graph_tree_creator.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_TREE_CREATOR_H_
#define DESIGNLAB_GRAPH_TREE_CREATOR_H_
 
#include <map>
#include <memory>
#include <vector>
 
#include "gait_pattern_graph_tree.h"
#include "graph_search_result_record.h"
#include "interface_node_creator.h"
#include "interface_node_creator_builder.h"
 
 
namespace designlab
{
 
class GraphTreeCreator final
{
public:
    explicit GraphTreeCreator(std::unique_ptr<INodeCreatorBuilder>&& node_creator_builder_ptr);
 
    ~GraphTreeCreator() = default;
 
    void Init(const DividedMapState& map_state);
 
    GraphSearchResult CreateGraphTree(int start_depth, int max_depth,
                                      GaitPatternGraphTree* graph_ptr) const;
 
private:
    void MakeNewNodesByCurrentNode(const RobotStateNode& current_node, int current_num,
                                   std::vector<RobotStateNode>* output_graph_ptr) const;
 
    std::map<HexapodMove, std::unique_ptr<INodeCreator> > node_creator_map_;
 
    const std::unique_ptr<INodeCreatorBuilder> node_creator_builder_ptr_;
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_GRAPH_TREE_CREATOR_H_