interface_hexapod_posture_validator.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_POSTURE_VALIDATOR_H_
#define DESIGNLAB_INTERFACE_HEXAPOD_POSTURE_VALIDATOR_H_
 
#include <array>
 
#include "divided_map_state.h"
#include "hexapod_const.h"
#include "leg_state.h"
#include "math_vector3.h"
#include "robot_state_node.h"
 
 
namespace designlab
{
 
class IHexapodPostureValidator
{
public:
    virtual ~IHexapodPostureValidator() = default;
 
 
    virtual bool IsLegInRange(const int leg_index, const Vector3& leg_pos) const = 0;
 
    bool IsAllLegInRange(
        const leg_func::LegStateBit leg_state,
        const std::array<Vector3, HexapodConst::kLegNum>& leg_pos) const
    {
        for (int i = 0; i < HexapodConst::kLegNum; i++)
        {
            if (leg_func::IsGrounded(leg_state, i) && !IsLegInRange(i, leg_pos[i]))
            {
                return false;
            }
        }
 
        return true;
    }
 
    virtual bool IsLegInterfering(
        const std::array<Vector3, HexapodConst::kLegNum>& leg_pos) const = 0;
 
    virtual float CalculateStabilityMargin(const leg_func::LegStateBit& leg_state,
      const std::array<Vector3, HexapodConst::kLegNum>& leg_pos) const = 0;
 
    virtual bool IsStable(const leg_func::LegStateBit& leg_state,
      const std::array<Vector3, HexapodConst::kLegNum>& leg_pos) const = 0;
 
    virtual bool IsBodyInterferingWithGround(
        const RobotStateNode& node, const DividedMapState& divided_map) const = 0;
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_INTERFACE_HEXAPOD_POSTURE_VALIDATOR_H_