gait_pattern_graph_tree.cpp

[詳解]

 
 
// Copyright(c) 2023-2025 Design Engineering Laboratory, Saitama University
// Released under the MIT license
// https://opensource.org/licenses/mit-license.php
 
#include "gait_pattern_graph_tree.h"
 
 
namespace designlab
{
 
const RobotStateNode& GaitPatternGraphTree::GetParentNode(const int index, const int depth) const
{
    assert(0 <= index);
    assert(index < graph_size_);
    assert(0 <= depth);
    assert(depth <= nodes_[index].depth);
 
    int res_index = index;
 
    while (true)
    {
        if (depth == nodes_[res_index].depth)
        {
            break;
        }
 
        res_index = nodes_[res_index].parent_index;
    }
 
    return nodes_[res_index];
}
 
const int GaitPatternGraphTree::GetParentNodeIndex(const int index, const int depth) const
{
    assert(0 <= depth);
    assert(depth <= nodes_[index].depth);
    assert(0 <= index);
    assert(index < graph_size_);
 
    int res_index = index;
 
    while (true)
    {
        if (depth == nodes_[res_index].depth)
        {
            break;
        }
 
        res_index = nodes_[res_index].parent_index;
    }
 
    return res_index;
}
 
}  // namespace designlab