com_type.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_TYPE_H_
#define DESIGNLAB_COM_TYPE_H_
 
#include <bitset>
#include <boost/bimap.hpp>
#include <boost/dynamic_bitset.hpp>
#include <unordered_map>
#include <vector>
 
#include "discrete_com_pos.h"
#include "hexapod_const.h"
#include "leg_state.h"
 
namespace std {
 
// boost bimapのために比較演算子を定義している.
template <size_t N>
bool operator<(const std::bitset<N>& lhs, const std::bitset<N>& rhs) {
  return lhs.to_ulong() < rhs.to_ulong();
}
 
}  // namespace std
 
namespace designlab::com_func {
 
using LegGroundedMap = boost::bimaps::bimap<leg_func::LegGroundedBit, int>;
 
using LegGroundedMapValue = LegGroundedMap::value_type;
 
int GetLegGroundPatternNum();
 
leg_func::LegGroundedBit GetLegGroundedBitFromLegGroundPatternIndex(
    int leg_ground_pattern_index);
 
void RemoveLegGroundPatternFromCom(enums::DiscreteComPos discrete_com_pos,
                                   boost::dynamic_bitset<>* output);
 
void RemoveLegGroundPatternFromNotGroundableLeg(
    int not_groundable_leg_index, boost::dynamic_bitset<>* output);
 
void RemoveLegGroundPatternFromNotFreeLeg(int not_lift_leg_index,
                                          boost::dynamic_bitset<>* output);
 
}  // namespace designlab::com_func
 
#endif  // DESIGNLAB_COM_TYPE_H_