interface_hexapod_state_presenter.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_STATE_PRESENTER_H_
#define DESIGNLAB_INTERFACE_HEXAPOD_STATE_PRESENTER_H_
 
#include "math_vector3.h"
 
 
namespace designlab
{
 
class IHexapodStatePresenter
{
public:
    virtual ~IHexapodStatePresenter() = default;
 
    [[nodiscard]]
    virtual Vector3 GetFreeLegPosLegCoordinate(int leg_index) const noexcept = 0;
 
    [[nodiscard]]
    virtual Vector3 GetLegBasePosRobotCoordinate(int leg_index) const noexcept = 0;
 
    [[nodiscard]]
    virtual float GetGroundHeightMarginMin() const noexcept = 0;
 
    [[nodiscard]]
    virtual float GetGroundHeightMarginMax() const noexcept = 0;
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_INTERFACE_HEXAPOD_STATE_PRESENTER_H_