gait_pattern_generator_switch_move.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_SWITCH_MOVE_H_
#define DESIGNLAB_GAIT_PATTERN_GENERATOR_SWITCH_MOVE_H_
 
#include <memory>
#include <vector>
 
#include "graph_tree_creator.h"
#include "interface_gait_pattern_generator.h"
#include "robot_state_node.h"
 
 
namespace designlab
{
 
class GaitPatternGeneratorSwitchMove final : public IGaitPatternGenerator
{
public:
    GaitPatternGeneratorSwitchMove(
      std::unique_ptr<IGaitPatternGenerator>&& gait_pattern_generator_for_straight,
      std::unique_ptr<IGaitPatternGenerator>&& gait_pattern_generator_for_turn_spot);
 
    ~GaitPatternGeneratorSwitchMove() = default;
 
 
    GraphSearchResult GetNextNodeByGraphSearch(
      const RobotStateNode& current_node,
      const MapState& map,
      const RobotOperation& operation,
      RobotStateNode* output_node) override;
 
private:
    const std::unique_ptr<IGaitPatternGenerator> gpg_for_straight_ptr_;
    const std::unique_ptr<IGaitPatternGenerator> gpg_for_turn_spot_ptr_;
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_GAIT_PATTERN_GENERATOR_SWITCH_MOVE_H_