approximated_motion_range_render.h

[詳解]

 
 
// Copyright(c) 2023-2025 Design Engineering Laboratory, Saitama University
// Released under the MIT license
// https://opensource.org/licenses/mit-license.php
 
#ifndef DESIGNLAB_APPROXIMATED_MOTION_RANGE_RENDER_H_
#define DESIGNLAB_APPROXIMATED_MOTION_RANGE_RENDER_H_
 
#include <memory>
 
#include "interface_dxlib_3d_renderer.h"
#include "interface_dxlib_node_setter.h"
#include "interface_hexapod_posture_validator.h"
#include "interface_hexapod_coordinate_converter.h"
 
 
namespace designlab
{
 
class ApproximatedMotionRangeRender :
    public IDxlib3dRenderer,
    public IDxlibNodeSetter
{
public:
    ApproximatedMotionRangeRender(const std::shared_ptr<const IHexapodPostureValidator>& validator,
                                  const std::shared_ptr<const IHexapodCoordinateConverter>& converter);
    ~ApproximatedMotionRangeRender() = default;
 
    void Draw() const override;
 
    void SetNode(const RobotStateNode& node) override;
 
private:
    enum class PosState
    {
        kNotInRange,
        kInRange,
        kInRangeDrawable,
    };
 
    static constexpr int kDivNum = 300;
    static constexpr float EdgeLength = 300.f;
    static constexpr int kLegIndex = 1;
 
    void InitPosState();
 
    const std::shared_ptr<const IHexapodPostureValidator> validator_;
    const std::shared_ptr<const IHexapodCoordinateConverter> converter_;
 
    PosState pos_state_[kDivNum][kDivNum][kDivNum];
 
    Vector3 center_;
 
    RobotStateNode node_;
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_APPROXIMATED_MOTION_RANGE_RENDER_H_