u308b\u5834\u5408\u306f\uff0c\u305d\u306e\u8a2d\u5b9a\u3060\u3051 config_USER_param.m \u5185\u3067\u540c\u540d\u306e\u5909\u6570\u3068\u3057\u3066\u65b0\u305f\u306b\u8a18\u8ff0\u3057\u3066\u3084\u308c\u3070\u3088\u3044\uff0e default \u3068 USER \u4ee5\u5916\u306econfig\u8a2d\u5b9a\u3068\u3057\u3066\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/config/preset \u4e0b\u306b\u3044\u304f\u3064\u304bConfig\u95a2\u6570\u304c\u4f5c\u6210\u3055\u308c\u3066\u3044\u308b\uff0e\u3053\u308c\u3089\u306e\u95a2\u6570\u306f\u30c7\u30d5\u30a9\u30eb\u30c8\u3068\u306f\u7570\u306a\u308b\u304c\u534a\u6c38\u4e45\u7684\u306b\u53c2\u8003\u3068\u3055\u308c\u308b\u30d5\u30a9\u30fc\u30de\u30c3\u30c8\u3067\u3042\u308b\uff0e\u3059\u306a\u308f\u3061\uff0cdefault\u4ee5\u5916\u306e\u57fa\u672c\u7684\u306aClimbLab\u306b\u3088\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u4f8b\u3084\uff0c\u307e\u305f\u3053\u308c\u307e\u3067\u306b\u672c\u7814\u7a76\u30c1\u30fc\u30e0\u304c\u6295\u7a3f\u3057\u305f\u8ad6\u6587\u30fb\u5b66\u4f1a\u767a\u8868\u3067\u306e\u7d50\u679c\u3092\u518d\u73fe\u3059\u308b\u305f\u3081\u306b\u4f5c\u6210\u3055\u308c\u3066\u4fdd\u7ba1\u3055\u308c\u3066\u3044\u308b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3067\u3042\u308b\uff0e","title":"2.4. Configuration Functions"},{"location":"2_ClimbLab_simulation_flow/#25-initialize-functions","text":"Configuration\u95a2\u6570\u306b\u3088\u3063\u3066\u74b0\u5883\u69cb\u7bc9\u306e\u305f\u3081\u306b\u5fc5\u8981\u306aclass\u3068\u5909\u6570\u304c\u8a2d\u5b9a\u3055\u308c\u305f\u3042\u3068\u306f\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30eb\u30fc\u30d7\u306e\u958b\u59cb\u306b\u5411\u3051\u3066t=0\u306e\u6642\u306e\u521d\u671f\u72b6\u614b\u3092\u660e\u78ba\u306b\u6307\u5b9a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e\u3053\u306e\u5f79\u5272\u3092\u62c5\u3063\u3066\u3044\u308b\u306e\u304cInitialize\u95a2\u6570\u3067\u3042\u308a\uff0c\u63a5\u982d\u8f9e ini_ \u3067\u59cb\u307e\u308b\u95a2\u6570\u3067\u3042\u308b\uff0eInitialize\u95a2\u6570\u7fa4\u306f\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/src \u4e0b\u306b\uff0c\u8a72\u5f53\u3059\u308b\u51e6\u7406\u6bce\u306b\u30d5\u30a9\u30eb\u30c0\u3092\u5206\u3051\u3066Update\u95a2\u6570\u306a\u3069\u3068\u3068\u3082\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0eInitialize\u95a2\u6570\u306b\u3088\u308a\uff0cConfig\u95a2\u6570\u3067\u6307\u5b9a\u3055\u308c\u305f\u5404\u30d1\u30e9\u30e1\u30fc\u30bf\u304b\u3089\uff0c\u5b9f\u969b\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5185\u3067\u5fc5\u8981\u3068\u306a\u308b\u5168\u5909\u6570\u3092\u8a2d\u5b9a\u3057\uff0c\u305d\u308c\u305e\u308c\u306eclass\u3078\u3068\u683c\u7d0d\u3059\u308b\uff0e Initialize\u95a2\u6570\u306e\u5f79\u5272\u3092\uff0c main_sim \u5185\u3067\u5b9f\u884c\u3055\u308c\u308b\u9806\u756a\u306b\u7c21\u5358\u306b\u8aac\u660e\u3059\u308b\uff0e \u307e\u305a\u5192\u982d\u3067\u5b9f\u884c\u3055\u308c\u308b ini_path.m \u306f\uff0c\u7279\u6b8a\u306ainitialize\u95a2\u6570\u3067\uff0c\u30d1\u30b9\u3068\u3088\u3070\u308c\u308bMATLAB\u306e\u691c\u7d22\u7bc4\u56f2\u306b main_sim \u3092\u5b9f\u884c\u3059\u308b\u305f\u3081\u306b\u5fc5\u8981\u306aClimbLab\u306e\u5185\u90e8\u30d5\u30a9\u30eb\u30c0\u3092\u8ffd\u52a0\u3059\u308b\uff0e\u307e\u305f main_sim \u3092\u5b9f\u884c\u3059\u308b\u969b\u306eMATLAB\u5185\u3067\u306e\u30d5\u30a9\u30eb\u30c0\u5834\u6240\u304c\u9055\u3046\u5834\u5408\u306f\uff0c\u5b9f\u884c\u5834\u6240\u304c\u9593\u9055\u3063\u3066\u308b\u65e8\u306e\u8b66\u544a\u3092\u51fa\u3059\uff0e\u30d5\u30a1\u30a4\u30eb\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/src \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e \u6b21\u306b\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/src/environment \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u4ee5\u4e0b\u306e\u95a2\u6570\u304c\u5b9f\u884c\u3055\u308c\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u3068\u5730\u5f62\u304c\u8a2d\u5b9a\u3055\u308c\u308b\uff0e ini_environment.m 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\u3053\u3053\u3067\uff0c\u5730\u5f62\u3068\u3057\u3066\u4e0d\u6574\u5730\u3092\u8a2d\u5b9a\u3059\u308b\u5834\u5408\u306b\u306f\uff0c ini_graspable_points.m \u5185\u306b\u3066\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3092\u5b9f\u884c\u3059\u308b\u3053\u3068\u3067\u5730\u5f62\u5185\u306e\u628a\u6301\u53ef\u80fd\u70b9\u3092\u9078\u51fa\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/lib/target_detection \u4e0b\u306b\u5168\u3066\u306e\u95a2\u6570\u304c\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\uff0e \u6b21\u306b\uff0c\u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u306b\u95a2\u308f\u308bInitialize\u95a2\u6570\u306e\u5927\u5143\u3068\u3057\u3066\uff0c ini_robot.m \u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e ini_robot.m \u306b\u3088\u308a\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u7528\u3044\u308b\u30ed\u30dc\u30c3\u30c8\u306e\u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf(LP)\u3068\u72b6\u614b\u5909\u6570(SV)\u3092\u5b9a\u7fa9\u3057\uff0c\u307e\u305fConfig\u95a2\u6570\u3067\u6307\u5b9a\u3055\u308c\u305f\u521d\u671f\u30d9\u30fc\u30b9\u4f4d\u7f6e\u3084\u9ad8\u3055\u30fbxy\u65b9\u5411\u306e\u811a\u5148\u306e\u5e45\u3092\u3082\u3068\u306b\u5730\u5f62\u4e0a\u306b\u30ed\u30dc\u30c3\u30c8\u306e\u521d\u671f\u914d\u7f6e\u3092\u304a\u3053\u306a\u3046\uff0e \u3000 ini_robot.m \u306e\u5185\u90e8\u3067\u306f\u6b21\u306eInitialize\u95a2\u6570\u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e ini_(\u30ed\u30dc\u30c3\u30c8\u30bf\u30a4\u30d7\u306e\u540d\u524d)_LP.m Config\u95a2\u6570\u3067\u6307\u5b9a\u3055\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u3092\u8aad\u307f\u8fbc\u3093\u3067LP\u3092\u5b9a\u7fa9\u3059\u308b\uff0e ini_12DOF_SV.m 12\u81ea\u7531\u5ea6\u3092\u6301\u3064\u30ed\u30dc\u30c3\u30c8\u306e\u72b6\u614b\u5909\u6570\u3092\u521d\u671f\u5b9a\u7fa9\uff08\u5909\u6570\u3092\u7528\u610f\uff09\u3059\u308b\uff0e ini_joint_angle.m \u30ed\u30dc\u30c3\u30c8\u306e\u521d\u671f\u811a\u5148\u5e45\u304b\u3089\uff0c\u811a\u5148\u306b\u3082\u3063\u3068\u3082\u8fd1\u3044\u628a\u6301\u70b9\u3092\u898b\u3064\u3051\u51fa\u3057\uff0c\u305d\u3053\u304c\u9006\u904b\u52d5\u5b66\u7684\u306b\u53ef\u52d5\u7bc4\u56f2\u5185\u3067\u3042\u308c\u3070\u811a\u5148\u4f4d\u7f6e\u3092\u305d\u3053\u306b\u8a2d\u5b9a\u3057\uff0c\u9006\u904b\u52d5\u5b66\u3067\u6c42\u3081\u305f\u95a2\u7bc0\u89d2\u5ea6\u306b\u95a2\u7bc0\u89d2\u5ea6\u3092\u8a2d\u5b9a\u3059\u308b\uff0e ini_reachable_area.m \u521d\u671f\u8a2d\u7f6e\u3057\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u811a\u5148\u53ef\u52d5\u7bc4\u56f2\u3092\u8a2d\u5b9a\u3059\u308b\uff0e \u6b21\u306b\uff0c\u672a\u77e5\u74b0\u5883\u63a2\u67fb\u3092\u6a21\u64ec\u3059\u308b\u5834\u5408\u306b\u306f\uff0c ini_sensed_graspable_points.m \u306b\u3088\u308a\uff0c\u914d\u7f6e\u3057\u305f\u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u306e\u5468\u56f2\u306e\u628a\u6301\u70b9\u3092\u65e2\u77e5\u3068\u3059\u308b\u3088\u3046\u306b\u5909\u66f4\u3059\u308b\uff0e\u305d\u3057\u3066\uff0c ini_gait.m \u306b\u3088\u308a\uff0c\u6b69\u5bb9\u306b\u95a2\u308f\u308b\u30d1\u30e9\u30e1\u30fc\u30bf\u3068\u3057\u3066\uff0c4\u811a\u652f\u6301\u671f\u3084\u904a\u811a\u671f\u306e\u6642\u9593\u3092config\u3067\u6307\u5b9a\u3055\u308c\u305f\u5024\u304b\u3089\u8a08\u7b97\u3057\u3066\u8a2d\u5b9a\u3059\u308b\uff0e\u305d\u3057\u3066\uff0c\u5927\u5c40\u7684\u7d4c\u8def\u8a08\u753b(Global Path Planning)\u3092\u7528\u3044\u308b\u5834\u5408\u306b\u306f\uff0c\u305d\u306e\u521d\u671f\u8a2d\u5b9a\u3068\u3057\u3066\u4ee5\u4e0b\u306e2\u3064\u306e\u95a2\u6570\u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e ini_obstacle_map.m \u628a\u6301\u53ef\u80fd\u70b9\u4f4d\u7f6e\u60c5\u5831\u3092\u53ce\u5bb9\u3059\u308b\u30b0\u30ea\u30c3\u30c9\u30de\u30c3\u30d7\u3092\u5b9a\u7fa9\u3059\u308b\uff0e ini_global_path_plan.m \u5927\u5c40\u7684\u7d4c\u8def\u3092\u521d\u671f\u8a2d\u5b9a\u3059\u308b\uff0e \u6700\u5f8c\u306b\uff0c\u63cf\u753b\u3084\u4fdd\u5b58\u306b\u95a2\u3059\u308bInitialize\u95a2\u6570\u7fa4\u3068\u3057\u3066\uff0c ini_id.m \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7d50\u679c\u306e\u30c7\u30fc\u30bf\u3092dat\u30d5\u30a9\u30eb\u30c0\u306b\u4fdd\u5b58\u3059\u308b\u969b\u306e\u30d5\u30a9\u30eb\u30c0\u540d\u3092\u8a2d\u5b9a\u3059\u308b\uff0e ini_video\\_file.m \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u52d5\u753b\u306e\u4fdd\u5b58\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\uff0e \u304c\u5b9f\u884c\u3055\u308c\uff0c\u5168\u3066\u306e\u521d\u671f\u8a2d\u5b9a\u304c\u5b8c\u4e86\u3059\u308b\uff0e","title":"2.5. Initialize Functions"},{"location":"2_ClimbLab_simulation_flow/#26-update-functions","text":"\u4e0a\u8a18\u306e\u51e6\u7406\u306b\u3088\u308a\u521d\u671f\u8a2d\u5b9a\u304c\u5b8c\u4e86\u3057\u305f\u305f\u3081\uff0c\u30eb\u30fc\u30d7\u306b\u3088\u3063\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u3059\u3081\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e \u3000Update\u95a2\u6570\u3068\u306f\uff0c\u305d\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30eb\u30fc\u30d7\u5185\u3067\u5b9f\u884c\u3055\u308c\u308b\u95a2\u6570\u7fa4\u3067\u3042\u308a\uff0c\u51e6\u7406\u306b\u3088\u3063\u3066\u5404\u5909\u6570\u306e\u4e2d\u8eab\u3092\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u6bce\u306b\u66f4\u65b0\u3059\u308b\u63a5\u982d\u8f9e upd_ \u3067\u59cb\u307e\u308b\u95a2\u6570\u3067\u3042\u308b\uff0eInitialize\u95a2\u6570\u7fa4\u3068\u540c\u69d8\uff0c\u30d5\u30a9\u30eb\u30c0 /climblab/src \u4e0b\u306b\uff0c\u8a72\u5f53\u3059\u308b\u6a5f\u80fd\u6bce\u306b\u30d5\u30a9\u30eb\u30c0\u3092\u5206\u3051\u3066\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0eUpdate\u95a2\u6570\u306e\u5f79\u5272\u306e\u4e00\u4f8b\u3068\u3057\u3066\u306f\uff0c\u305d\u306e\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u306b\u304a\u3051\u308b\u811a\u5148\u4f4d\u7f6e\u3084\u95a2\u7bc0\u89d2\u5ea6\u3092\u8a08\u7b97\u3057\u3066\u6c42\u3081\uff0c\u6c42\u3081\u305f\u5024\u3078\u306e\u5909\u6570\u306e\u66f4\u65b0\u3092\u304a\u3053\u306a\u3046\u306a\u3069\u304c\u6319\u3052\u3089\u308c\u308b\uff0eUpdate\u95a2\u6570\u306e\u7dcf\u6570\u306f40\u3092\u8d85\u3048\u308b\u305f\u3081\uff0c\u3053\u3053\u3067\u306f\u5404\u95a2\u6570\u306e\u8a73\u7d30\u306a\u8a18\u8ff0\u306f\u5272\u611b\u3057\uff0cmain_sim\u306e\u30eb\u30fc\u30d7\u5185\u90e8\u3067\u76f4\u63a5\u547c\u3073\u51fa\u3055\u308c\u3066\u5b9f\u884c\u3055\u308c\u3066\u3044\u308b\u5927\u5143\u306e\u95a2\u6570\u306b\u3064\u3044\u3066\u306e\u307f\u8aac\u660e\u3059\u308b\u306b\u3068\u3069\u3081\uff0cClimbLab\u306e\u5404\u51e6\u7406\u306e\u6982\u8981\u3092\u3055\u3089\u3046\uff0e","title":"2.6. Update Functions"},{"location":"2_ClimbLab_simulation_flow/#sensing","text":"\u307e\u305a\uff0c\u30ed\u30dc\u30c3\u30c8\u304c\u672a\u77e5\u74b0\u5883\u3092\u79fb\u52d5\u3057\u3066\u3044\u308b\u72b6\u6cc1\u3092\u60f3\u5b9a\u3057\u305f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u305f\u3081\u306b\uff0c * upd_sensed_graspable_points.m \u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e\u5730\u5f62\u60c5\u5831\u306b\u3064\u3044\u3066\u306f\u524d\u3082\u3063\u3066\u5168\u4f53\u306b\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u308b\uff0e\u305d\u306e\u305f\u3081\u30bb\u30f3\u30b7\u30f3\u30b0\u306b\u95a2\u3057\u3066ClimbLab\u5185\u3067\u306f\uff0c\u5730\u5f62\u60c5\u5831\u5168\u4f53\u306e\u70b9\u7fa4\u3067\u306f\u306a\u304f\uff0c\u6b69\u884c\u306b\u91cd\u8981\u306a\u628a\u6301\u53ef\u80fd\u70b9\u306e\u307f\u3092\u5bfe\u8c61\u3068\u3059\u308b\uff0e \u5177\u4f53\u7684\u306a\u51e6\u7406\u3092\u8ff0\u3079\u308b\uff0e surface_param.graspable_points (\u4ee5\u4e0b surface_param \u3092\u7701\u7565)\u306b\u683c\u7d0d\u3055\u308c\u305f\u5730\u5f62\u5168\u4f53\u306e\u628a\u6301\u53ef\u80fd\u70b9\u306e\u4f4d\u7f6e\u60c5\u5831\u3068\u306f\u5225\u306b\uff0c sensed_graspable_points \u3068\u3044\u3046\u5909\u6570\u3092\u7528\u610f\u3059\u308b\uff0e\u30bb\u30f3\u30b5\u30ab\u30e1\u30e9\u306e\u753b\u89d2\u306b\u5165\u3063\u305f\u3053\u3068\u3067\"\u65e2\u77e5\"\u3068\u306a\u3063\u305f\u70b9\u306e\u5ea7\u6a19\u3092\uff0c graspable_points \u304b\u3089\u30b3\u30d4\u30fc\u3057\u3066\u3053\u306e sensed_graspable_points \u306b\u683c\u7d0d\u3059\u308b\uff0e\u30ed\u30dc\u30c3\u30c8\u306e\u79fb\u52d5\u306b\u3068\u3082\u306a\u3063\u3066\u30bb\u30f3\u30b7\u30f3\u30b0\u30a8\u30ea\u30a2\u3082\u9032\u3093\u3067\u3044\u304f\u305f\u3081\uff0c\u3053\u306e\u51e6\u7406\u3092\u30eb\u30fc\u30d7\u5185\u3067\u7e70\u308a\u8fd4\u3057\u304a\u3053\u306a\u3063\u3066\u3044\u304f\uff0e\u305d\u3057\u3066\uff0c\u6b69\u5bb9\u8a08\u753b\u306a\u3069\u3067\u6271\u3046\u628a\u6301\u53ef\u80fd\u70b9\u306e\u4f4d\u7f6e\u60c5\u5831\u3068\u3057\u3066 sensed_graspable_points \u3092\u5229\u7528\u3059\u308b\u3053\u3068\u3067\uff0c\u672a\u77e5\u74b0\u5883\u3092\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3044\u306a\u304c\u3089\u79fb\u52d5\u3059\u308b\u72b6\u6cc1\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u304d\u308b\uff0e","title":"Sensing"},{"location":"2_ClimbLab_simulation_flow/#global-path-planning","text":"\u7d9a\u3044\u3066\uff0c\u5927\u5c40\u7684\u7d4c\u8def\u8a08\u753b\u3068\u3057\u3066\uff0c\u6b21\u306e2\u3064\u306e\u95a2\u6570\uff1a upd_obstacle_map.m upd_global_path_plan.m \u304c\u9806\u306b\u5b9f\u884c\u3055\u308c\u308b\uff0e\u307e\u305a upd_obstacle_map.m \u306b\u3088\u3063\u3066\uff0c\u30bb\u30f3\u30b7\u30f3\u30b0\u306e\u7d50\u679c\u306b\u3082\u3068\u3065\u304d\u628a\u6301\u53ef\u80fd\u70b9\u4f4d\u7f6e\u60c5\u5831\u3092\u30b0\u30ea\u30c3\u30c9\u30de\u30c3\u30d7\u306b\u53ce\u5bb9\u3059\u308b\uff0e\u5404\u30b0\u30ea\u30c3\u30c9\u306f\uff0c\u4e2d\u5fc3\u306b\u6709\u3059\u308b\u53c2\u7167\u30ce\u30fc\u30c9\u306e\u72b6\u614b\u306b\u5fdc\u3058\u3066\uff0c\u4eee\u30ce\u30fc\u30c9\u3067\u3042\u308c\u30700\uff0c\u78ba\u5b9a\u30ce\u30fc\u30c9\u306a\u30891\uff0c\u7a7a\u30ce\u30fc\u30c9\u306a\u3089NaN\u5024\u3092\u6301\u3064\u3088\u3046\u306b\u66f4\u65b0\u3055\u308c\u308b\uff0e\u3053\u306e\u3088\u3046\u306b\uff0c\u5404\u30ce\u30fc\u30c9\u306e\u5024\u3092\u53ce\u5bb9\u3057\u3066\u3044\u308b\u884c\u5217\u3068\u3057\u3066\u30b0\u30ea\u30c3\u30c9\u30de\u30c3\u30d7\u3092\u53d6\u308a\u6271\u3046\uff0e\u305d\u3057\u3066\uff0c upd_global_path_plan.m \u3067\u306f\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u73fe\u5728\u4f4d\u7f6e\u3068\u30b4\u30fc\u30eb\u4f4d\u7f6e\uff0c\u305d\u3057\u3066\u5404\u30ce\u30fc\u30c9\u306e\u72b6\u614b\u3092\u53c2\u7167\u3057\u3066\u7d4c\u8def\u3092\u751f\u6210\u3057\uff0c\u4e2d\u9593\u70b9\u3092\u751f\u6210\u3059\u308b\uff0e","title":"Global Path Planning"},{"location":"2_ClimbLab_simulation_flow/#local-path-planning","text":"\u5c40\u6240\u7684\u7d4c\u8def\u8a08\u753b\u3092\u304a\u3053\u306a\u3046\u95a2\u6570\u3068\u3057\u3066\uff0c upd_local_path_planning.m \u304c\u5b9f\u884c\u3055\u308c\u308b\uff0e\u3053\u306e\u95a2\u6570\u306b\u3088\u3063\u3066\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u6b21\u306e\u4e00\u65b9\u306b\u304a\u3051\u308b\u76ee\u6a19\u79fb\u52d5\u65b9\u5411\u3092\u6c7a\u5b9a\u3059\u308b\uff0e\u95a2\u6570\u5185\u3067\u306f\uff0c\u8a98\u5f15\u3055\u308c\u308b3\u3064\u306e\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u3092\u305d\u308c\u305e\u308c\u7b97\u51fa\u3057\uff0c\u91cd\u307f\u4ed8\u3051\u4fc2\u6570\u3092\u304b\u3051\u3066\u8db3\u3057\u5408\u308f\u305b\u3066\u6b63\u898f\u5316\u3059\u308b\u3053\u3068\u3067\uff0c\u79fb\u52d5\u65b9\u5411\u30d9\u30af\u30c8\u30eb\u3092\u5c0e\u51fa\u3057\u3066\u3044\u308b\uff0e 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Planning\u3068\u306f\uff0c\u6b69\u5bb9\u8a08\u753b\u3092\u610f\u5473\u3059\u308b\u8a00\u8449\u3067\u3042\u308a\uff0c\u6b21\u306e\u904a\u811a\u30fb\u811a\u5148\u4f4d\u7f6e(\u628a\u6301\u70b9)\u30fb\u30d9\u30fc\u30b9\u4f4d\u7f6e\u30fb\u30d9\u30fc\u30b9\u59ff\u52e2\u3092\u6c7a\u5b9a\u3059\u308b\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u3067\u3042\u308b\uff0e\u30d5\u30a1\u30a4\u30eb\u306e\u7f6e\u304d\u5834\u6240\u306f\u30d5\u30a9\u30eb\u30c0 /climblab/src/controller/gait \u4e0b\u306b\uff0c\u30d5\u30a7\u30fc\u30ba\u6bce\u306b\u30d5\u30a9\u30eb\u30c0\u3092\u5206\u3051\u3066\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e upd_gait_planning.m \u304c main_sim \u5185\u3067\u5b9f\u884c\u3055\u308c\uff0c\u305d\u306e\u4e2d\u3067 gait_planning_param.type 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des_SV \u306b\u683c\u7d0d\u3057\uff0c\u3053\u306e des_SV \u3092\u76ee\u6307\u3057\u5236\u5fa1\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u3067\u8a08\u753b\u3057\u305f\u904b\u52d5\u306e\u8ffd\u5f93\u30fb\u5b9f\u73fe\u3092\u304a\u3053\u306a\u3046\uff0e","title":" Motion Planning "},{"location":"2_ClimbLab_simulation_flow/#equilibrium-evaluation","text":"\u904b\u52d5\u8a08\u753b\u306b\u7d9a\u3044\u3066\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u5b89\u5b9a\u6027\u8a55\u4fa1\u3092\uff0c upd_equilibrium_eval.m \u306b\u3088\u3063\u3066\u6c42\u3081\uff0c\u5b89\u5b9a\u6027\u3092\u5b9a\u91cf\u7684\u306b\u7b97\u51fa\u3059\u308b\uff0eClimbLab\u306b\u5c0e\u5165\u3055\u308c\u3066\u3044\u308b\u5b89\u5b9a\u6027\u8a55\u4fa1\u6307\u6a19\u306b\u306f2\u3064\u306e\u7a2e\u985e\u304c\u3042\u308b\uff0e\u307e\u305a\u7b2c\u4e00\u306e\u6307\u6a19\u306f\uff0c\u8ee2\u5012\u5b89\u5b9a\u4f59\u88d5(Tumble Stability Margin, 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"},{"location":"2_ClimbLab_simulation_flow/#robot-controller","text":"\u904b\u52d5\u8a08\u753b\u306b\u3088\u3063\u3066\u5c0e\u51fa\u3055\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u76ee\u6a19\u95a2\u7bc0\u89d2\u5ea6\u306b\u8fd1\u3065\u3051\u308b\u305f\u3081\u306b\uff0c\u904b\u52d5\u5236\u5fa1\u3092\u304a\u3053\u306a\u3046\uff0e\u904b\u52d5\u5236\u5fa1\u306f\u4ee5\u4e0b\u306e\u95a2\u6570\uff0c upd_control.m 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Controller"},{"location":"2_ClimbLab_simulation_flow/#kinematics-and-dynamics","text":"\u30ed\u30dc\u30c3\u30c8\u306b\u95a2\u308f\u308b\u52d5\u529b\u5b66\u3084\u904b\u52d5\u5b66\u3092\u8a08\u7b97\u3059\u308b\uff0e\u307e\u305a\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u811a\u5148\u306e\u30b0\u30ea\u30c3\u30d1\u306b\u5bfe\u3057\u3066\u304b\u304b\u308b\u5f15\u304d\u5265\u304c\u3057\u529b\u3068\uff0c\u30b0\u30ea\u30c3\u30d1\u306e\u628a\u6301\u529b\u3068\u3092\u6bd4\u8f03\u3059\u308b\uff0e\u30b0\u30ea\u30c3\u30d1\u304c\u8010\u3048\u3089\u308c\u308b\u628a\u6301\u529b\u4ee5\u4e0a\u306e\u5f15\u304d\u5265\u304c\u3057\u529b\u304c\u811a\u5148\u306b\u767a\u751f\u3057\u3066\u3044\u308b\u5834\u5408\uff0c\u30b0\u30ea\u30c3\u30d1\u306f\u5265\u96e2\u3057\u305f\u3068\u5224\u5b9a\u3055\u308c\u308b\uff0e\u7d9a\u3044\u3066\uff0c\u5404\u811a\u306e\u811a\u5148\u306e\u30b0\u30ea\u30c3\u30d1\u304c\u5730\u9762\u306b\u62bc\u3057\u4ed8\u3051\u3089\u308c\u308b\u3053\u3068\u3067\u767a\u751f\u3059\u308b\u53cd\u529b\u3092\u8a08\u7b97\u3059\u308b\uff0e\u5730\u9762\u304b\u3089\u53d7\u3051\u308b\u53cd\u529bF~contact~\u306f\uff0c\u3070\u306d-\u30c0\u30f3\u30d1\u30e2\u30c7\u30eb\u3092\u63a1\u7528\u3057\u3066\u7b97\u51fa\u3055\u308c\u308b\uff0e\u811a\u5148\u304c\u5730\u9762\u306b\u4eee\u60f3\u7684\u306b\u3081\u308a\u3053\u3080\u3068\u3057\uff0c\u305d\u306e\u3068\u304d\u306e\u53cd\u529b\u3092\u5f3e\u6027\u4fc2\u6570\u3068\u7c98\u6027\u4fc2\u6570\u3092\u6307\u5b9a\u3059\u308b\u3053\u3068\u3067\u30e2\u30c7\u30eb\u5316\u3059\u308b\uff0e\u9678\u4e0a\u7af6\u6280\u4e0a\u306e\u30c8\u30e9\u30c3\u30af\u3084\uff0c\u516c\u9053\u306e\u30a2\u30b9\u30d5\u30a1\u30eb\u30c8\u30fb\u5ca9\u77f3\u5730\u5f62\u306a\u3069\uff0c\u5730\u9762\u306e\u8edf\u3089\u304b\u3055\u306f\u69d8\u3005\u3067\u3042\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u3053\u308c\u3089\u306e\u4fc2\u6570\u3092\u9069\u5207\u306b\u8a2d\u5b9a\u3057\u3066\u5bfe\u8c61\u3068\u3059\u308b\u5730\u9762\u306e\u53cd\u529b\u3092\u30e2\u30c7\u30eb\u5316\u3059\u308b\uff0e \u305d\u3057\u3066\uff0c\u30ed\u30dc\u30c3\u30c8\u306e\u904b\u52d5\u65b9\u7a0b\u5f0f\u3092SpaceDyn\u3092\u7528\u3044\u3066\u30eb\u30f3\u30b2\uff1d\u30af\u30c3\u30bf\u6cd5\u306b\u3088\u3063\u3066\u89e3\u304f\uff0e\u7b97\u51fa\u3055\u308c\u305f\u30d9\u30fc\u30b9\u4f4d\u7f6e\u3068\u5404\u95a2\u7bc0\u306e\u95a2\u7bc0\u89d2\u5ea6\u304b\u3089\uff0c\u9806\u904b\u52d5\u5b66\u306b\u3088\u3063\u3066\u305d\u306e\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u306b\u304a\u3051\u308b\u30ed\u30dc\u30c3\u30c8\u306e\u4f4d\u7f6e\u3068\u59ff\u52e2\u3092\u8a08\u7b97\u3059\u308b\uff0e","title":"Kinematics and Dynamics"},{"location":"2_ClimbLab_simulation_flow/#variables-saving","text":"\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u632f\u308a\u8fd4\u3063\u3066\u5f8c\u306b\u89e3\u6790\u304c\u3067\u304d\u308b\u3088\u3046\u306b\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u4e2d\u306e\u5909\u6570\u306e\u6642\u9593\u5c65\u6b74\u3092\u4fdd\u5b58\u3059\u308b\uff0e\u305d\u306e\u305f\u3081\u306b\uff0c\u30eb\u30fc\u30d7\u5185\u306b\u3066 upd_variables_saved.m \u3092\u5b9f\u884c\u3057\uff0c\u5404\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u306b\u304a\u3051\u308b\u4e3b\u8981\u306a\u5909\u6570\u306e\u5024\u3092 variables_saved \u3068\u3044\u3046class\u306b\u683c\u7d0d\u3057\u3066\u3044\u304f\uff0e\u30eb\u30fc\u30d7\u7d42\u4e86\u5f8c\uff0cSave\u95a2\u6570\u306b\u3088\u3063\u3066\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u306bCSV\u30d5\u30a1\u30a4\u30eb\u3068\u3057\u3066\u4fdd\u5b58\u3059\u308b\uff0e","title":"Variables Saving"},{"location":"2_ClimbLab_simulation_flow/#simulation-stopper","text":"\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u3042\u308b\u7279\u5b9a\u306e\u6761\u4ef6\u3092\u6e80\u305f\u3057\u305f\u6642\uff0c\u30eb\u30fc\u30d7\u3092\u8131\u3057\u3066\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u7d42\u4e86\u3059\u308b\uff0e\u305d\u306e\u305f\u3081\u306e\u95a2\u6570\u304c\uff0c upd\\_stop\\_sim.m \u3067\u3042\u308b\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u7d42\u4e86\u6761\u4ef6\u306f\u5148\u306b\u8ff0\u3079\u305f\u3088\u3046\u306b\uff0c\u8a2d\u5b9a\u3057\u305f\u6642\u523b\u307e\u3067\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u6642\u9593\u304c\u9032\u3080\u304b\uff0c\u30ed\u30dc\u30c3\u30c8\u304c\u76ee\u7684\u5730\u70b9\u306b\u5230\u9054\uff0c\u3082\u3057\u304f\u306f\u79fb\u52d5\u306e\u7d99\u7d9a\u304c\u4e0d\u53ef\u80fd\u3068\u306a\u3063\u305f\u5834\u5408\u3067\u3042\u308b\uff0e\u3053\u308c\u3089\u306e\u6761\u4ef6\u306e\u3046\u3061\u3044\u305a\u308c\u304b\u3092\u6e80\u305f\u3057\u305f\u5834\u5408\uff0c\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u3092\u7d42\u4e86\u3057\u3066\uff0cSave\u95a2\u6570\u306e\u5b9f\u884c\u3078\u3068\u79fb\u308b\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u7d42\u4e86\u6761\u4ef6\u3092\u6e80\u305f\u3057\u3066\u3044\u306a\u3044\u5834\u5408\u306f\uff0c\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u306e\u5148\u982d\u306b\u623b\u3063\u3066\u30bb\u30f3\u30b7\u30f3\u30b0\u304b\u3089\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u7d99\u7d9a\u3059\u308b\uff0e \u4ee5\u4e0a\u304c main_sim.m \u5185\u3067\u5b9f\u884c\u3055\u308c\u308bUpdate\u95a2\u6570\u306e\u6982\u8981\u3067\u3042\u308b\uff0e\u3053\u3053\u3067\u8ff0\u3079\u305f\u305d\u308c\u305e\u308c\u306e\u95a2\u6570\u304c\u5185\u90e8\u3067\u307e\u305f\u8907\u6570\u306eUpdate\u95a2\u6570\u3092\u547c\u3073\u51fa\u3057\u3066\u5b9f\u884c\u3057\u3066\u3044\u308b\uff0e\u5404\u95a2\u6570\u306e\u51e6\u7406\u306e\u8a73\u7d30\u3092\u77e5\u308a\u305f\u3044\u5834\u5408\u306f\uff0c\u95a2\u6570\u306e\u4e2d\u8eab\u3092\u5b9f\u969b\u306b\u898b\u3066\u307f\u308b\u3053\u3068\u304c\u63a8\u5968\u3055\u308c\u308b\uff0e","title":"Simulation Stopper"},{"location":"2_ClimbLab_simulation_flow/#27-visualize-functions","text":"Visualize\u95a2\u6570\u3068\u306f\uff0cMATLAB figure\u306b\u5909\u6570\u3084\u30c7\u30fc\u30bf\u3092\u56f3\u3068\u3057\u3066\u63cf\u753b\u3059\u308b\u305f\u3081\u306e\u63a5\u982d\u8f9e vis_ \u306e\u3064\u304f\u95a2\u6570\u7fa4\u3067\uff0c\u30d5\u30a1\u30a4\u30eb\u306e\u7f6e\u304d\u5834\u6240\u306f\u5168\u3066\u30d5\u30a9\u30eb\u30c0 /climbla/src/visulaization \u3067\u3042\u308b\uff0eVisualize\u95a2\u6570\u306b\u306f2\u7a2e\u985e\u3042\u308a\uff0c \u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u69d8\u5b50\u3092\u52d5\u753b\u306b\u63cf\u753b\u3059\u308b\u305f\u3081\u306e\u95a2\u6570 \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5f8c\u306b\u5909\u6570\u306e\u5c65\u6b74\u3092\u30d7\u30ed\u30c3\u30c8\u3059\u308b\u305f\u3081\u306e\u95a2\u6570 \u306b\u5206\u3051\u3089\u308c\u308b\uff0e \u524d\u8005\u306e\uff0c\u52d5\u753b\u306e\u305f\u3081\u306eVisualize\u95a2\u6570\u306b\u3064\u3044\u3066\u306f\uff0c\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\u5185\u3067\u5b9f\u884c\u3055\u308c\u3066\u304a\u308a\uff0c\u8a2d\u5b9a\u3055\u308c\u305f\u30d5\u30ec\u30fc\u30e0\u306e\u30bf\u30a4\u30df\u30f3\u30b0\u306b\u30bf\u30a4\u30e0\u30b9\u30c6\u30c3\u30d7\u304c\u306a\u308b\u6bce\u306b\u307e\u3068\u3081\u3066\u5b9f\u884c\u3055\u308c\uff0c\u540c\u3058figure\u306b\u7e70\u308a\u8fd4\u3057\u63cf\u753b\u3057\u3066\u3044\u304f\uff0e animation_param \u306b\u3088\u3063\u3066\uff0c\u8868\u793a\u3059\u308b\u9805\u76ee\u3092\u9078\u3073\uff0c\u307e\u305f\u63cf\u753b\u306e\u8272\u30fb\u592a\u3055\u30fb\u30de\u30fc\u30ab\u30fc\u3092\u5168\u3066\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u307e\u305f\u3053\u308c\u3089\u306e\u95a2\u6570\u306e\u7559\u610f\u70b9\u3068\u3057\u3066\uff0c\u5730\u8868\u9762\u306e\u50be\u659c\u89d2\u5ea6(Inclination: inc)\u306e\u53d6\u308a\u6271\u3044\u3092\u8a8d\u8b58\u3057\u3066\u304a\u304f\u5fc5\u8981\u304c\u3042\u308b\uff0e\u6025\u50be\u659c\u5730\u5f62\u306e\u767b\u6500\u3092\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3059\u308b\u969b\u306b\u304a\u3044\u3066\u3082\uff0cClimbLab\u5185\u306e\u5909\u6570\u306f\u5168\u3066\u50be\u3044\u305f\u5730\u9762\u4e0a\u306e\u5730\u9762\u5ea7\u6a19\u7cfb\u3067\u8a08\u7b97\u3055\u308c\u3066\u3044\u308b\u305f\u3081\uff0c\u5909\u6570\u3092\u52d5\u753b\u306b\u63cf\u753b\u3059\u308b\u969b\u306b\u306f\uff0c\u3059\u3079\u3066\u306eVisualize\u95a2\u6570\u306e\u4e2d\u3067rot(\u5730\u9762\u5ea7\u6a19\u7cfb\u3068\u6163\u6027\u5ea7\u6a19\u7cfb\u3068\u306e\u9593\u306e\u56de\u8ee2\u884c\u5217)\u3092\u8a08\u7b97\u3057\uff0c\u5909\u6570\u306b\u5bfe\u3057\u3066\u5ea7\u6a19\u5909\u63db\u3092\u304a\u3053\u306a\u3063\u3066\u6163\u6027\u5ea7\u6a19\u7cfb\u306b\u304a\u3051\u308b\u6025\u50be\u659c\u767b\u6500\u3092\u793a\u3057\u3066\u3044\u308b\uff0e \u5f8c\u8005\u306e\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5f8c\u306b\u5909\u6570\u306e\u5c65\u6b74\u3092\u30d7\u30ed\u30c3\u30c8\u3059\u308b\u305f\u3081\u306e\u95a2\u6570\u306b\u3064\u3044\u3066\u306f\uff0c main_sim.m \u306e\u30eb\u30fc\u30d7\u5f8c\u306b\u304a\u304a\u3082\u3068\u306e\u95a2\u6570\u3067\u3042\u308b vis_plot_graph.m \u304c\u5b9f\u884c\u3055\u308c\u308b\u3053\u3068\u3067\u6a5f\u80fd\u3059\u308b\uff0e\u30d7\u30ed\u30c3\u30c8\u3059\u308b\u5909\u6570\u5c65\u6b74\u306e\u7a2e\u985e\u306f plot_param \u3067\u8a2d\u5b9a\u304c\u53ef\u80fd\u3067\u3042\u308b\uff0e\u5c65\u6b74\u3092\u30d7\u30ed\u30c3\u30c8\u3059\u308b\u305f\u3081\u306b\u4f7f\u3046\u305f\u3081\u306e\u5171\u901a\u306e\u95a2\u6570\u3068\u3057\u3066\uff0c vis_graph_time_history.m \u304c\u5b58\u5728\u3057\uff0c vis_plot_graph.m \u306e\u5185\u90e8\u3067\u5909\u6570\u3054\u3068\u306b\u7e70\u308a\u8fd4\u3057\u3053\u306e\u95a2\u6570\u304c\u4f7f\u7528\u3055\u308c\u3066\u3044\u308b\uff0e\u307e\u305f\uff0c\u3053\u306e\u5171\u901a\u306e vis_graph_time_history.m \u3067\u306f\u793a\u305b\u306a\u3044\u5f62\u614b\u306e\u30c7\u30fc\u30bf\u3084\uff0c\u5b89\u5b9a\u6027\u89e3\u6790\u4e0a\u91cd\u8981\u306a\u9805\u76ee\u306b\u5bfe\u3057\u3066\u306f\uff0c\u4ee5\u4e0b\u306e5\u3064\u306e\u5358\u72ec\u306e\u30d7\u30ed\u30c3\u30c8\u7528Visualize\u95a2\u6570\u304c\u4f5c\u6210\u3055\u308c\u3066\u3044\u308b\uff0e vis_footholds.m vis_graph_tsm.m vis_graph_gia_margin.m vis_graph_gia_inclination_margin.m vis_graph_trajectory_comparison.m","title":"2.7. Visualize Functions"},{"location":"2_ClimbLab_simulation_flow/#28-save-function","text":"Save\u95a2\u6570\u3068\u306f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u30a8\u30f3\u30c9\u30d5\u30a7\u30a4\u30ba\u6642\u306b\u5b9f\u884c\u3055\u308c\uff0c\u5909\u6570\u3084\u30c7\u30fc\u30bf\u3092MATLAB\u306e\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u304b\u3089\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u306b\u4fdd\u5b58\u3059\u308b\u95a2\u6570\u306e\u3053\u3068\u3067\u3042\u308b\uff0e\u30d5\u30a1\u30a4\u30eb\u306e\u7f6e\u304d\u5834\u6240\u306f\uff0c\u30d5\u30a9\u30eb\u30c0/climblab/src/misc\uff08misc\u306f\u300c\u305d\u306e\u4ed6\u300d\u306e\u610f\u5473\uff09\u3067\u3042\u308b\uff0eSave\u95a2\u6570\u3068\u3057\u3066\u5206\u985e\u3055\u308c\u308b\u306e\u306f\uff0c sav_data_file.m \u3060\u3051\u3067\u3042\u308b\uff0e\u3053\u306e\u95a2\u6570\u306b\u3088\u3063\u3066\uff0c\u305d\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3067\u30e6\u30fc\u30b6\u30fc\u304c\u6307\u5b9a\u3057\u3066\u8aad\u307f\u8fbc\u3093\u3060Config\u30d5\u30a1\u30a4\u30eb\u3068\uff0c\u5185\u90e8\u3067\u5909\u5316\u3057\u305f\u5909\u6570\u306e\u5c65\u6b74\u3092CSV\u5f62\u5f0f\u3068\u3057\u3066\u4fdd\u5b58\u3057\u305f\u30d5\u30a1\u30a4\u30eb\u3092\uff0c\u5b9f\u884c\u3057\u305f\u6642\u523b\u3092\u30d5\u30a9\u30eb\u30c0\u540d\u3068\u3057\u3066\u30d5\u30a9\u30eb\u30c0 /climblab/dat \u4e0b(dat: data\u306e\u610f)\u306b\u65b0\u305f\u306b\u30d5\u30a9\u30eb\u30c0\u3092\u4f5c\u6210\u3057\u3066\u4fdd\u5b58\u3059\u308b\uff0e\u4fdd\u5b58\u3059\u308b\u969b\u306e\u30d5\u30a9\u30eb\u30c0\u540d\u3084\u30d5\u30a1\u30a4\u30eb\u540d\u306f run_cod \u3084 run_id \u3068\u3044\u3046\u5909\u6570\u3067\u6307\u5b9a\u3067\u304d\u308b\uff0e\u3053\u306e\u4fdd\u5b58\u3055\u308c\u305fCSV\u30d5\u30a1\u30a4\u30eb\u304b\u3089\u5fc5\u8981\u306a\u30c7\u30fc\u30bf\u3092\u62bd\u51fa\u3059\u308b\u3053\u3068\u3067\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7d42\u4e86\u5f8c\u306b\u6539\u3081\u3066\u8a73\u7d30\u306a\u89e3\u6790\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u304c\u3067\u304d\u308b\uff0e","title":"2.8. Save Function"},{"location":"3_other_main_functions/","text":"3. Other Main Functions \u524d\u7ae0\u3067 main_sim.m \u3068\u305d\u306e\u5185\u90e8\u3067\u5b9f\u884c\u3055\u308c\u308b5\u3064\u306e\u7a2e\u985e\u306e\u95a2\u6570\u306b\u3064\u3044\u3066\u8ff0\u3079\u305f\uff0e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u5b9f\u884c\u306b\u7528\u3089\u308c\u308bMain\u95a2\u6570\u306f main_sim.m \u305f\u3060\u4e00\u3064\u3067\u3042\u308b\uff0e\u305d\u306e\u4ee3\u308f\u308a\u306b\u4f7f\u7528\u3059\u308b\u30e6\u30fc\u30b6\u30fc\u304c\u305d\u308c\u305e\u308cConfiguration\u95a2\u6570\u3092\u72ec\u81ea\u306b\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u3067\u69d8\u3005\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u540c\u6642\u306b\u958b\u767a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\uff0c\u3053\u308c\u304cClimbLab\u304c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3067\u3042\u308b\u6240\u4ee5\u3067\u3042\u308b\uff0e\u3057\u304b\u3057\uff0c main_sim.m \u4ee5\u5916\u306b\u3082\uff0cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u5185\u306b\u306f\u5358\u72ec\u3067\u5b9f\u884c\u3067\u304d\u308b\u95a2\u6570\u304c\u5b58\u5728\u3059\u308b\uff0e\u3053\u308c\u3089\u306e\u95a2\u6570\u306b\u306f\u63a5\u982d\u8f9e\u306b main_ \u304c\u4ed8\u3051\u3089\u308c\u3066\u304a\u308a\uff0c\u4ee5\u4e0b\u306e5\u3064\u306eMain\u95a2\u6570\u304c\u5b58\u5728\u3059\u308b\uff0e main_iterative_sim.m main_LP_2D_analysis.m main_LP_3D_analysis.m main_target_detection.m main_iterative_target_detection.m main_grid_map_designer.m 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/climblab/src/robot/LP_analysis \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e main_target_detection.m \u306f\uff0c\u5730\u5f62\u60c5\u5831\u30c7\u30fc\u30bf\u306b\u5bfe\u3057\u3066\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3046\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u3067\u3042\u308b\uff0e main_sim.m \u5185\u3067\u3082 target_detection.m \u3092\u5b9f\u884c\u3057\u3066\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u3082\u3067\u304d\u308b\u304c\uff0c\u4e88\u3081\u3053\u306eMain\u95a2\u6570\u3092\u7528\u3044\u3066\uff0c main_sim.m 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main_grid_map_designer.m \u306f\u30d5\u30a9\u30eb\u30c0 /climblab/src/environment/grid_map \u4e0b\u306b\u7f6e\u304b\u308c\u305f\u95a2\u6570\u3067\u3042\u308b\uff0e \u4ee5\u4e0a\u304c\uff0cmain_sim.m\u4ee5\u5916\u306b\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u3068\u3057\u3066ClimbLab\u306b\u5b58\u5728\u3057\u3066\u3044\u308bMain\u95a2\u6570\u3067\u3042\u308b\uff0e","title":"3. Other Main Functions"},{"location":"4_how_to_execute_simulation/","text":"4. How to Execute Simulation ClimbLab\u306fMATLAB\u3067\u8a18\u8ff0\u3055\u308c\u3066\u304a\u308a\uff0c\u5b9f\u884c\u306b\u306fMATALB\u3092\u4f7f\u7528\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e\u52d5\u4f5c\u78ba\u8a8d\u304c\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308bMATLAB\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u306f\uff0c\u672c\u8ad6\u6587\u57f7\u7b46\u6642(2022\u5e742\u67081\u65e5)\u306b\u304a\u3044\u3066\uff0cMATLAB R2019b\u3067\u3042\u308b\uff0e\u3088\u3063\u3066\uff0c\u5b9f\u884c\u306b\u306fR2019b\u4ee5\u964d\u306eMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u304c\u5fc5\u8981\u3067\u3042\u308b\uff0e\u307e\u305f\uff0cMATLAB Toolbox\u306b\u3064\u3044\u3066\u306f\uff0c\u57fa\u672c\u7684\u306b\u5fc5\u8981\u3068\u3057\u306a\u3044\u304c\uff0c\u3054\u304f\u4e00\u90e8\u306e\u6a5f\u80fd\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306eToolbox\uff1a Optimization Toolbox Robotics Toolbox Signal Processing Toolbox Reinforcement Learning Toolbox Deep Learning Toolbox \u304c\u4f7f\u7528\u3055\u308c\u308b\u305f\u3081\uff0c\u5fc5\u8981\u306a\u5834\u5408\u306f\u9069\u5b9c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e 4.1 How to execute main_sim.m main_sim.m \u3092\u5b9f\u884c\u3057\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u624b\u9806\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e\u306a\u304a\uff0c\u5148\u306b\u8ff0\u3079\u305fMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u3092\u524d\u63d0\u3068\u3059\u308b\uff0e \u307e\u305a\u57fa\u672c\u8a2d\u5b9a\u3067\u3042\u308b\"default\"\u3067\u5b9f\u884c\u3059\u308b\u5834\u5408\u306f\uff0c GitHub\u3084BitBucket\u304b\u3089ClimbLab\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3059\u308b\uff0e MATLAB\u3092\u958b\u304f\uff0e \u30d5\u30a9\u30eb\u30c0/climblab/src\u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b main_sim.m \u3092\u958b\u304f\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u304c\"default\"\u306b\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e MATLAB\u5185\u306e\u300c\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u300d\u3092 /climblab \u306b\u3059\u308b\uff0e main\\_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u5b9f\u884c\u5f8c\uff0c\u300cmain_sim.m\u306f\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u30fc\u3084MATLAB\u30d1\u30b9\u4e0a\u3067\u898b\u3064\u304b\u308a\u307e\u305b\u3093\uff0e\u300d\u3068\u3044\u3046\u30a8\u30e9\u30fc\u304c\u51fa\u305f\u5834\u5408\u306f\uff0c\u300c\u30d1\u30b9\u306b\u8ffd\u52a0\u300d\u3092\u9078\u629e\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u306b\u3088\u3063\u3066\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u958b\u59cb\u3055\u308c\u308b\uff0e \u307e\u305f\u3053\u306e\"default\"\u304b\u3089\u81ea\u5206\u7528\u306b\u65b0\u305f\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u8a66\u3059\u5834\u5408\u306b\u306f\uff0c \u30d5\u30a9\u30eb\u30c0 /climblab/config/USER \u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b config\\_USER\\_param\\_template.m \u3092\u30b3\u30d4\u30fc\u3057\uff0c\u540c\u3058\u30d5\u30a9\u30eb\u30c0\u306b\uff0c config_USER_param.m \u3068\u540d\u524d\u3092\u5909\u3048\u3066\u4f5c\u6210\u3059\u308b\uff0e config_USER_param.m \u5185\u306b\uff0cdefault\u304b\u3089\u5909\u66f4\u3057\u305f\u3044\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u66f8\u304d\u52a0\u3048\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"default\"\u304b\u3089\"USER\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u3067\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u5909\u66f4\u3067\u304d\u308b\u8a2d\u5b9a\u306f\uff0c\u30d5\u30a9\u30eb\u30c0 config/default \u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u5404class\u306e\u521d\u671f\u8a2d\u5b9a\u7528\u306e\u95a2\u6570\u306e\u4e2d\u8eab\u3092\u898b\u308b\u3053\u3068\u3067\u78ba\u8a8d\u3067\u304d\u308b\uff0e \u307e\u305f\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u9032\u3081\u308b\u4e2d\u3067\uff0c\u8a2d\u5b9a\u3092\u534a\u6c38\u7d9a\u7684\u306b\u4fdd\u5b58\u3057\u3066\u304a\u304d\u305f\u3044config\u30d5\u30a1\u30a4\u30eb\u304c\u3042\u308b\u5834\u5408\u306f\uff0cpreset\u3068\u3057\u3066\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u81ea\u5206\u304c\u958b\u767a\u3057\u305f\u308f\u3051\u3067\u306f\u306a\u3044\u65e2\u5b58\u306epreset\u306b\u3064\u3044\u3066\u306f\u57fa\u672c\u7684\u306b\u7de8\u96c6\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u3053\u308c\u3089\u306epreset\u306b\u306f\u8ad6\u6587\u306a\u3069\u3067\u5bfe\u5916\u7684\u306b\u793a\u3057\u305f\u7d50\u679c\u3092\u4fdd\u5b58\u3057\u3066\u304a\u304f\u3079\u304d\u3082\u306e\u3082\u3042\u308b\u306e\u3067\uff0c\u7de8\u96c6\u3059\u308b\u969b\u306f\u958b\u767a\u8005\u3084\u30c1\u30fc\u30e0\u3068\u8a71\u3057\u5408\u3046\u5fc5\u8981\u304c\u3042\u308b\uff0epreset\u306e\u4f5c\u6210\u624b\u9806\u3092\u4ee5\u4e0b\u306b\u793a\u3059\uff0e config/preset \u4e0b\u306b\uff0c config_xxx_param.m \u3068\u3044\u3046\u81ea\u5206\u306econfig\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u308b\uff0e xxx \u306f\u4efb\u610f\u3060\u304c\uff0c config_ \u3067\u59cb\u307e\u308a\uff0c _param \u3067\u7d42\u308f\u308b\u3088\u3046\u306b\u547d\u540d\u3059\u308b\uff0e config_xxx_param.m \u306e\u5185\u90e8\u306b\u81ea\u5206\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8a2d\u5b9a\u3059\u308b\uff0e main_sim\u5185\u3067 `config = \u2018xxx\u2019; \u3068\u8a2d\u5b9a\u3059\u308b\uff0e config_simulation\u5185\u3067\u4e00\u756a\u4e0b\u306b\uff0c if strcmp(config, \u2018xxx\u2019) [... ] = config_xxx_param(....); end \u3068\u65b0\u3057\u304f\u8a18\u8ff0\u3057\u3066\uff0c\u4f5c\u6210\u3057\u305fconfig\u30d5\u30a1\u30a4\u30eb\u3092load\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"xxx\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim \u3092 /climblab \u4e0b\u3067\u5b9f\u884c\u3059\u308b\uff0e","title":"4. Simulation Architecture"},{"location":"4_how_to_execute_simulation/#4-how-to-execute-simulation","text":"ClimbLab\u306fMATLAB\u3067\u8a18\u8ff0\u3055\u308c\u3066\u304a\u308a\uff0c\u5b9f\u884c\u306b\u306fMATALB\u3092\u4f7f\u7528\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e\u52d5\u4f5c\u78ba\u8a8d\u304c\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308bMATLAB\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u306f\uff0c\u672c\u8ad6\u6587\u57f7\u7b46\u6642(2022\u5e742\u67081\u65e5)\u306b\u304a\u3044\u3066\uff0cMATLAB R2019b\u3067\u3042\u308b\uff0e\u3088\u3063\u3066\uff0c\u5b9f\u884c\u306b\u306fR2019b\u4ee5\u964d\u306eMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u304c\u5fc5\u8981\u3067\u3042\u308b\uff0e\u307e\u305f\uff0cMATLAB Toolbox\u306b\u3064\u3044\u3066\u306f\uff0c\u57fa\u672c\u7684\u306b\u5fc5\u8981\u3068\u3057\u306a\u3044\u304c\uff0c\u3054\u304f\u4e00\u90e8\u306e\u6a5f\u80fd\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306eToolbox\uff1a Optimization Toolbox Robotics Toolbox Signal Processing Toolbox Reinforcement Learning Toolbox Deep Learning Toolbox \u304c\u4f7f\u7528\u3055\u308c\u308b\u305f\u3081\uff0c\u5fc5\u8981\u306a\u5834\u5408\u306f\u9069\u5b9c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e","title":"4. How to Execute Simulation"},{"location":"4_how_to_execute_simulation/#41-how-to-execute-main_simm","text":"main_sim.m \u3092\u5b9f\u884c\u3057\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u624b\u9806\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e\u306a\u304a\uff0c\u5148\u306b\u8ff0\u3079\u305fMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u3092\u524d\u63d0\u3068\u3059\u308b\uff0e \u307e\u305a\u57fa\u672c\u8a2d\u5b9a\u3067\u3042\u308b\"default\"\u3067\u5b9f\u884c\u3059\u308b\u5834\u5408\u306f\uff0c GitHub\u3084BitBucket\u304b\u3089ClimbLab\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3059\u308b\uff0e MATLAB\u3092\u958b\u304f\uff0e \u30d5\u30a9\u30eb\u30c0/climblab/src\u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b main_sim.m \u3092\u958b\u304f\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u304c\"default\"\u306b\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e MATLAB\u5185\u306e\u300c\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u300d\u3092 /climblab \u306b\u3059\u308b\uff0e main\\_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u5b9f\u884c\u5f8c\uff0c\u300cmain_sim.m\u306f\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u30fc\u3084MATLAB\u30d1\u30b9\u4e0a\u3067\u898b\u3064\u304b\u308a\u307e\u305b\u3093\uff0e\u300d\u3068\u3044\u3046\u30a8\u30e9\u30fc\u304c\u51fa\u305f\u5834\u5408\u306f\uff0c\u300c\u30d1\u30b9\u306b\u8ffd\u52a0\u300d\u3092\u9078\u629e\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u306b\u3088\u3063\u3066\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u958b\u59cb\u3055\u308c\u308b\uff0e \u307e\u305f\u3053\u306e\"default\"\u304b\u3089\u81ea\u5206\u7528\u306b\u65b0\u305f\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u8a66\u3059\u5834\u5408\u306b\u306f\uff0c \u30d5\u30a9\u30eb\u30c0 /climblab/config/USER \u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b config\\_USER\\_param\\_template.m \u3092\u30b3\u30d4\u30fc\u3057\uff0c\u540c\u3058\u30d5\u30a9\u30eb\u30c0\u306b\uff0c config_USER_param.m \u3068\u540d\u524d\u3092\u5909\u3048\u3066\u4f5c\u6210\u3059\u308b\uff0e config_USER_param.m \u5185\u306b\uff0cdefault\u304b\u3089\u5909\u66f4\u3057\u305f\u3044\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u66f8\u304d\u52a0\u3048\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"default\"\u304b\u3089\"USER\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u3067\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u5909\u66f4\u3067\u304d\u308b\u8a2d\u5b9a\u306f\uff0c\u30d5\u30a9\u30eb\u30c0 config/default \u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u5404class\u306e\u521d\u671f\u8a2d\u5b9a\u7528\u306e\u95a2\u6570\u306e\u4e2d\u8eab\u3092\u898b\u308b\u3053\u3068\u3067\u78ba\u8a8d\u3067\u304d\u308b\uff0e \u307e\u305f\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u9032\u3081\u308b\u4e2d\u3067\uff0c\u8a2d\u5b9a\u3092\u534a\u6c38\u7d9a\u7684\u306b\u4fdd\u5b58\u3057\u3066\u304a\u304d\u305f\u3044config\u30d5\u30a1\u30a4\u30eb\u304c\u3042\u308b\u5834\u5408\u306f\uff0cpreset\u3068\u3057\u3066\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u81ea\u5206\u304c\u958b\u767a\u3057\u305f\u308f\u3051\u3067\u306f\u306a\u3044\u65e2\u5b58\u306epreset\u306b\u3064\u3044\u3066\u306f\u57fa\u672c\u7684\u306b\u7de8\u96c6\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u3053\u308c\u3089\u306epreset\u306b\u306f\u8ad6\u6587\u306a\u3069\u3067\u5bfe\u5916\u7684\u306b\u793a\u3057\u305f\u7d50\u679c\u3092\u4fdd\u5b58\u3057\u3066\u304a\u304f\u3079\u304d\u3082\u306e\u3082\u3042\u308b\u306e\u3067\uff0c\u7de8\u96c6\u3059\u308b\u969b\u306f\u958b\u767a\u8005\u3084\u30c1\u30fc\u30e0\u3068\u8a71\u3057\u5408\u3046\u5fc5\u8981\u304c\u3042\u308b\uff0epreset\u306e\u4f5c\u6210\u624b\u9806\u3092\u4ee5\u4e0b\u306b\u793a\u3059\uff0e config/preset \u4e0b\u306b\uff0c config_xxx_param.m \u3068\u3044\u3046\u81ea\u5206\u306econfig\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u308b\uff0e xxx \u306f\u4efb\u610f\u3060\u304c\uff0c config_ \u3067\u59cb\u307e\u308a\uff0c _param \u3067\u7d42\u308f\u308b\u3088\u3046\u306b\u547d\u540d\u3059\u308b\uff0e config_xxx_param.m \u306e\u5185\u90e8\u306b\u81ea\u5206\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8a2d\u5b9a\u3059\u308b\uff0e main_sim\u5185\u3067 `config = \u2018xxx\u2019; \u3068\u8a2d\u5b9a\u3059\u308b\uff0e config_simulation\u5185\u3067\u4e00\u756a\u4e0b\u306b\uff0c if strcmp(config, \u2018xxx\u2019) [... ] = config_xxx_param(....); end \u3068\u65b0\u3057\u304f\u8a18\u8ff0\u3057\u3066\uff0c\u4f5c\u6210\u3057\u305fconfig\u30d5\u30a1\u30a4\u30eb\u3092load\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"xxx\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim \u3092 /climblab \u4e0b\u3067\u5b9f\u884c\u3059\u308b\uff0e","title":"4.1 How to execute main_sim.m"},{"location":"5_folder_tree/","text":"5. Folder Tree \u672c\u7ae0\u3067\u306f\uff0cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3068\u95a2\u6570\u306e\u7f6e\u304d\u5834\u6240\u3092\u793a\u3059\uff0e\u306a\u304a\uff0c\u592a\u5b57\u306f\u30d5\u30a9\u30eb\u30c0\u540d\u3092\u8868\u3059\uff0e\u672c\u7ae0\u3092\u8efd\u304f\u4e00\u8aad\u3059\u308b\u3053\u3068\u3067\uff0cClimbLab\u5168\u4f53\u306e\u69cb\u9020\u3092\u628a\u63e1\u3059\u308b\u3053\u3068\u3067\u304d\u308b\uff0e\u307e\u305f\uff0c\u65b0\u305f\u306a\u95a2\u6570\u3084\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3059\u308b\u5834\u5408\u306b\u306f\uff0c\u3053\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3092\u53c2\u8003\u306b\u9069\u5207\u306a\u5834\u6240\u306b\u914d\u7f6e\u3059\u308b\u3053\u3068\uff0e climblab/ config config\u95a2\u6570\u7fa4\u4e00\u5f0f\u3092\u4fdd\u5b58\u3059\u308b\u30d5\u30a9\u30eb\u30c0 default : config\u306edefault\u7528\u95a2\u6570\u7fa4 preset : \u3053\u308c\u307e\u3067\u306e\u958b\u767a\u306b\u4f7f\u308f\u308c\u305fconfiguration\u95a2\u6570\u7fa4 USER : \u5909\u6570\u4e0a\u66f8\u304d\u7528USER config\u95a2\u6570\u3068\u305d\u306e\u30c6\u30f3\u30d7\u30ec\u30fc\u30c8 config_simulation.m : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306econfig\u3092\u8a2d\u5b9a\u3059\u308b\u5927\u5143\u306e\u95a2\u6570 config_all_default_param.m : default\u306e\u306a\u304b\u306econfig\u30d5\u30a1\u30a4\u30eb\u7fa4\u3092\u5b9f\u884c\u3059\u308b\u95a2\u6570 dat : data\u30d5\u30a9\u30eb\u30c0\u30fc\u306e\u610f\uff0e\u5b9f\u884c\u3057\u305f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u30ed\u30b0\u3084\u52d5\u753b\u306e\u4fdd\u5b58\u5148 docs media : \u5bfe\u5916\u7528\u306b\u4f7f\u7528\u3059\u308b\u753b\u50cf\u30fbgif\u306e\u4fdd\u5b58\u5834\u6240 mkdocs : \u672c\u30de\u30cb\u30e5\u30a2\u30eb\u306e\u4fdd\u5b58\u5834\u6240 lib : ClimbLab\u3067\u4f7f\u7528\u3057\u3066\u3044\u308b\u95a2\u6570\u306e\u4e2d\u3067\uff0c\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u306e\u307f\u306a\u3089\u305a\u4ed6\u306e\u5206\u91ce\u3078\u306e\u6c4e\u7528\u6027\u3082\u9ad8\u3044\u95a2\u6570\u7fa4\u3092\u4fdd\u5b58\u3059\u308b\u5834\u6240 equ_gia : GIA\u5b89\u5b9a\u9818\u57df\u306b\u3064\u3044\u3066\u306e\u8a08\u7b97\u306b\u95a2\u308f\u308b\u95a2\u6570\u4e00\u5f0f spacedyn_v2r0 : SpaceDyn\u306e\u95a2\u6570\u4e00\u5f0f MATLAB Reference : \u5404\u95a2\u6570\u306e\u5f79\u5272\u306b\u3064\u3044\u3066\uff0chtml\u5f62\u5f0f\u3067\u898b\u3084\u3059\u304f\u307e\u3068\u3081\u3089\u308c\u305f\u3082\u306e target_detection : \u628a\u6301\u5019\u88dc\u70b9\u691c\u51fa\u306b\u95a2\u308f\u308b\u95a2\u6570\u4e00\u5f0f \u56de\u8ee2\u884c\u5217\u3092\u8a08\u7b97\u3059\u308b\u3060\u3051\u306e\u95a2\u6570\u7fa4 : rot_2xy.m , rot_x.m , rot_y.m, rot_z.m src : \u811a\u578b\u30af\u30e9\u30a4\u30df\u30f3\u30b0\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u7279\u5316\u3057\u3066\u958b\u767a\u3055\u308c\u3066\u304d\u305f\u95a2\u6570\u7fa4\uff0e\u4e0b\u4f4d\u306e\u69cb\u6210\u30d5\u30a9\u30eb\u30c0\u306e\u6570\u304c\u591a\u3044\u306e\u3067\uff0csrc\u4ee5\u4e0b\u306b\u306e\u307f\u9805\u76ee\u3092\u308f\u3051\u3066\uff0c\u6b21\u306b\u6539\u3081\u3066\u8a18\u3059\uff0e climblab/src/ controller : \u30eb\u30fc\u30d7\u5185\u3067\u4f7f\u7528\u3055\u308c\u308b\u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u91cd\u8981\u306a\u95a2\u6570\u306e\u591a\u304f\u304c\u7f6e\u304b\u308c\u3066\u3044\u308b control : \u95a2\u7bc0\u30c8\u30eb\u30af\u3092\u5236\u5fa1\u3059\u308b\u305f\u3081\u306e\u95a2\u6570\u3092\u53ce\u5bb9 equilibrium : \u5b89\u5b9a\u6027\u89e3\u6790\u306b\u95a2\u308f\u308b\u95a2\u6570\u3092\u53ce\u5bb9\uff0e gait : \u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u4e00\u9023\u306e\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e\u5b9f\u884c\u3055\u308c\u308b\u9806\u756a\u306b\u5f93\u3063\u3066\u4e0b\u4f4d\u30d5\u30a9\u30eb\u30c0\u306b\u756a\u53f7\u304c\u632f\u3089\u308c\u3066\u3044\u308b\uff0e\u5404\u30d5\u30a9\u30eb\u30c0\u5185\u306b\uff0c\u5404\u6b69\u5bb9\u8a08\u753b\u30bf\u30a4\u30d7\u306b\u5fdc\u3058\u305f\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u304c\u5165\u3063\u3066\u3044\u308b\uff0e 0_upd_graspable_points_in_reachable_area : \u53ef\u52d5\u7bc4\u56f2\u5185\u306e\u628a\u6301\u5019\u88dc\u70b9\u306e\u4f4d\u7f6e\u53d6\u5f97 1_upd_swing_num : \u904a\u811a\u306e\u9078\u5b9a\u3092\u3059\u308b\u95a2\u6570 2_upd_swing_next_pos : \u6b21\u306e\u904a\u811a\u306e\u63a5\u5730\u70b9(\u628a\u6301\u70b9)\u3092\u6c7a\u5b9a\u3059\u308b\u95a2\u6570 3_upd_base_next_pos : \u30d9\u30fc\u30b9\u306e\u79fb\u52d5\u4f4d\u7f6e\u3092\u6c7a\u5b9a\u3059\u308b\u95a2\u6570 4_upd_kinematic_feasibility : \u6b21\u306e\u904a\u811a\u30fb\u628a\u6301\u70b9\u30fb\u30d9\u30fc\u30b9\u4f4d\u7f6e\u304c\u9006\u904b\u52d5\u5b66\u7684\u306b\u53ef\u80fd\u304b\u5224\u5b9a\u3059\u308b\u95a2\u6570 **5_upd_gait_history : \u6b69\u5bb9\u8a08\u753b\u306e\u7d50\u679c\u3092\u4fdd\u5b58\u3059\u308b\u95a2\u6570 ini_gait.m : \u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u5909\u6570\u306e\u521d\u671f\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\u95a2\u6570 upd_gait_planning.m : \u6b69\u5bb9\u8a08\u753b\u306e\u95a2\u6570\u7fa4\u306e\u304a\u304a\u3082\u3068\u3067\u3042\u308a\uff0c main_sim \u306e\u30eb\u30fc\u30d7\u5185\u3067\u5b9f\u884c\u3055\u308c\u308b\u6b69\u5bb9\u8a08\u753b\u30d1\u30e9\u30e1\u30fc\u30bf\u66f4\u65b0\u306e\u95a2\u6570 global path plan : \u5927\u5c40\u7684\u7d4c\u8def\u8a08\u753b\u306b\u95a2\u3059\u308b\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e local_path_plan : \u5c40\u6240\u7684\u7d4c\u8def\u8a08\u753b\u306b\u95a2\u3059\u308b\u95a2\u6570\u3092\u53ce\u5bb9 motion : \u30d9\u30fc\u30b9\u306e\u52d5\u304d\u30fb\u811a\u306e\u8ecc\u9053\u3092\u751f\u6210\u30fb\u5236\u5fa1\u3059\u308b\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e tools : \u9806\u904b\u52d5\u5b66\u306e\u95a2\u6570\u3068\uff0c\u6b69\u5bb9\u306b\u95a2\u308f\u308bmap\u60c5\u5831\u3092\u53d6\u5f97\u3059\u308b\u95a2\u6570\u304c\u53ce\u5bb9 upd_grasp_detach.m : \u30b0\u30ea\u30c3\u30d1\u306e\u6ed1\u843d\u3092\u5224\u5b9a\u3057\u3066\u66f4\u65b0\u3059\u308b\u95a2\u6570 engine : \u30ed\u30dc\u30c3\u30c8\u306b\u304b\u304b\u308b\u5916\u529b\u306e\u8a08\u7b97\u3084\u5916\u90e8\u3068\u306e\u63a5\u89e6\u30e2\u30c7\u30eb\u306b\u95a2\u308f\u308b\u95a2\u6570\uff0e environment climbing_holds_map : \u30dc\u30eb\u30c0\u30ea\u30f3\u30b0\u30db\u30fc\u30eb\u30c9\u3092\u7528\u3044\u305f\u5730\u5f62\u60c5\u5831\u306e\u4fdd\u7ba1\u5834\u6240 grid_map : \u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306e\u751f\u6210\u3057\u305f\u5730\u5f62\u60c5\u5831\u306e\u4fdd\u7ba1\u5834\u6240 terrain_map : \u5b9f\u5730\u5f62\u30de\u30c3\u30d7\u306e\u4fdd\u7ba1\u5834\u6240 uneven_map : \u30d5\u30e9\u30af\u30bf\u30eb\u3092\u5229\u7528\u3057\u305f\u4e0d\u6574\u5730\u30de\u30c3\u30d7\u306e\u4fdd\u7ba1\u5834\u6240 map_grid_desingner.m : \u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306e\u30de\u30c3\u30d7\u306e\u751f\u6210\u3092\u3059\u308b\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb \u5730\u5f62\u60c5\u5831\u30fb\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306b\u95a2\u3059\u308binitialize\u95a2\u6570\u7fa4 : ini_environment.m , ini_surface.m , ini_graspable_points.m map_format_conversion.m : RealSense\u30ab\u30e1\u30e9\u3067\u53d6\u5f97\u3057\u3066PCD\u304b\u30893\u00d7N\u884c\u5217\u3068\u3057\u305f\u70b9\u7fa4\u60c5\u5831\u3092\uff0c\u5ea7\u6a19\u5909\u63db\u30fb\u7dda\u5f62\u88dc\u9593\u3057\u3066\u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306b\u5909\u63db\u3059\u308b\u95a2\u6570\uff0e misc : \u672a\u5206\u985e\u306e\u95a2\u6570\u7fa4\uff0e\u30c7\u30fc\u30bf\u4fdd\u5b58\u306b\u95a2\u308f\u308bsave\u95a2\u6570\u306a\u3069\u304c\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e robot : \u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u306e\u5b9a\u7fa9\u3084\u305d\u306e\u521d\u671f\u8a2d\u5b9a\u30fb\u89e3\u6790\u3092\u884c\u3046\u95a2\u6570\u3092\u53ce\u5bb9\uff0e LP_analysis : \u30ed\u30dc\u30c3\u30c8\u306e\u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf(LP)\u304b\u3089\u811a\u5148\u53ef\u52d5\u7bc4\u56f2\u3092\u63cf\u753b\u3059\u308b\u95a2\u6570 ini_12DOF_SV.m , ini_nDOF_SV.m : \u8a2d\u5b9a\u3055\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u81ea\u7531\u5ea6\u306b\u3082\u3068\u3065\u304d\u72b6\u614b\u5909\u6570(SV)\u3092\u8a2d\u5b9a\u3059\u308b\u95a2\u6570 ini_(Robot\u540d)\u95a2\u6570\u7fa4 : \u5404\u30ed\u30dc\u30c3\u30c8\u306eLP\u3092\u5185\u90e8\u3067\u6307\u5b9a\u3057\u3066\u30e1\u30a4\u30f3\u306b\u8aad\u307f\u8fbc\u3080 ini_joint_angle.m ini_reachable_area.m ini_robot.m sensing : \u30ab\u30e1\u30e9\u3084\u30bb\u30f3\u30b5\u306b\u3082\u3068\u3065\u304f\u30bb\u30f3\u30b7\u30f3\u30b0\u306b\u95a2\u9023\u3059\u308bini_,upd_\u95a2\u6570\u7fa4\u3092\u4e3b\u8981 visualization : \u5168\u3066\u306evisualize\u95a2\u6570\u7fa4\u306e\u4fdd\u5b58\u5834\u6240 ini_path.m : main_sim.m \u306e\u5b9f\u884c\u306e\u305f\u3081\u306b\uff0c\u5b9f\u884c\u3057\u3066\u3044\u308b\u30d5\u30a9\u30eb\u30c0\u306e\u73fe\u5728\u4f4d\u7f6e\u78ba\u8a8d\u3068\uff0c\u30d1\u30b9\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\uff0e `main_sim.m : ClimbLab\u306e\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb \u4ee5\u4e0a\u304cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u306e\u6982\u8981\u3067\u3042\u308b\uff0e","title":"5. How to Contribute"},{"location":"5_folder_tree/#5-folder-tree","text":"\u672c\u7ae0\u3067\u306f\uff0cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3068\u95a2\u6570\u306e\u7f6e\u304d\u5834\u6240\u3092\u793a\u3059\uff0e\u306a\u304a\uff0c\u592a\u5b57\u306f\u30d5\u30a9\u30eb\u30c0\u540d\u3092\u8868\u3059\uff0e\u672c\u7ae0\u3092\u8efd\u304f\u4e00\u8aad\u3059\u308b\u3053\u3068\u3067\uff0cClimbLab\u5168\u4f53\u306e\u69cb\u9020\u3092\u628a\u63e1\u3059\u308b\u3053\u3068\u3067\u304d\u308b\uff0e\u307e\u305f\uff0c\u65b0\u305f\u306a\u95a2\u6570\u3084\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3059\u308b\u5834\u5408\u306b\u306f\uff0c\u3053\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3092\u53c2\u8003\u306b\u9069\u5207\u306a\u5834\u6240\u306b\u914d\u7f6e\u3059\u308b\u3053\u3068\uff0e climblab/ config config\u95a2\u6570\u7fa4\u4e00\u5f0f\u3092\u4fdd\u5b58\u3059\u308b\u30d5\u30a9\u30eb\u30c0 default : config\u306edefault\u7528\u95a2\u6570\u7fa4 preset : \u3053\u308c\u307e\u3067\u306e\u958b\u767a\u306b\u4f7f\u308f\u308c\u305fconfiguration\u95a2\u6570\u7fa4 USER : \u5909\u6570\u4e0a\u66f8\u304d\u7528USER config\u95a2\u6570\u3068\u305d\u306e\u30c6\u30f3\u30d7\u30ec\u30fc\u30c8 config_simulation.m : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306econfig\u3092\u8a2d\u5b9a\u3059\u308b\u5927\u5143\u306e\u95a2\u6570 config_all_default_param.m : default\u306e\u306a\u304b\u306econfig\u30d5\u30a1\u30a4\u30eb\u7fa4\u3092\u5b9f\u884c\u3059\u308b\u95a2\u6570 dat : data\u30d5\u30a9\u30eb\u30c0\u30fc\u306e\u610f\uff0e\u5b9f\u884c\u3057\u305f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u30ed\u30b0\u3084\u52d5\u753b\u306e\u4fdd\u5b58\u5148 docs media : \u5bfe\u5916\u7528\u306b\u4f7f\u7528\u3059\u308b\u753b\u50cf\u30fbgif\u306e\u4fdd\u5b58\u5834\u6240 mkdocs : \u672c\u30de\u30cb\u30e5\u30a2\u30eb\u306e\u4fdd\u5b58\u5834\u6240 lib : ClimbLab\u3067\u4f7f\u7528\u3057\u3066\u3044\u308b\u95a2\u6570\u306e\u4e2d\u3067\uff0c\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u306e\u307f\u306a\u3089\u305a\u4ed6\u306e\u5206\u91ce\u3078\u306e\u6c4e\u7528\u6027\u3082\u9ad8\u3044\u95a2\u6570\u7fa4\u3092\u4fdd\u5b58\u3059\u308b\u5834\u6240 equ_gia : GIA\u5b89\u5b9a\u9818\u57df\u306b\u3064\u3044\u3066\u306e\u8a08\u7b97\u306b\u95a2\u308f\u308b\u95a2\u6570\u4e00\u5f0f spacedyn_v2r0 : SpaceDyn\u306e\u95a2\u6570\u4e00\u5f0f MATLAB Reference : \u5404\u95a2\u6570\u306e\u5f79\u5272\u306b\u3064\u3044\u3066\uff0chtml\u5f62\u5f0f\u3067\u898b\u3084\u3059\u304f\u307e\u3068\u3081\u3089\u308c\u305f\u3082\u306e target_detection : \u628a\u6301\u5019\u88dc\u70b9\u691c\u51fa\u306b\u95a2\u308f\u308b\u95a2\u6570\u4e00\u5f0f \u56de\u8ee2\u884c\u5217\u3092\u8a08\u7b97\u3059\u308b\u3060\u3051\u306e\u95a2\u6570\u7fa4 : rot_2xy.m , rot_x.m , rot_y.m, rot_z.m src : \u811a\u578b\u30af\u30e9\u30a4\u30df\u30f3\u30b0\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u7279\u5316\u3057\u3066\u958b\u767a\u3055\u308c\u3066\u304d\u305f\u95a2\u6570\u7fa4\uff0e\u4e0b\u4f4d\u306e\u69cb\u6210\u30d5\u30a9\u30eb\u30c0\u306e\u6570\u304c\u591a\u3044\u306e\u3067\uff0csrc\u4ee5\u4e0b\u306b\u306e\u307f\u9805\u76ee\u3092\u308f\u3051\u3066\uff0c\u6b21\u306b\u6539\u3081\u3066\u8a18\u3059\uff0e climblab/src/ controller : \u30eb\u30fc\u30d7\u5185\u3067\u4f7f\u7528\u3055\u308c\u308b\u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u91cd\u8981\u306a\u95a2\u6570\u306e\u591a\u304f\u304c\u7f6e\u304b\u308c\u3066\u3044\u308b control : \u95a2\u7bc0\u30c8\u30eb\u30af\u3092\u5236\u5fa1\u3059\u308b\u305f\u3081\u306e\u95a2\u6570\u3092\u53ce\u5bb9 equilibrium : \u5b89\u5b9a\u6027\u89e3\u6790\u306b\u95a2\u308f\u308b\u95a2\u6570\u3092\u53ce\u5bb9\uff0e gait : \u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u4e00\u9023\u306e\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e\u5b9f\u884c\u3055\u308c\u308b\u9806\u756a\u306b\u5f93\u3063\u3066\u4e0b\u4f4d\u30d5\u30a9\u30eb\u30c0\u306b\u756a\u53f7\u304c\u632f\u3089\u308c\u3066\u3044\u308b\uff0e\u5404\u30d5\u30a9\u30eb\u30c0\u5185\u306b\uff0c\u5404\u6b69\u5bb9\u8a08\u753b\u30bf\u30a4\u30d7\u306b\u5fdc\u3058\u305f\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u304c\u5165\u3063\u3066\u3044\u308b\uff0e 0_upd_graspable_points_in_reachable_area : \u53ef\u52d5\u7bc4\u56f2\u5185\u306e\u628a\u6301\u5019\u88dc\u70b9\u306e\u4f4d\u7f6e\u53d6\u5f97 1_upd_swing_num : \u904a\u811a\u306e\u9078\u5b9a\u3092\u3059\u308b\u95a2\u6570 2_upd_swing_next_pos : \u6b21\u306e\u904a\u811a\u306e\u63a5\u5730\u70b9(\u628a\u6301\u70b9)\u3092\u6c7a\u5b9a\u3059\u308b\u95a2\u6570 3_upd_base_next_pos : \u30d9\u30fc\u30b9\u306e\u79fb\u52d5\u4f4d\u7f6e\u3092\u6c7a\u5b9a\u3059\u308b\u95a2\u6570 4_upd_kinematic_feasibility : \u6b21\u306e\u904a\u811a\u30fb\u628a\u6301\u70b9\u30fb\u30d9\u30fc\u30b9\u4f4d\u7f6e\u304c\u9006\u904b\u52d5\u5b66\u7684\u306b\u53ef\u80fd\u304b\u5224\u5b9a\u3059\u308b\u95a2\u6570 **5_upd_gait_history : \u6b69\u5bb9\u8a08\u753b\u306e\u7d50\u679c\u3092\u4fdd\u5b58\u3059\u308b\u95a2\u6570 ini_gait.m : \u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u5909\u6570\u306e\u521d\u671f\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\u95a2\u6570 upd_gait_planning.m : \u6b69\u5bb9\u8a08\u753b\u306e\u95a2\u6570\u7fa4\u306e\u304a\u304a\u3082\u3068\u3067\u3042\u308a\uff0c main_sim \u306e\u30eb\u30fc\u30d7\u5185\u3067\u5b9f\u884c\u3055\u308c\u308b\u6b69\u5bb9\u8a08\u753b\u30d1\u30e9\u30e1\u30fc\u30bf\u66f4\u65b0\u306e\u95a2\u6570 global path plan : \u5927\u5c40\u7684\u7d4c\u8def\u8a08\u753b\u306b\u95a2\u3059\u308b\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e local_path_plan : \u5c40\u6240\u7684\u7d4c\u8def\u8a08\u753b\u306b\u95a2\u3059\u308b\u95a2\u6570\u3092\u53ce\u5bb9 motion : \u30d9\u30fc\u30b9\u306e\u52d5\u304d\u30fb\u811a\u306e\u8ecc\u9053\u3092\u751f\u6210\u30fb\u5236\u5fa1\u3059\u308b\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e tools : \u9806\u904b\u52d5\u5b66\u306e\u95a2\u6570\u3068\uff0c\u6b69\u5bb9\u306b\u95a2\u308f\u308bmap\u60c5\u5831\u3092\u53d6\u5f97\u3059\u308b\u95a2\u6570\u304c\u53ce\u5bb9 upd_grasp_detach.m : \u30b0\u30ea\u30c3\u30d1\u306e\u6ed1\u843d\u3092\u5224\u5b9a\u3057\u3066\u66f4\u65b0\u3059\u308b\u95a2\u6570 engine : \u30ed\u30dc\u30c3\u30c8\u306b\u304b\u304b\u308b\u5916\u529b\u306e\u8a08\u7b97\u3084\u5916\u90e8\u3068\u306e\u63a5\u89e6\u30e2\u30c7\u30eb\u306b\u95a2\u308f\u308b\u95a2\u6570\uff0e environment climbing_holds_map : \u30dc\u30eb\u30c0\u30ea\u30f3\u30b0\u30db\u30fc\u30eb\u30c9\u3092\u7528\u3044\u305f\u5730\u5f62\u60c5\u5831\u306e\u4fdd\u7ba1\u5834\u6240 grid_map : \u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306e\u751f\u6210\u3057\u305f\u5730\u5f62\u60c5\u5831\u306e\u4fdd\u7ba1\u5834\u6240 terrain_map : \u5b9f\u5730\u5f62\u30de\u30c3\u30d7\u306e\u4fdd\u7ba1\u5834\u6240 uneven_map : \u30d5\u30e9\u30af\u30bf\u30eb\u3092\u5229\u7528\u3057\u305f\u4e0d\u6574\u5730\u30de\u30c3\u30d7\u306e\u4fdd\u7ba1\u5834\u6240 map_grid_desingner.m : \u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306e\u30de\u30c3\u30d7\u306e\u751f\u6210\u3092\u3059\u308b\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb \u5730\u5f62\u60c5\u5831\u30fb\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306b\u95a2\u3059\u308binitialize\u95a2\u6570\u7fa4 : ini_environment.m , ini_surface.m , ini_graspable_points.m map_format_conversion.m : RealSense\u30ab\u30e1\u30e9\u3067\u53d6\u5f97\u3057\u3066PCD\u304b\u30893\u00d7N\u884c\u5217\u3068\u3057\u305f\u70b9\u7fa4\u60c5\u5831\u3092\uff0c\u5ea7\u6a19\u5909\u63db\u30fb\u7dda\u5f62\u88dc\u9593\u3057\u3066\u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306b\u5909\u63db\u3059\u308b\u95a2\u6570\uff0e misc : \u672a\u5206\u985e\u306e\u95a2\u6570\u7fa4\uff0e\u30c7\u30fc\u30bf\u4fdd\u5b58\u306b\u95a2\u308f\u308bsave\u95a2\u6570\u306a\u3069\u304c\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e robot : \u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u306e\u5b9a\u7fa9\u3084\u305d\u306e\u521d\u671f\u8a2d\u5b9a\u30fb\u89e3\u6790\u3092\u884c\u3046\u95a2\u6570\u3092\u53ce\u5bb9\uff0e LP_analysis : \u30ed\u30dc\u30c3\u30c8\u306e\u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf(LP)\u304b\u3089\u811a\u5148\u53ef\u52d5\u7bc4\u56f2\u3092\u63cf\u753b\u3059\u308b\u95a2\u6570 ini_12DOF_SV.m , ini_nDOF_SV.m : \u8a2d\u5b9a\u3055\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u81ea\u7531\u5ea6\u306b\u3082\u3068\u3065\u304d\u72b6\u614b\u5909\u6570(SV)\u3092\u8a2d\u5b9a\u3059\u308b\u95a2\u6570 ini_(Robot\u540d)\u95a2\u6570\u7fa4 : \u5404\u30ed\u30dc\u30c3\u30c8\u306eLP\u3092\u5185\u90e8\u3067\u6307\u5b9a\u3057\u3066\u30e1\u30a4\u30f3\u306b\u8aad\u307f\u8fbc\u3080 ini_joint_angle.m ini_reachable_area.m ini_robot.m sensing : \u30ab\u30e1\u30e9\u3084\u30bb\u30f3\u30b5\u306b\u3082\u3068\u3065\u304f\u30bb\u30f3\u30b7\u30f3\u30b0\u306b\u95a2\u9023\u3059\u308bini_,upd_\u95a2\u6570\u7fa4\u3092\u4e3b\u8981 visualization : \u5168\u3066\u306evisualize\u95a2\u6570\u7fa4\u306e\u4fdd\u5b58\u5834\u6240 ini_path.m : main_sim.m \u306e\u5b9f\u884c\u306e\u305f\u3081\u306b\uff0c\u5b9f\u884c\u3057\u3066\u3044\u308b\u30d5\u30a9\u30eb\u30c0\u306e\u73fe\u5728\u4f4d\u7f6e\u78ba\u8a8d\u3068\uff0c\u30d1\u30b9\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\uff0e `main_sim.m : ClimbLab\u306e\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb \u4ee5\u4e0a\u304cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u306e\u6982\u8981\u3067\u3042\u308b\uff0e","title":"5. Folder Tree"},{"location":"6_development_policy/","text":"6. Development Policy \u672c\u7ae0\u3067\u306fClimbLab\u3092\u4f7f\u3063\u3066\u958b\u767a\u3092\u304a\u3053\u306a\u3046\u5834\u5408\u306e\u6ce8\u610f\u70b9\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e \u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u308a\u6a5f\u80fd\u3092\u8ffd\u52a0\u3059\u308b\u5834\u5408\u306f\uff0c\u6b21\u306e\u53d6\u308a\u6c7a\u3081\u3092\u5b88\u3063\u3066\u304a\u3053\u306a\u3046\uff0e\u57fa\u672c\u7684\u306a\u30b3\u30f3\u30bb\u30d7\u30c8\u3068\u3057\u3066\uff0c\u30b7\u30f3\u30d7\u30eb\uff0c\u304b\u3064\u4eca\u5f8c\u3082\u958b\u767a\u3092\u7d9a\u3051\u3084\u3059\u3044\u3088\u3046\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u30d5\u30a9\u30fc\u30de\u30c3\u30c8\u3092\u5b88\u308a\uff0c\u304b\u3064\u8ab0\u304c\u8aad\u3093\u3067\u3082\u8aad\u307f\u3084\u3059\u304f\u7406\u89e3\u3057\u3084\u3059\u3044\u3088\u3046\u306b\u66f8\u304f\u3053\u3068\u3092\u5fc3\u304c\u3051\u308b\uff0e \u3000\u3053\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u7406\u5ff5\u3092\u5b88\u308b\u3053\u3068\u306f\u975e\u5e38\u306b\u91cd\u8981\u3067\u3042\u308a\uff0c\u305d\u306e\u305f\u3081\u306b\u91cd\u8981\u306a\u3053\u3068\u3068\u3057\u3066\uff0c\u65e2\u5b58\u306e main_sim \u4ee5\u5916\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7528Main\u95a2\u6570\u306f\u4f5c\u6210\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u305f\u308b\u6240\u4ee5\u306f\uff0c\u300c1\u3064\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3067\u591a\u69d8\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u53ef\u80fd\u3067\u3042\u308b\u300d\u3053\u3068\u306b\u3042\u308b\u305f\u3081\uff0c\u305d\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3092\u5897\u3084\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u305d\u306e\u305f\u3081\uff0c\u65b0\u305f\u306a\u95a2\u6570\u3084\u6a5f\u80fd\u3092\u4f5c\u6210\u3059\u308b\u5834\u5408\u3082\uff0c\u65e2\u5b58\u306e main_sim \u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u5fc5\u305a\u5b9f\u88c5\u3059\u308b\uff0e \u65b0\u3057\u3044\u6a5f\u80fd\u3092\u691c\u8a3c\u3057\u306a\u304c\u3089\u5b9f\u88c5\u3059\u308b\u969b\uff0c\u6b21\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\u3068\u958b\u767a\u304c\u30b9\u30e0\u30fc\u30ba\u306b\u9032\u3080\u305f\u3081\uff0c\u5fc5\u8981\u3067\u306f\u306a\u3044\u8a2d\u5b9a\u306foff\u306b\u3059\u308b\u3068\u3088\u3044\uff0e * dynamics\u304c\u5fc5\u8981\u3067\u306a\u3044\u5834\u5408\u306f\uff0cdynamics\u3092off\u306b\u3059\u308b * \u6b69\u884c\u3059\u308b\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0cgait type\u3092\u2019do_nothing\u2019\u306b\u3059\u308b * \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u4f55\u79d2\u3082\u56de\u3059\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u6700\u5927\u6642\u9593\u30920\u79d2\u306b\u3059\u308b\uff0e \u307e\u305f\uff0c\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u308b\u5834\u5408\u306e\u95a2\u6570\u306e\u7f6e\u304d\u5834\u6240\u306b\u3064\u3044\u3066\u306f\uff0c4\u7ae0\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3092\u53c2\u8003\u306b\uff0c\u5171\u901a\u3057\u305f\u5f79\u5272\u3067\u304f\u304f\u3089\u308c\u308b\u9069\u5207\u306a\u30d5\u30a9\u30eb\u30c0\u306b\u7f6e\u304f\uff0e \u305d\u306e\u6642\u306e\uff0c\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\uff0e \u30b9\u30cd\u30fc\u30af\u30b1\u30fc\u30b9\u3092\u7528\u3044\u308b \u2715 updGiaCalculation.m \u3007 upd_gia_calulation.m \u95a2\u6570\u540d\u306b\u5927\u6587\u5b57\u306f\u4f7f\u308f\u306a\u3044 \u2715 upd_GIA_calculation.m \u3007 upd_gia_calculation.m \u95a2\u6570\u306e\u63a5\u982d\u8f9e\u3092\uff0c\u6b21\u306e\u65e2\u5b58\u306e\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u306e\u3063\u3068\u3063\u3066\u63a1\u7528\u3059\u308b config_: 2.4\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570\uff0e ini_: 2.5\u7bc0\u53c2\u7167\uff0e\u30ed\u30dc\u30c3\u30c8\u3084\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306e\u521d\u671f\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570 upd_: 2.6\u7bc0\u53c2\u7167\uff0e\u30eb\u30fc\u30d7\u5185\u3067\uff0c\u6b69\u5bb9\u3084\u5236\u5fa1\u30fb\u529b\u5b66\u306b\u95a2\u308f\u308b\u95a2\u6570 vis_: 2.7\u7bc0\u53c2\u7167\uff0e\u56f3\u306e\u63cf\u753b\u306b\u95a2\u308f\u308b\u95a2\u6570 sav_: 2.8\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5c65\u6b74\u306e\u4fdd\u5b58\u306b\u95a2\u308f\u308b\u95a2\u6570 main_ : 3\u7ae0\u53c2\u7167\uff0e\u5358\u4f53\u3067\u5b9f\u884c\u3057\u3066climblab\u306e\u958b\u767a\u306b\u6709\u7528\u306a\u95a2\u6570\u306b\u4ed8\u3051\u308b \u95a2\u6570\u306e\u540d\u524d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u69cb\u308f\u306a\u3044\u306e\u3067\uff0c\u305d\u306e\u95a2\u6570\u304c\u3069\u3046\u3044\u3046\u6a5f\u80fd\u3092\u6709\u3057\u3066\u3044\u308b\u306e\u304b\u5206\u304b\u308b\u3088\u3046\u306b\u66f8\u304f\uff0e \u4e0a\u8a18\u306e\u30eb\u30fc\u30eb\u306b\u306e\u3063\u3068\u3063\u3066\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u5f8c\u306e\uff0c\u5177\u4f53\u7684\u306a\u30b3\u30fc\u30c9\u306e\u8a18\u8ff0\u30eb\u30fc\u30eb\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u4ee5\u964d\u306e\u5185\u5bb9\u306f\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u5b9f\u88c5\u306e\u969b\u306b\u3082\u5171\u901a\u3059\u308b\u6ce8\u610f\u4e8b\u9805\u3067\u3042\u308b\uff0e 1. \u65b0\u3057\u3044\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u306e\u5192\u982d\u306b\u305d\u306e\u95a2\u6570\u306e\u4ed5\u69d8\u306b\u3064\u3044\u3066\u660e\u78ba\u306b\u8a18\u8f09\u3059\u308b\uff0e \u3053\u306e\u5192\u982d\u306e\u8a18\u8ff0\u3092\u8aad\u3080\u3060\u3051\u3067\uff0c\u305d\u306e\u95a2\u6570\u306e\u304a\u304a\u307e\u304b\u306a\u6a5f\u80fd\u304c\u628a\u63e1\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e \u8a18\u8ff0\u3059\u308b\u9805\u76ee\u306f\uff0c \u95a2\u6570\u306e\u304f\u304f\u308a(configuration/update/visualize/save/main) \u95a2\u6570\u540d \u95a2\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u4f5c\u6210\u65e5\u6642 \u4f5c\u6210\u8005 \u6700\u7d42\u7de8\u96c6\u65e5\u6642 \u6700\u7d42\u7de8\u96c6\u8005 \u95a2\u6570\u306e\u8a73\u7d30\u306a\u8aac\u660e \u51fa\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u5165\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u3067\u3042\u308b\uff0e\u4ee5\u4e0b\u306b\u8a18\u8ff0\u4f8b\u3092\u793a\u3059\uff0e 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 %%%%%% Configuration %%%%%% config_save_settings %%%%%% %%%%%% Configure default saving settings %%%%%% %%%%%% Created 2020 - 07 - 08 %%%%%% Warley Ribeiro %%%%%% Last update : 2021 - 03 - 31 %%%%%% Keigo Haji % % % Load default configurations for saving % % Function variables : % % OUTPUT % save_settings : Data saving settings ( struct ) % INPUT % - 2. \u3080\u3084\u307f\u306bmain_sim\u5185\u306b\u65b0\u305f\u306a\u95a2\u6570\u306e\u8a18\u8ff0\u3092\u5897\u3084\u3055\u305a\uff0cmain_sim\u5185\u3067\u5b9f\u884c\u3055\u308c\u3066\u3044\u308b\u65e2\u5b58\u306e\u95a2\u6570\u5185\u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\uff0e \u3053\u308c\u306f\uff0cClimbLab\u304c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u6a5f\u80fd\u3057\u3066\u3044\u304f\u305f\u3081\u306bmain_sim\u306e\u4e00\u822c\u6027\u3092\u62c5\u4fdd\u3059\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u307e\u305f\uff0c\u540c\u6642\u306bmain_sim\u3092\u8907\u6570\u4eba\u304c\u7de8\u96c6\u3059\u308b\u3068Git\u306emerge\u306e\u969b\u306bconflict\u304c\u767a\u751f\u3057\u3084\u3059\u304f\u306a\u308b\u306e\u3067\uff0c\u305d\u306e\u554f\u984c\u3092\u907f\u3051\u308b\u3068\u3044\u3046\u76ee\u7684\u3082\u3042\u308b\uff0e \u60aa\u3044\u4f8b\uff09main_sim\u5185\u306b\u76f4\u63a5\u5b9f\u88c5 1 2 3 4 5 6 7 8 9 10 MAIN_FILE . m ... disp ( time ); if gait_param . type = \u2018 new_gait \u2019 new_gait ( ... ) else path_planning_param = upd_path_planning ( ... ); end [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... \u826f\u3044\u4f8b\uff09main_sim\u306f\u305d\u306e\u307e\u307e\u306b\uff0cupd\u95a2\u6570\u5185\u3067\u5834\u5408\u5206\u3051\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u308b 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 MAIN_FILE . m ... disp ( time ); path_planning_param = upd_path_planning ( ... ); [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... FUNCTION_FILE . m function path_planning_param = upd_path_planning ( ... ) switch gait_param . type case \u2018 new_gait \u2019 new_gait ( ... ); case \u2018 old_gait \u2019 ... 3. \u5909\u6570\u306f\u306a\u308b\u3079\u304fclass\u306b\u53ce\u5bb9\u3059\u308b \u5927\u91cf\u306e\u30ed\u30fc\u30ab\u30eb\u5909\u6570\u3092\u95a2\u6570\u5185\u3067\u306a\u308b\u3079\u304f\u6271\u308f\u306a\u3044\u3088\u3046\u306b\u3059\u308b\uff0e\u3053\u308c\u306fMATLAB\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\u3067\u306e\u5909\u6570\u306e\u628a\u63e1\u304c\u96e3\u3057\u304f\u306a\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u5909\u6570\u306e\"\u304f\u304f\u308a\"\u3092\u8003\u3048\u3066\uff0c\u65e2\u5b58\u306eclass\u306b\u3042\u3066\u306f\u307e\u308b\u5834\u5408\u306f\u65e2\u5b58\u306eclass( gait_planning_param , motion_planning_param \u7b49)\u306b\u53ce\u5bb9\u3057\uff0c\u306a\u3044\u5834\u5408\u306f\u81ea\u5206\u306e\u6a5f\u80fd\u306b\u3042\u3063\u305f\u65b0\u305f\u306aclass\u3092\u4f5c\u6210\u3059\u308b\u3053\u3068\uff0e \u60aa\u3044\u4f8b\uff09local\u5909\u6570\u304c\u591a\u3044\uff0e 1 2 3 4 5 6 7 8 ... leg1_des_pos = \u2026 leg2_des_pos = \u2026 leg3_des_pos = \u2026 leg4_des_pos = \u2026 base_des_pos = ... generate_trajectory ( leg1_des_pos , leg2_des_pos , leg3_des_pos , leg4_des_pos , base_des_pos ); ... \u3044\u3044\u4f8b\uff09\u5909\u6570\u304cclass\u306b\u5206\u985e\u3055\u308c\u3066\u3044\u308b 1 2 3 4 5 ... path_planning_param . leg_des_pos = \u2026 path_planning_param . base_des_pos = \u2026 generate_trajectory ( path_planning_param ); ... 4. \u5909\u6570\u540d\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u3064\u3051\u308b \u5909\u6570\u540d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u3044\u3044\u306e\u3067\uff0c\u8ab0\u306b\u3067\u3082\u308f\u304b\u308b\u3088\u3046\u306b\u4ed8\u3051\u308b\uff0e\u5909\u6570\u540d\u306e\u4ed8\u3051\u65b9\u306f\u95a2\u6570\u3068\u540c\u3058\u304f\uff0csnake_case\u3067\u7d71\u4e00\u3057\uff0ccamelCase\u306f\u4f7f\u308f\u306a\u3044\uff0e\u307e\u305f\uff0c\u305d\u306e\u5909\u6570\u304c\u3069\u3046\u3044\u3046\u5024\u3092\u53ce\u5bb9\u3057\uff0c\u305d\u306e\u5358\u4f4d(\u6b21\u5143)\u306f\u306a\u3093\u306a\u306e\u304b\u3092\u30b3\u30e1\u30f3\u30c8\u3067\u660e\u8a18\u3059\u308b\uff0e \u60aa\u3044\u4f8b\uff09\u4eba\u304c\u8aad\u3093\u3067\u3082\u4f55\u306e\u7565\u79f0\u304b\u308f\u304b\u3089\u306a\u3044 1 2 3 4 5 ... L1 = \u2026 WP . T = \u2026 GPM = ... ... \u3044\u3044\u4f8b\uff09\u30b3\u30e1\u30f3\u30c8\u3084\u5909\u6570\u540d\u304b\u3089\u4f55\u306e\u5024\u304c\u3069\u3046\u3044\u3046\u5358\u4f4d\u6b21\u5143\u3067\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\u304b\u5206\u304b\u308b 1 2 3 4 5 6 7 8 \u2026 % Desired position of a leg [m] motion_planning_param . des_leg_pos = \u2026 % Period for crawl gait [s] gait_parameter . T = \u2026 % Grippable points [m] surface_param . grippable_points = ... ... 5. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u5fc5\u305a\u7e70\u308a\u8fd4\u3057\u30c6\u30b9\u30c8\u3092\u304a\u3053\u306a\u3046 \u65b0\u3057\u3044\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u5f8c\u306f\uff0c\u30d1\u30e9\u30e1\u30fc\u30bf\u3084\u8a2d\u5b9a\u3092\u5909\u3048\u3066\u30c6\u30b9\u30c8\u3092\u7e70\u308a\u8fd4\u3057\uff0c\u30d0\u30b0\u304c\u767a\u751f\u3057\u306a\u3044\u3053\u3068\u3092\u78ba\u304b\u3081\u3066\u304b\u3089\u4e0a\u7d1a\u751f\u306bReview\u3092\u304a\u9858\u3044\u3059\u308b\uff0e 6. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u65e2\u5b58\u306epreset\u3067\u3082\u5b9f\u884c\u3057\uff0c\u554f\u984c\u304c\u306a\u3044\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b \u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3053\u3068\u3067\uff0c\u3053\u308c\u307e\u306epreset\u304c\u56de\u3089\u306a\u304f\u306a\u3063\u305f\u308a\uff0c\u4ed6\u306e\u958b\u767a\u8005\u306e\u958b\u767a\u74b0\u5883\u3068\u5e72\u6e09\u3059\u308b\u6050\u308c\u304c\u3042\u308b\u305f\u3081\uff0cconfig\u8a2d\u5b9a\u3092\u65e2\u5b58\u306epreset\u306b\u3057\u3066\u5168\u3066\u306epreset\u3092\u5b9f\u884c\u3057\uff0c\u554f\u984c\u306a\u304f\u5b9f\u884c\u3055\u308c\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e 7. \u95a2\u6570\u3092\u6d88\u3055\u306a\u3044 \u3069\u3093\u306a\u95a2\u6570\u3067\u3042\u308c\uff0c\u3080\u3084\u307f\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65b0\u305f\u306a\u6a5f\u80fd\u306b\u3088\u3063\u3066\uff0c\u6b69\u884c\u304c\u5b89\u5b9a\u3057\u305f\u308a\u901f\u304f\u306a\u3063\u305f\u308a\u3059\u308b\u3088\u3046\u306a\u4f55\u304b\u7d50\u679c\u304c\u3088\u304f\u306a\u308b\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3068\u3057\u3066\u3082\uff0c\u524d\u307e\u3067\u3042\u3063\u305f\u95a2\u6570\u306f\u7d76\u5bfe\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65e2\u5b58\u306e\u95a2\u6570\u306f\uff0c\u3053\u308c\u307e\u3067\u306e\u8ca1\u7523\u3067\u3042\u308a\uff0c\u78ba\u5b9f\u306b\u3053\u308c\u307e\u3067\u7a3c\u52d5\u3057\u3066\u3044\u305f\u3068\u3044\u3046\u70b9\u3067\u975e\u5e38\u306b\u6709\u7528\u306a\u3082\u306e\u3067\u3042\u308b\uff0e\u624b\u6cd5\u306e\u6bd4\u8f03\u3092\u304a\u3053\u306a\u3046\u969b\u3084\uff0c\u307e\u305f\u30b7\u30f3\u30d7\u30eb\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u65b9\u304c\u7406\u89e3\u3057\u3084\u3059\u3044\u3068\u3044\u3046\u70b9\u3067\u597d\u307e\u308c\uff0c\u5fc5\u8981\u3068\u3055\u308c\u308b\u5834\u5408\u3082\u3042\u308b\uff0e\u305d\u308c\u307e\u3067\u306e\u95a2\u6570\u3092\u524a\u9664\u30fb\u66f4\u65b0\u3059\u308b\u306e\u3067\u306f\u306a\u304f\uff0c\u65b0\u305f\u306a\u6a5f\u80fd\u30fb\u30b1\u30fc\u30b9\u3092\u8ffd\u52a0\u3059\u308b\u3068\u3044\u3046\u70b9\u3092\u610f\u8b58\u3057\uff0c\u65e2\u5b58\u306e\u95a2\u6570\u30fb\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u4e21\u65b9\u304c\u6271\u3048\u308b\u3088\u3046\u306b\u958b\u767a\u3092\u9032\u3081\u308b\uff0e 8. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3082\u540c\u6642\u9032\u884c\u3067\u958b\u767a\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u5fd8\u308c\u306a\u3044 ClimbLab\u306f\u5e38\u306b\u8907\u6570\u540d\u304c\u540c\u6642\u306b\u958b\u767a\u3092\u3059\u3059\u3081\u3066\u3044\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u3057\u3066\u3044\u308b\u9593\u306b\uff0c\u8ab0\u304b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u958b\u767a\u3092\u7d42\u308f\u3089\u305b\u3066\u65b0\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\u3053\u3068\u304c\u3088\u304f\u767a\u751f\u3059\u308b\uff0e\u3053\u306e\u969b\uff0cdevelop\u30d6\u30e9\u30f3\u30c1\u306erebase\u3092\u5e38\u306b\u304a\u3053\u306a\u3046\u3053\u3068\uff0e\u81ea\u5206\u304c\u958b\u767a\u6bb5\u968e\u3067\u63a1\u7528\u3057\u3066\u3044\u305f\u95a2\u6570\u304c\uff0c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u4e00\u90e8\u5909\u66f4\u3055\u308c\u3066\u3044\u308b\u53ef\u80fd\u6027\u304c\u3042\u308b\u305f\u3081\uff0c\u5e38\u306b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u958b\u767a\u72b6\u6cc1\u306b\u3064\u3044\u3066\u628a\u63e1\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u5f53\u7136\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u304c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306b\u3082\u5f71\u97ff\u3092\u4e0e\u3048\u308b\u305f\u3081\uff0c\u5e38\u306b\u5831\u544a\u30fb\u9023\u7d61\u30fb\u76f8\u8ac7\u3092\u5fd8\u308c\u306a\u3044\uff0e 9. \u81ea\u5206\u306e\u304a\u3053\u306a\u3063\u305f\u5909\u66f4\u70b9\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u30e1\u30f3\u30d0\u30fc\u306b\u5171\u6709\u3059\u308b \u4e0a\u3067\u3082\u8ff0\u3079\u305f\u3068\u304a\u308a\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u306f\u4ed6\u4eba\u306e\u958b\u767a\u306b\u5f71\u97ff\u3092\u4e0e\u3048\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u4f55\u304b\u65b0\u3057\u3044\u6a5f\u80fd\u306e\u958b\u767a\u3092\u7d42\u3048\u305f\u3089\uff0c\u305d\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u3069\u3093\u306a\u70b9\u304c\u5909\u66f4\u3055\u308c\u305f\u306e\u304b\u3092\uff0c\u305d\u306e\u4f5c\u696d\u306e\u5f53\u4e8b\u8005\u3067\u306f\u306a\u3044\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u9054\u306b\u3082\u308f\u304b\u308a\u3084\u3059\u304f\u5171\u6709\u3059\u308b\uff0e 10. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3068\u7591\u554f\u70b9\u30fb\u554f\u984c\u70b9\u3092\u5171\u6709\u3059\u308b \u540c\u3058\u7591\u554f\u3092\u4ed6\u306e\u958b\u767a\u30e1\u30f3\u30d0\u30fc\u3082\u62b1\u3044\u3066\u3044\u305f\u308a\uff0c\u3082\u3057\u304f\u306f\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u7d4c\u9a13\u304c\u3042\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e\u307e\u305f\u306f\uff0c\u305d\u306e\u554f\u984c\u3092\u89e3\u6c7a\u3059\u308b\u3088\u3046\u306a\u6a5f\u80fd\u3092\u65b0\u305f\u306b\u5225\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u5b9f\u88c5\u3057\u3066\u304f\u308c\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e 11. \u898b\u3064\u3051\u305f\u30d0\u30b0\u3092\u5831\u544a\u3059\u308b \u958b\u767a\u4e2d\u306b\u30d0\u30b0\u3092\u898b\u3064\u3051\u305f\u3089\uff0c\u307f\u3093\u306a\u306b\u5171\u6709\u3059\u308b\u3053\u3068\uff0e\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u3068\u601d\u308f\u308c\u3066\u3044\u305f\u30d0\u30b0\u306e\u767a\u898b\u3084\u81f4\u547d\u7684\u306a\u6b20\u9665\u304c\u3042\u308b\u307e\u307e\u958b\u767a\u3092\u9032\u3081\u306a\u3044\u3088\u3046\u306b\uff0c\u3059\u3050\u306b\u82bd\u3092\u3064\u3080\uff0e","title":"6. Appendix"},{"location":"6_development_policy/#6-development-policy","text":"\u672c\u7ae0\u3067\u306fClimbLab\u3092\u4f7f\u3063\u3066\u958b\u767a\u3092\u304a\u3053\u306a\u3046\u5834\u5408\u306e\u6ce8\u610f\u70b9\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e \u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u308a\u6a5f\u80fd\u3092\u8ffd\u52a0\u3059\u308b\u5834\u5408\u306f\uff0c\u6b21\u306e\u53d6\u308a\u6c7a\u3081\u3092\u5b88\u3063\u3066\u304a\u3053\u306a\u3046\uff0e\u57fa\u672c\u7684\u306a\u30b3\u30f3\u30bb\u30d7\u30c8\u3068\u3057\u3066\uff0c\u30b7\u30f3\u30d7\u30eb\uff0c\u304b\u3064\u4eca\u5f8c\u3082\u958b\u767a\u3092\u7d9a\u3051\u3084\u3059\u3044\u3088\u3046\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u30d5\u30a9\u30fc\u30de\u30c3\u30c8\u3092\u5b88\u308a\uff0c\u304b\u3064\u8ab0\u304c\u8aad\u3093\u3067\u3082\u8aad\u307f\u3084\u3059\u304f\u7406\u89e3\u3057\u3084\u3059\u3044\u3088\u3046\u306b\u66f8\u304f\u3053\u3068\u3092\u5fc3\u304c\u3051\u308b\uff0e \u3000\u3053\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u7406\u5ff5\u3092\u5b88\u308b\u3053\u3068\u306f\u975e\u5e38\u306b\u91cd\u8981\u3067\u3042\u308a\uff0c\u305d\u306e\u305f\u3081\u306b\u91cd\u8981\u306a\u3053\u3068\u3068\u3057\u3066\uff0c\u65e2\u5b58\u306e main_sim \u4ee5\u5916\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7528Main\u95a2\u6570\u306f\u4f5c\u6210\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u305f\u308b\u6240\u4ee5\u306f\uff0c\u300c1\u3064\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3067\u591a\u69d8\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u53ef\u80fd\u3067\u3042\u308b\u300d\u3053\u3068\u306b\u3042\u308b\u305f\u3081\uff0c\u305d\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3092\u5897\u3084\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u305d\u306e\u305f\u3081\uff0c\u65b0\u305f\u306a\u95a2\u6570\u3084\u6a5f\u80fd\u3092\u4f5c\u6210\u3059\u308b\u5834\u5408\u3082\uff0c\u65e2\u5b58\u306e main_sim \u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u5fc5\u305a\u5b9f\u88c5\u3059\u308b\uff0e \u65b0\u3057\u3044\u6a5f\u80fd\u3092\u691c\u8a3c\u3057\u306a\u304c\u3089\u5b9f\u88c5\u3059\u308b\u969b\uff0c\u6b21\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\u3068\u958b\u767a\u304c\u30b9\u30e0\u30fc\u30ba\u306b\u9032\u3080\u305f\u3081\uff0c\u5fc5\u8981\u3067\u306f\u306a\u3044\u8a2d\u5b9a\u306foff\u306b\u3059\u308b\u3068\u3088\u3044\uff0e * dynamics\u304c\u5fc5\u8981\u3067\u306a\u3044\u5834\u5408\u306f\uff0cdynamics\u3092off\u306b\u3059\u308b * \u6b69\u884c\u3059\u308b\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0cgait type\u3092\u2019do_nothing\u2019\u306b\u3059\u308b * \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u4f55\u79d2\u3082\u56de\u3059\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u6700\u5927\u6642\u9593\u30920\u79d2\u306b\u3059\u308b\uff0e \u307e\u305f\uff0c\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u308b\u5834\u5408\u306e\u95a2\u6570\u306e\u7f6e\u304d\u5834\u6240\u306b\u3064\u3044\u3066\u306f\uff0c4\u7ae0\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3092\u53c2\u8003\u306b\uff0c\u5171\u901a\u3057\u305f\u5f79\u5272\u3067\u304f\u304f\u3089\u308c\u308b\u9069\u5207\u306a\u30d5\u30a9\u30eb\u30c0\u306b\u7f6e\u304f\uff0e \u305d\u306e\u6642\u306e\uff0c\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\uff0e \u30b9\u30cd\u30fc\u30af\u30b1\u30fc\u30b9\u3092\u7528\u3044\u308b \u2715 updGiaCalculation.m \u3007 upd_gia_calulation.m \u95a2\u6570\u540d\u306b\u5927\u6587\u5b57\u306f\u4f7f\u308f\u306a\u3044 \u2715 upd_GIA_calculation.m \u3007 upd_gia_calculation.m \u95a2\u6570\u306e\u63a5\u982d\u8f9e\u3092\uff0c\u6b21\u306e\u65e2\u5b58\u306e\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u306e\u3063\u3068\u3063\u3066\u63a1\u7528\u3059\u308b config_: 2.4\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570\uff0e ini_: 2.5\u7bc0\u53c2\u7167\uff0e\u30ed\u30dc\u30c3\u30c8\u3084\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306e\u521d\u671f\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570 upd_: 2.6\u7bc0\u53c2\u7167\uff0e\u30eb\u30fc\u30d7\u5185\u3067\uff0c\u6b69\u5bb9\u3084\u5236\u5fa1\u30fb\u529b\u5b66\u306b\u95a2\u308f\u308b\u95a2\u6570 vis_: 2.7\u7bc0\u53c2\u7167\uff0e\u56f3\u306e\u63cf\u753b\u306b\u95a2\u308f\u308b\u95a2\u6570 sav_: 2.8\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5c65\u6b74\u306e\u4fdd\u5b58\u306b\u95a2\u308f\u308b\u95a2\u6570 main_ : 3\u7ae0\u53c2\u7167\uff0e\u5358\u4f53\u3067\u5b9f\u884c\u3057\u3066climblab\u306e\u958b\u767a\u306b\u6709\u7528\u306a\u95a2\u6570\u306b\u4ed8\u3051\u308b \u95a2\u6570\u306e\u540d\u524d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u69cb\u308f\u306a\u3044\u306e\u3067\uff0c\u305d\u306e\u95a2\u6570\u304c\u3069\u3046\u3044\u3046\u6a5f\u80fd\u3092\u6709\u3057\u3066\u3044\u308b\u306e\u304b\u5206\u304b\u308b\u3088\u3046\u306b\u66f8\u304f\uff0e \u4e0a\u8a18\u306e\u30eb\u30fc\u30eb\u306b\u306e\u3063\u3068\u3063\u3066\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u5f8c\u306e\uff0c\u5177\u4f53\u7684\u306a\u30b3\u30fc\u30c9\u306e\u8a18\u8ff0\u30eb\u30fc\u30eb\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u4ee5\u964d\u306e\u5185\u5bb9\u306f\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u5b9f\u88c5\u306e\u969b\u306b\u3082\u5171\u901a\u3059\u308b\u6ce8\u610f\u4e8b\u9805\u3067\u3042\u308b\uff0e","title":"6. Development Policy"},{"location":"6_development_policy/#1","text":"\u3053\u306e\u5192\u982d\u306e\u8a18\u8ff0\u3092\u8aad\u3080\u3060\u3051\u3067\uff0c\u305d\u306e\u95a2\u6570\u306e\u304a\u304a\u307e\u304b\u306a\u6a5f\u80fd\u304c\u628a\u63e1\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e \u8a18\u8ff0\u3059\u308b\u9805\u76ee\u306f\uff0c \u95a2\u6570\u306e\u304f\u304f\u308a(configuration/update/visualize/save/main) \u95a2\u6570\u540d \u95a2\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u4f5c\u6210\u65e5\u6642 \u4f5c\u6210\u8005 \u6700\u7d42\u7de8\u96c6\u65e5\u6642 \u6700\u7d42\u7de8\u96c6\u8005 \u95a2\u6570\u306e\u8a73\u7d30\u306a\u8aac\u660e \u51fa\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u5165\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u3067\u3042\u308b\uff0e\u4ee5\u4e0b\u306b\u8a18\u8ff0\u4f8b\u3092\u793a\u3059\uff0e 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 %%%%%% Configuration %%%%%% config_save_settings %%%%%% %%%%%% Configure default saving settings %%%%%% %%%%%% Created 2020 - 07 - 08 %%%%%% Warley Ribeiro %%%%%% Last update : 2021 - 03 - 31 %%%%%% Keigo Haji % % % Load default configurations for saving % % Function variables : % % OUTPUT % save_settings : Data saving settings ( struct ) % INPUT % -","title":"1. \u65b0\u3057\u3044\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u306e\u5192\u982d\u306b\u305d\u306e\u95a2\u6570\u306e\u4ed5\u69d8\u306b\u3064\u3044\u3066\u660e\u78ba\u306b\u8a18\u8f09\u3059\u308b\uff0e"},{"location":"6_development_policy/#2-main_simmain_sim","text":"\u3053\u308c\u306f\uff0cClimbLab\u304c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u6a5f\u80fd\u3057\u3066\u3044\u304f\u305f\u3081\u306bmain_sim\u306e\u4e00\u822c\u6027\u3092\u62c5\u4fdd\u3059\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u307e\u305f\uff0c\u540c\u6642\u306bmain_sim\u3092\u8907\u6570\u4eba\u304c\u7de8\u96c6\u3059\u308b\u3068Git\u306emerge\u306e\u969b\u306bconflict\u304c\u767a\u751f\u3057\u3084\u3059\u304f\u306a\u308b\u306e\u3067\uff0c\u305d\u306e\u554f\u984c\u3092\u907f\u3051\u308b\u3068\u3044\u3046\u76ee\u7684\u3082\u3042\u308b\uff0e \u60aa\u3044\u4f8b\uff09main_sim\u5185\u306b\u76f4\u63a5\u5b9f\u88c5 1 2 3 4 5 6 7 8 9 10 MAIN_FILE . m ... disp ( time ); if gait_param . type = \u2018 new_gait \u2019 new_gait ( ... ) else path_planning_param = upd_path_planning ( ... ); end [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... \u826f\u3044\u4f8b\uff09main_sim\u306f\u305d\u306e\u307e\u307e\u306b\uff0cupd\u95a2\u6570\u5185\u3067\u5834\u5408\u5206\u3051\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u308b 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 MAIN_FILE . m ... disp ( time ); path_planning_param = upd_path_planning ( ... ); [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... FUNCTION_FILE . m function path_planning_param = upd_path_planning ( ... ) switch gait_param . type case \u2018 new_gait \u2019 new_gait ( ... ); case \u2018 old_gait \u2019 ...","title":"2. \u3080\u3084\u307f\u306bmain_sim\u5185\u306b\u65b0\u305f\u306a\u95a2\u6570\u306e\u8a18\u8ff0\u3092\u5897\u3084\u3055\u305a\uff0cmain_sim\u5185\u3067\u5b9f\u884c\u3055\u308c\u3066\u3044\u308b\u65e2\u5b58\u306e\u95a2\u6570\u5185\u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\uff0e"},{"location":"6_development_policy/#3-class","text":"\u5927\u91cf\u306e\u30ed\u30fc\u30ab\u30eb\u5909\u6570\u3092\u95a2\u6570\u5185\u3067\u306a\u308b\u3079\u304f\u6271\u308f\u306a\u3044\u3088\u3046\u306b\u3059\u308b\uff0e\u3053\u308c\u306fMATLAB\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\u3067\u306e\u5909\u6570\u306e\u628a\u63e1\u304c\u96e3\u3057\u304f\u306a\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u5909\u6570\u306e\"\u304f\u304f\u308a\"\u3092\u8003\u3048\u3066\uff0c\u65e2\u5b58\u306eclass\u306b\u3042\u3066\u306f\u307e\u308b\u5834\u5408\u306f\u65e2\u5b58\u306eclass( gait_planning_param , motion_planning_param \u7b49)\u306b\u53ce\u5bb9\u3057\uff0c\u306a\u3044\u5834\u5408\u306f\u81ea\u5206\u306e\u6a5f\u80fd\u306b\u3042\u3063\u305f\u65b0\u305f\u306aclass\u3092\u4f5c\u6210\u3059\u308b\u3053\u3068\uff0e \u60aa\u3044\u4f8b\uff09local\u5909\u6570\u304c\u591a\u3044\uff0e 1 2 3 4 5 6 7 8 ... leg1_des_pos = \u2026 leg2_des_pos = \u2026 leg3_des_pos = \u2026 leg4_des_pos = \u2026 base_des_pos = ... generate_trajectory ( leg1_des_pos , leg2_des_pos , leg3_des_pos , leg4_des_pos , base_des_pos ); ... \u3044\u3044\u4f8b\uff09\u5909\u6570\u304cclass\u306b\u5206\u985e\u3055\u308c\u3066\u3044\u308b 1 2 3 4 5 ... path_planning_param . leg_des_pos = \u2026 path_planning_param . base_des_pos = \u2026 generate_trajectory ( path_planning_param ); ...","title":"3. \u5909\u6570\u306f\u306a\u308b\u3079\u304fclass\u306b\u53ce\u5bb9\u3059\u308b"},{"location":"6_development_policy/#4","text":"\u5909\u6570\u540d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u3044\u3044\u306e\u3067\uff0c\u8ab0\u306b\u3067\u3082\u308f\u304b\u308b\u3088\u3046\u306b\u4ed8\u3051\u308b\uff0e\u5909\u6570\u540d\u306e\u4ed8\u3051\u65b9\u306f\u95a2\u6570\u3068\u540c\u3058\u304f\uff0csnake_case\u3067\u7d71\u4e00\u3057\uff0ccamelCase\u306f\u4f7f\u308f\u306a\u3044\uff0e\u307e\u305f\uff0c\u305d\u306e\u5909\u6570\u304c\u3069\u3046\u3044\u3046\u5024\u3092\u53ce\u5bb9\u3057\uff0c\u305d\u306e\u5358\u4f4d(\u6b21\u5143)\u306f\u306a\u3093\u306a\u306e\u304b\u3092\u30b3\u30e1\u30f3\u30c8\u3067\u660e\u8a18\u3059\u308b\uff0e \u60aa\u3044\u4f8b\uff09\u4eba\u304c\u8aad\u3093\u3067\u3082\u4f55\u306e\u7565\u79f0\u304b\u308f\u304b\u3089\u306a\u3044 1 2 3 4 5 ... L1 = \u2026 WP . T = \u2026 GPM = ... ... \u3044\u3044\u4f8b\uff09\u30b3\u30e1\u30f3\u30c8\u3084\u5909\u6570\u540d\u304b\u3089\u4f55\u306e\u5024\u304c\u3069\u3046\u3044\u3046\u5358\u4f4d\u6b21\u5143\u3067\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\u304b\u5206\u304b\u308b 1 2 3 4 5 6 7 8 \u2026 % Desired position of a leg [m] motion_planning_param . des_leg_pos = \u2026 % Period for crawl gait [s] gait_parameter . T = \u2026 % Grippable points [m] surface_param . grippable_points = ... ...","title":"4. \u5909\u6570\u540d\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u3064\u3051\u308b"},{"location":"6_development_policy/#5","text":"\u65b0\u3057\u3044\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u5f8c\u306f\uff0c\u30d1\u30e9\u30e1\u30fc\u30bf\u3084\u8a2d\u5b9a\u3092\u5909\u3048\u3066\u30c6\u30b9\u30c8\u3092\u7e70\u308a\u8fd4\u3057\uff0c\u30d0\u30b0\u304c\u767a\u751f\u3057\u306a\u3044\u3053\u3068\u3092\u78ba\u304b\u3081\u3066\u304b\u3089\u4e0a\u7d1a\u751f\u306bReview\u3092\u304a\u9858\u3044\u3059\u308b\uff0e","title":"5. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u5fc5\u305a\u7e70\u308a\u8fd4\u3057\u30c6\u30b9\u30c8\u3092\u304a\u3053\u306a\u3046"},{"location":"6_development_policy/#6-preset","text":"\u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3053\u3068\u3067\uff0c\u3053\u308c\u307e\u306epreset\u304c\u56de\u3089\u306a\u304f\u306a\u3063\u305f\u308a\uff0c\u4ed6\u306e\u958b\u767a\u8005\u306e\u958b\u767a\u74b0\u5883\u3068\u5e72\u6e09\u3059\u308b\u6050\u308c\u304c\u3042\u308b\u305f\u3081\uff0cconfig\u8a2d\u5b9a\u3092\u65e2\u5b58\u306epreset\u306b\u3057\u3066\u5168\u3066\u306epreset\u3092\u5b9f\u884c\u3057\uff0c\u554f\u984c\u306a\u304f\u5b9f\u884c\u3055\u308c\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e","title":"6. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u65e2\u5b58\u306epreset\u3067\u3082\u5b9f\u884c\u3057\uff0c\u554f\u984c\u304c\u306a\u3044\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b"},{"location":"6_development_policy/#7","text":"\u3069\u3093\u306a\u95a2\u6570\u3067\u3042\u308c\uff0c\u3080\u3084\u307f\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65b0\u305f\u306a\u6a5f\u80fd\u306b\u3088\u3063\u3066\uff0c\u6b69\u884c\u304c\u5b89\u5b9a\u3057\u305f\u308a\u901f\u304f\u306a\u3063\u305f\u308a\u3059\u308b\u3088\u3046\u306a\u4f55\u304b\u7d50\u679c\u304c\u3088\u304f\u306a\u308b\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3068\u3057\u3066\u3082\uff0c\u524d\u307e\u3067\u3042\u3063\u305f\u95a2\u6570\u306f\u7d76\u5bfe\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65e2\u5b58\u306e\u95a2\u6570\u306f\uff0c\u3053\u308c\u307e\u3067\u306e\u8ca1\u7523\u3067\u3042\u308a\uff0c\u78ba\u5b9f\u306b\u3053\u308c\u307e\u3067\u7a3c\u52d5\u3057\u3066\u3044\u305f\u3068\u3044\u3046\u70b9\u3067\u975e\u5e38\u306b\u6709\u7528\u306a\u3082\u306e\u3067\u3042\u308b\uff0e\u624b\u6cd5\u306e\u6bd4\u8f03\u3092\u304a\u3053\u306a\u3046\u969b\u3084\uff0c\u307e\u305f\u30b7\u30f3\u30d7\u30eb\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u65b9\u304c\u7406\u89e3\u3057\u3084\u3059\u3044\u3068\u3044\u3046\u70b9\u3067\u597d\u307e\u308c\uff0c\u5fc5\u8981\u3068\u3055\u308c\u308b\u5834\u5408\u3082\u3042\u308b\uff0e\u305d\u308c\u307e\u3067\u306e\u95a2\u6570\u3092\u524a\u9664\u30fb\u66f4\u65b0\u3059\u308b\u306e\u3067\u306f\u306a\u304f\uff0c\u65b0\u305f\u306a\u6a5f\u80fd\u30fb\u30b1\u30fc\u30b9\u3092\u8ffd\u52a0\u3059\u308b\u3068\u3044\u3046\u70b9\u3092\u610f\u8b58\u3057\uff0c\u65e2\u5b58\u306e\u95a2\u6570\u30fb\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u4e21\u65b9\u304c\u6271\u3048\u308b\u3088\u3046\u306b\u958b\u767a\u3092\u9032\u3081\u308b\uff0e","title":"7. \u95a2\u6570\u3092\u6d88\u3055\u306a\u3044"},{"location":"6_development_policy/#8","text":"ClimbLab\u306f\u5e38\u306b\u8907\u6570\u540d\u304c\u540c\u6642\u306b\u958b\u767a\u3092\u3059\u3059\u3081\u3066\u3044\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u3057\u3066\u3044\u308b\u9593\u306b\uff0c\u8ab0\u304b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u958b\u767a\u3092\u7d42\u308f\u3089\u305b\u3066\u65b0\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\u3053\u3068\u304c\u3088\u304f\u767a\u751f\u3059\u308b\uff0e\u3053\u306e\u969b\uff0cdevelop\u30d6\u30e9\u30f3\u30c1\u306erebase\u3092\u5e38\u306b\u304a\u3053\u306a\u3046\u3053\u3068\uff0e\u81ea\u5206\u304c\u958b\u767a\u6bb5\u968e\u3067\u63a1\u7528\u3057\u3066\u3044\u305f\u95a2\u6570\u304c\uff0c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u4e00\u90e8\u5909\u66f4\u3055\u308c\u3066\u3044\u308b\u53ef\u80fd\u6027\u304c\u3042\u308b\u305f\u3081\uff0c\u5e38\u306b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u958b\u767a\u72b6\u6cc1\u306b\u3064\u3044\u3066\u628a\u63e1\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u5f53\u7136\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u304c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306b\u3082\u5f71\u97ff\u3092\u4e0e\u3048\u308b\u305f\u3081\uff0c\u5e38\u306b\u5831\u544a\u30fb\u9023\u7d61\u30fb\u76f8\u8ac7\u3092\u5fd8\u308c\u306a\u3044\uff0e","title":"8. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3082\u540c\u6642\u9032\u884c\u3067\u958b\u767a\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u5fd8\u308c\u306a\u3044"},{"location":"6_development_policy/#9","text":"\u4e0a\u3067\u3082\u8ff0\u3079\u305f\u3068\u304a\u308a\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u306f\u4ed6\u4eba\u306e\u958b\u767a\u306b\u5f71\u97ff\u3092\u4e0e\u3048\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u4f55\u304b\u65b0\u3057\u3044\u6a5f\u80fd\u306e\u958b\u767a\u3092\u7d42\u3048\u305f\u3089\uff0c\u305d\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u3069\u3093\u306a\u70b9\u304c\u5909\u66f4\u3055\u308c\u305f\u306e\u304b\u3092\uff0c\u305d\u306e\u4f5c\u696d\u306e\u5f53\u4e8b\u8005\u3067\u306f\u306a\u3044\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u9054\u306b\u3082\u308f\u304b\u308a\u3084\u3059\u304f\u5171\u6709\u3059\u308b\uff0e","title":"9. \u81ea\u5206\u306e\u304a\u3053\u306a\u3063\u305f\u5909\u66f4\u70b9\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u30e1\u30f3\u30d0\u30fc\u306b\u5171\u6709\u3059\u308b"},{"location":"6_development_policy/#10","text":"\u540c\u3058\u7591\u554f\u3092\u4ed6\u306e\u958b\u767a\u30e1\u30f3\u30d0\u30fc\u3082\u62b1\u3044\u3066\u3044\u305f\u308a\uff0c\u3082\u3057\u304f\u306f\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u7d4c\u9a13\u304c\u3042\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e\u307e\u305f\u306f\uff0c\u305d\u306e\u554f\u984c\u3092\u89e3\u6c7a\u3059\u308b\u3088\u3046\u306a\u6a5f\u80fd\u3092\u65b0\u305f\u306b\u5225\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u5b9f\u88c5\u3057\u3066\u304f\u308c\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e","title":"10. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3068\u7591\u554f\u70b9\u30fb\u554f\u984c\u70b9\u3092\u5171\u6709\u3059\u308b"},{"location":"6_development_policy/#11","text":"\u958b\u767a\u4e2d\u306b\u30d0\u30b0\u3092\u898b\u3064\u3051\u305f\u3089\uff0c\u307f\u3093\u306a\u306b\u5171\u6709\u3059\u308b\u3053\u3068\uff0e\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u3068\u601d\u308f\u308c\u3066\u3044\u305f\u30d0\u30b0\u306e\u767a\u898b\u3084\u81f4\u547d\u7684\u306a\u6b20\u9665\u304c\u3042\u308b\u307e\u307e\u958b\u767a\u3092\u9032\u3081\u306a\u3044\u3088\u3046\u306b\uff0c\u3059\u3050\u306b\u82bd\u3092\u3064\u3080\uff0e","title":"11. \u898b\u3064\u3051\u305f\u30d0\u30b0\u3092\u5831\u544a\u3059\u308b"},{"location":"top/","text":"ClimbLab Manual Author(s) and maintainer(s): Space Robotics Lab. Contact email: srl-orbital@grp.tohoku.ac.jp The climbing simulator is being developed by the Climbing Robotics Team in Space Robotics Laboratory at Tohoku University, Japan. The source code is released under a BSD 3-Clause license . This developpers manual is originally written in Google Document and maintained in SRL-Limb's shared drive . Reference Note If you use this simulator in an academic context, please put the following citation. Uno K. et al. (2022) ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics. In: Chugo D., Tokhi M.O., Silva M.F., Nakamura T., Goher K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_20 1 2 3 4 5 6 7 8 @inproceedings { uno2021climblab , title = { ClimbLab : MATLAB Simulation Platform for Legged Climbing Robotics } , author = { Kentaro Uno and Warley F . R . Ribeiro and Yusuke Koizumi and Keigo Haji and Koki Kurihara and William Jones and Kazuya Yoshida } , booktitle = { Robotics for Sustainable Future } , pages = { 229 -- 241 } , year = { 2022 } , publisher = \"Springer International Publishing\" , } Release note The version of this manual is synchronized with the version of ClimbLab simulator. Since this online manual is deployed since the v4.0, the oldest version is v4.0. v4.0: released on 2021. First released version.","title":"Top"},{"location":"top/#climblab-manual","text":"Author(s) and maintainer(s): Space Robotics Lab. Contact email: srl-orbital@grp.tohoku.ac.jp The climbing simulator is being developed by the Climbing Robotics Team in Space Robotics Laboratory at Tohoku University, Japan. The source code is released under a BSD 3-Clause license . This developpers manual is originally written in Google Document and maintained in SRL-Limb's shared drive .","title":"ClimbLab Manual"},{"location":"top/#reference","text":"Note If you use this simulator in an academic context, please put the following citation. Uno K. et al. (2022) ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics. In: Chugo D., Tokhi M.O., Silva M.F., Nakamura T., Goher K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_20 1 2 3 4 5 6 7 8 @inproceedings { uno2021climblab , title = { ClimbLab : MATLAB Simulation Platform for Legged Climbing Robotics } , author = { Kentaro Uno and Warley F . R . Ribeiro and Yusuke Koizumi and Keigo Haji and Koki Kurihara and William Jones and Kazuya Yoshida } , booktitle = { Robotics for Sustainable Future } , pages = { 229 -- 241 } , year = { 2022 } , publisher = \"Springer International Publishing\" , }","title":"Reference"},{"location":"top/#release-note","text":"The version of this manual is synchronized with the version of ClimbLab simulator. Since this online manual is deployed since the v4.0, the oldest version is v4.0. v4.0: released on 2021. First released version.","title":"Release note"}]}
\ No newline at end of file
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                 <hr />
 <h1 id="climblab-manual">ClimbLab Manual</h1>
 <hr />
-<p>Author(s) and maintainer(s): <a href="http://www.astro.mech.tohoku.ac.jp/e/index.html">Space Robotics Lab.</a> Climbing Robotics Team</p>
-<p>Contact email: srl-limb@grp.tohoku.ac.jp</p>
+<p>Author(s) and maintainer(s): <a href="http://www.astro.mech.tohoku.ac.jp/e/index.html">Space Robotics Lab.</a></p>
+<p>Contact email: srl-orbital@grp.tohoku.ac.jp</p>
 <p><img alt="ex4_uneven_terrain_dynamic_Non-perioidc-gait-planning.gif" src="../img/media/ex4_uneven_terrain_dynamic_Non-perioidc-gait-planning.gif" /></p>
 <p><a href="http://www.astro.mech.tohoku.ac.jp/e/index.html"><img alt="srl-logo-original.jpg" src="../img/media/srl-logo-original.jpg" /></a><img alt="crt_color_logo_a_hi-reso.png" src="./img/media/crt_color_logo_a_hi-reso.png" /></p>
 <ul>