gait_pattern_generator_thread.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_THREAD_H_
#define DESIGNLAB_GAIT_PATTERN_GENERATOR_THREAD_H_
 
#include <memory>
#include <tuple>
#include <vector>
 
#include "interface_gait_pattern_generator.h"
#include "interface_graph_searcher.h"
#include "interpolated_node_creator.h"
#include "gait_pattern_graph_tree.h"
#include "graph_tree_creator.h"
#include "robot_state_node.h"
 
 
namespace designlab
{
 
class GaitPatternGeneratorThread final : public IGaitPatternGenerator
{
public:
    GaitPatternGeneratorThread() = delete;  
 
    GaitPatternGeneratorThread(
      std::unique_ptr<GraphTreeCreator>&& graph_tree_creator_ptr,
      std::unique_ptr<IGraphSearcher>&& graph_searcher_ptr,
      int max_depth,
      int max_node_num);
 
    ~GaitPatternGeneratorThread() = default;
 
 
    GraphSearchResult GetNextNodeByGraphSearch(
      const RobotStateNode& current_node,
      const MapState& map_ref,
      const RobotOperation& operation,
      RobotStateNode* output_node) override;
 
private:
    static constexpr int kThreadNum = 6;  
 
 
    std::vector<GaitPatternGraphTree> InitializeGraphTreeArray(int thread_num, int max_node_num) const;
 
    const std::unique_ptr<GraphTreeCreator> graph_tree_creator_ptr_;
 
    const std::unique_ptr<IGraphSearcher> graph_searcher_ptr_;
 
    GaitPatternGraphTree graph_tree_;  
 
    std::vector<GaitPatternGraphTree> graph_tree_array_;
 
    const int max_depth_;  
 
 
    static_assert(0 < kThreadNum, "The number of threads must be positive.");
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_GAIT_PATTERN_GENERATOR_THREAD_H_