com_selector.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_SELECTOR_H_
#define DESIGNLAB_COM_SELECTOR_H_
 
#include <memory>
#include <utility>
#include <vector>
 
#include "com_type.h"
#include "math_polygon2.h"
#include "math_vector3.h"
#include "interface_hexapod_posture_validator.h"
#include "robot_state_node.h"
 
 
namespace designlab
{
 
class ComSelector final
{
public:
    explicit ComSelector(const std::shared_ptr<const IHexapodPostureValidator>& checker_ptr) :
        checker_ptr_(checker_ptr)
    {
    };
 
    bool GetComFromPolygon(const Polygon2& polygon,
                           const RobotStateNode& current_node, Vector3* output_com) const;
 
private:
    static constexpr int kDiscretizationNum = 10;  
 
    const float kStabilityMargin = 10.0f;  
 
    bool MakeComCandidatePoint(
        const Polygon2& polygon,
        std::pair<bool, Vector2> output_coms[kDiscretizationNum * kDiscretizationNum]) const;
 
    bool IsInMargin(const Polygon2& polygon,
                    const std::vector<Vector2>& edge_vec, const Vector2& candidate_point) const;
 
    const std::shared_ptr<const IHexapodPostureValidator> checker_ptr_;
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_COM_SELECTOR_H_