graphic_main_robot_control.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_ROBOT_CONTROL_H_
#define DESIGNLAB_GRAPHIC_MAIN_ROBOT_CONTROL_H_
 
#include <memory>
#include <vector>
 
#include "application_setting_record.h"
#include "divided_map_state.h"
#include "dxlib_node_setter_group.h"
#include "dxlib_gui_updater.h"
#include "dxlib_gui_display_node_switcher.h"
#include "dxlib_3d_renderer_group.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 "map_renderer.h"
#include "map_state.h"
#include "mouse.h"
 
 
namespace designlab
{
 
class GraphicMainRobotControl final : public IGraphicMain
{
public:
    GraphicMainRobotControl(
        const std::shared_ptr<GraphicDataBroker>& broker,
        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);
    ~GraphicMainRobotControl() = default;
 
    bool Update() override;
    void Draw() const override;
 
private:
    std::shared_ptr<Mouse> mouse_ptr_;  
 
    DxlibGuiUpdater gui_updater_;  
    DxlibNodeSetterGroup node_setter_group_;  
    Dxlib3dRendererGroup render_group_;  
 
    const std::shared_ptr<const IHexapodCoordinateConverter> converter_ptr_;
    const std::shared_ptr<const IHexapodJointCalculator> calculator_ptr_;
 
    std::shared_ptr<DxlibGuiDisplayNodeSwitcher> display_node_switch_gui_;
    MapState map_state_;  
    DividedMapState divided_map_state_;  
 
    std::vector<RobotStateNode> graph_;  
 
    const std::shared_ptr<GraphicDataBroker> broker_;
 
    const std::shared_ptr<MapRenderer> map_renderer_;  
 
    int graph_update_count_{ 0 };  
    int map_update_count_{ 0 };  
};
 
}  // namespace designlab
 
#endif  // DESIGNLAB_GRAPHIC_MAIN_ROBOT_CONTROL_H_