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