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 "discrete_com_pos.h"
#include "interface_hexapod_coordinate_converter.h"
#include "math_polygon2.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_