gpg_builder_flat.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_GPG_BUILDER_FLAT_H_
#define DESIGNLAB_GPG_BUILDER_FLAT_H_
 
#include <memory>
 
#include "interface_gait_pattern_generator.h"
#include "interface_hexapod_coordinate_converter.h"
#include "interface_hexapod_posture_validator.h"
#include "interface_hexapod_state_presenter.h"
 
namespace designlab {
 
class GpgBuilderFlat final {
public:
    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);
    ~GpgBuilderFlat() = default;
 
    std::unique_ptr<IGaitPatternGenerator> Build() const;
 
private:
    const std::shared_ptr<const IHexapodCoordinateConverter> converter_ptr_;
    const std::shared_ptr<const IHexapodStatePresenter> presenter_ptr_;
    const std::shared_ptr<const IHexapodPostureValidator> checker_ptr_;
};
 
}  // namespace designlab
 
#endif  // DESIGNLAB_GPG_BUILDER_FLAT_H_