gait_pattern_generator_revaluation.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_GAIT_PATTERN_GENERATOR_REVALUATION_H_
#define DESIGNLAB_GAIT_PATTERN_GENERATOR_REVALUATION_H_
 
#include <memory>
#include <vector>
 
#include "graph_tree_creator.h"
#include "interface_gait_pattern_generator.h"
#include "interface_hexapod_coordinate_converter.h"
#include "interface_hexapod_joint_calculator.h"
#include "interpolated_node_creator.h"
#include "robot_state_node.h"
 
 
namespace designlab
{
 
class GaitPatternGeneratorRevaluation final : public IGaitPatternGenerator
{
public:
    GaitPatternGeneratorRevaluation(
      std::unique_ptr<IGaitPatternGenerator>&& gpg_ptr,
      std::unique_ptr<IGaitPatternGenerator>&& gpg_revaluation_ptr,
      const std::shared_ptr<const IHexapodCoordinateConverter>& converter_ptr,
      const std::shared_ptr<const IHexapodJointCalculator>& joint_calculator_ptr);
 
    ~GaitPatternGeneratorRevaluation() = default;
 
 
    GraphSearchResult GetNextNodeByGraphSearch(
      const RobotStateNode& current_node,
      const MapState& map,
      const RobotOperation& operation,
      RobotStateNode* output_node) override;
 
private:
    bool IsValidNode(const RobotStateNode& current_node, const RobotStateNode& next_node) const;
 
    const std::unique_ptr<IGaitPatternGenerator> gpg_ptr_;
    const std::unique_ptr<IGaitPatternGenerator> gpg_revaluation_ptr_;
 
    const std::shared_ptr<const IHexapodCoordinateConverter> converter_ptr_;
    const std::shared_ptr<const IHexapodJointCalculator> joint_calculator_ptr_;
 
    InterpolatedNodeCreator interpolated_node_creator_;
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_GAIT_PATTERN_GENERATOR_REVALUATION_H_