com_candidate_polygon_maker.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_COM_CANDIDATE_POLYGON_MAKER_H_
#define DESIGNLAB_COM_CANDIDATE_POLYGON_MAKER_H_
 
#include <array>
#include <memory>
#include <vector>
 
#include "math_polygon2.h"
#include "discrete_com_pos.h"
#include "interface_hexapod_coordinate_converter.h"
#include "robot_state_node.h"
 
 
namespace designlab
{
 
struct ComPosAndPolygon
{
    ComPosAndPolygon() :
        com_pos(enums::DiscreteComPos::kFront),
        polygon(),
        is_able(false) {}
 
    enums::DiscreteComPos com_pos;  
    Polygon2 polygon;  
    bool is_able;  
};
 
 
class ComCandidatePolygonMaker final
{
public:
    static constexpr int kMakePolygonNum = 7;  
 
 
    explicit ComCandidatePolygonMaker(
        const std::shared_ptr<const IHexapodCoordinateConverter>& converter_ptr);
 
 
    void MakeCandidatePolygon(
        const RobotStateNode& node,
        std::array<ComPosAndPolygon, kMakePolygonNum>* output_poly) const;
 
 
private:
    static constexpr bool kDoCheckPolygon = true;
 
 
    void MakeCandidateBox(const std::array<Vector2, HexapodConst::kLegNum>& leg_pos,
                          const int start_leg_num, Polygon2* output_poly) const;
 
    void MakeCandidateTriangle(
        const std::array<Vector2, HexapodConst::kLegNum>& leg_pos,
        ComPosAndPolygon* output) const;
 
    bool IsAblePolygon(const Polygon2& poly) const;
 
    const std::shared_ptr<const IHexapodCoordinateConverter> converter_ptr_;
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_COM_CANDIDATE_POLYGON_MAKER_H_