gpg_builder_flat.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 "gpg_builder_flat.h"
 
#include <utility>
 
#include "cassert_define.h"
#include "gait_pattern_generator_basic.h"
#include "graph_searcher_straight_move.h"
#include "graph_tree_creator.h"
#include "node_creator_builder_straight_move.h"
 
namespace designlab {
 
GpgBuilderFlat::GpgBuilderFlat(
    const std::shared_ptr<const IHexapodCoordinateConverter>& converter_ptr,
    const std::shared_ptr<const IHexapodStatePresenter>& presenter_ptr,
    const std::shared_ptr<const IHexapodPostureValidator>& checker_ptr)
    : converter_ptr_(converter_ptr),
      presenter_ptr_(presenter_ptr),
      checker_ptr_(checker_ptr) {
  assert(converter_ptr_ != nullptr);
  assert(presenter_ptr_ != nullptr);
  assert(checker_ptr_ != nullptr);
}
 
std::unique_ptr<IGaitPatternGenerator> GpgBuilderFlat::Build() const {
  auto node_creator_builder = std::make_unique<NodeCreatorBuilderStraightMove>(
      converter_ptr_, presenter_ptr_, checker_ptr_);
  auto graph_tree_creator =
      std::make_unique<GraphTreeCreator>(std::move(node_creator_builder));
 
  auto graph_searcher =
      std::make_unique<GraphSearcherStraightMove>(checker_ptr_);
 
  auto gait_pattern_generator = std::make_unique<GaitPatternGeneratorBasic>(
      std::move(graph_tree_creator), std::move(graph_searcher), 4, 50000000);
 
  return std::move(gait_pattern_generator);
}
 
}  // namespace designlab