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 "interface_hexapod_posture_validator.h"
#include "math_polygon2.h"
#include "math_vector3.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_