interpolate_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_INTERPOLATE_VALIDATOR_H_
#define DESIGNLAB_INTERPOLATE_VALIDATOR_H_
 
#include <memory>
 
#include "interface_hexapod_coordinate_converter.h"
#include "interface_hexapod_joint_calculator.h"
#include "interpolated_node_creator.h"
#include "robot_state_node.h"
 
namespace designlab {
 
class InterpolateValidator final {
 public:
  InterpolateValidator(
      const std::shared_ptr<const IHexapodCoordinateConverter>& converter,
      const std::shared_ptr<const IHexapodJointCalculator>& calculator);
 
  bool IsValid(const RobotStateNode& current_node,
               const RobotStateNode& next_node) const;
 
 private:
  const std::shared_ptr<const IHexapodCoordinateConverter> converter_;
  const std::shared_ptr<const IHexapodJointCalculator> calculator_;
 
  InterpolatedNodeCreator interpolated_node_creator_;
};
 
}  // namespace designlab
 
#endif  // DESIGNLAB_INTERPOLATE_VALIDATOR_H_