interface_hexapod_coordinate_converter.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_HEXAPOD_COORDINATE_CONVERTER_H_
#define DESIGNLAB_INTERFACE_HEXAPOD_COORDINATE_CONVERTER_H_
 
#include "math_quaternion.h"
#include "math_vector3.h"
 
 
namespace designlab
{
 
class IHexapodCoordinateConverter
{
public:
    virtual ~IHexapodCoordinateConverter() = default;
 
    virtual Vector3 ConvertGlobalToLegCoordinate(
        const Vector3& converted_position,
        int leg_index,
        const Vector3& center_of_mass_global,
        const Quaternion& robot_quat,
        bool consider_rot) const = 0;
 
    virtual Vector3 ConvertLegToGlobalCoordinate(
        const Vector3& converted_position,
        int leg_index,
        const Vector3& center_of_mass_global,
        const Quaternion& robot_quat,
        bool consider_rot) const = 0;
 
    virtual Vector3 ConvertRobotToGlobalCoordinate(
        const Vector3& converted_position,
        const Vector3& center_of_mass_global,
        const Quaternion& robot_quat,
        bool consider_rot) const = 0;
 
    virtual Vector3 ConvertRobotToLegCoordinate(
        const Vector3& converted_position,
        int leg_index) const = 0;
 
    virtual Vector3 ConvertLegToRobotCoordinate(
        const Vector3& converted_position,
        int leg_index) const = 0;
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_INTERFACE_HEXAPOD_COORDINATE_CONVERTER_H_