graph_searcher_straight_move.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_GRAPH_SEARCHER_STRAIGHT_MOVE_H_
#define DESIGNLAB_GRAPH_SEARCHER_STRAIGHT_MOVE_H_
 
#include <memory>
#include <tuple>
#include <string>
#include <vector>
 
#include "interface_graph_searcher.h"
#include "interface_hexapod_posture_validator.h"
 
 
namespace designlab
{
 
class GraphSearcherStraightMove final : public IGraphSearcher
{
    using Tag = GraphSearchEvaluationValue::Tag;
 
public:
    explicit GraphSearcherStraightMove(
        const std::shared_ptr<const IHexapodPostureValidator>& checker_ptr);
 
    std::tuple<GraphSearchResult, GraphSearchEvaluationValue, RobotStateNode> SearchGraphTree(
        const GaitPatternGraphTree& graph,
        const RobotOperation& operation,
        const DividedMapState& divided_map_state,
        int max_depth) const override;
 
    std::tuple<GraphSearchResult, GraphSearchEvaluationValue, RobotStateNode> SearchGraphTreeVector(
        const std::vector<GaitPatternGraphTree>& graph_vector,
        const RobotOperation& operation,
        const DividedMapState& divided_map_state,
        int max_depth) const override;
 
private:
    static constexpr Tag kTagMoveForward = 0;
    static constexpr Tag kTagLegRot = 1;
    static constexpr Tag kTagStablyMargin = 2;
    static constexpr Tag kTagZDiff = 3;
 
 
    GraphSearchEvaluator InitializeEvaluator() const;
 
    float InitTargetZValue(const RobotStateNode& node,
                           const DividedMapState& devide_map_state,
                           const Vector3& move_direction) const;
 
    float GetMoveForwardEvaluationValue(
        const RobotStateNode& node,
        const RobotStateNode& root_node,
        const Vector3& normalized_move_direction) const;
 
    float GetLegRotEvaluationValue(
        const RobotStateNode& node,
        const RobotStateNode& root_node) const;
 
    float GetZDiffEvaluationValue(
        const std::vector<float>& com_trajectory,
        const float target_z_value) const;
 
 
    const std::shared_ptr<const IHexapodPostureValidator> checker_ptr_;
 
    GraphSearchEvaluator evaluator_;
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_GRAPH_SEARCHER_STRAIGHT_MOVE_H_