graphic_main_basic.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_GRAPHIC_MAIN_BASIC_H_
#define DESIGNLAB_GRAPHIC_MAIN_BASIC_H_
 
#include <memory>
#include <vector>
 
#include "application_setting_record.h"
#include "dxlib_gui_display_node_switcher.h"
#include "dxlib_3d_renderer_group.h"
#include "dxlib_gui_updater.h"
#include "dxlib_node_setter_group.h"
#include "graphic_const.h"
#include "graphic_data_broker.h"
#include "interface_graphic_main.h"
#include "interface_hexapod_coordinate_converter.h"
#include "interface_hexapod_joint_calculator.h"
#include "interface_hexapod_posture_validator.h"
#include "interpolated_node_creator.h"
#include "map_state.h"
#include "map_renderer.h"
#include "movement_locus_renderer.h"
#include "mouse.h"
#include "robot_state_node.h"
#include "robot_ground_point_renderer.h"
#include "stability_margin_renderer.h"
 
 
namespace designlab
{
 
class GraphicMainBasic final : public IGraphicMain
{
public:
    GraphicMainBasic() = delete;
 
    GraphicMainBasic(
      const std::shared_ptr<const GraphicDataBroker>& broker_ptr,
      const std::shared_ptr<const IHexapodCoordinateConverter>& converter_ptr,
      const std::shared_ptr<const IHexapodJointCalculator>& calculator_ptr,
      const std::shared_ptr<const IHexapodPostureValidator>& checker_ptr,
      const std::shared_ptr<const ApplicationSettingRecord>& setting_ptr);
 
    ~GraphicMainBasic() = default;
 
    bool Update() override;
 
    void Draw() const override;
 
private:
    const int kNodeGetCount;  
 
    const int kInterpolatedAnimeCount;  
 
 
    const std::shared_ptr<const GraphicDataBroker> broker_ptr_;  
 
    std::shared_ptr<Mouse> mouse_ptr_;  
 
    DxlibGuiUpdater gui_updater_;  
    Dxlib3dRendererGroup render_group_;  
    DxlibNodeSetterGroup node_setter_group_;  
 
    std::shared_ptr<DxlibGuiDisplayNodeSwitcher> display_node_switch_gui_;
 
    MovementLocusRenderer movement_locus_renderer_;
 
    RobotGroundPointRenderer robot_ground_point_renderer_;
 
    std::shared_ptr<MapRenderer> map_renderer_ptr_;
 
    InterpolatedNodeCreator interpolated_node_creator_;  
 
 
    MapState map_state_;  
 
    std::vector<RobotStateNode> graph_;  
 
    size_t display_node_index_{ 0 };  
 
    int counter_{ 0 };  
 
    std::vector<RobotStateNode> interpolated_node_;  
 
    int interpolated_anime_start_count_{ 0 };  
 
 
    int graph_update_count{ 0 };  
    int map_update_count{ 0 };  
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_GRAPHIC_MAIN_BASIC_H_