interface_gait_pattern_generator.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_INTERFACE_GAIT_PATTERN_GENERATOR_H_
#define DESIGNLAB_INTERFACE_GAIT_PATTERN_GENERATOR_H_
 
#include <vector>
 
#include "graph_search_result_record.h"
#include "map_state.h"
#include "robot_state_node.h"
#include "robot_operation.h"
 
 
namespace designlab
{
 
class IGaitPatternGenerator
{
public:
    IGaitPatternGenerator() = default;
    virtual ~IGaitPatternGenerator() = default;
 
 
    virtual GraphSearchResult GetNextNodeByGraphSearch(
      const RobotStateNode& current_node,
      const MapState& map,
      const RobotOperation& operation,
      RobotStateNode* output_node_ptr) = 0;
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_INTERFACE_GAIT_PATTERN_GENERATOR_H_