interpolated_node_creator.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_INTERPOLATED_NODE_CREATOR_H_
#define DESIGNLAB_INTERPOLATED_NODE_CREATOR_H_
 
#include <array>
#include <memory>
#include <vector>
 
#include "interface_hexapod_coordinate_converter.h"
#include "math_util.h"
#include "robot_state_node.h"
 
 
namespace designlab
{
 
class InterpolatedNodeCreator final
{
public:
    explicit InterpolatedNodeCreator(const std::shared_ptr<const IHexapodCoordinateConverter>& converter_ptr);
 
    std::vector<RobotStateNode> CreateInterpolatedNode(const RobotStateNode& node, const RobotStateNode& next_node) const;
 
private:
    static constexpr float kInterpolatedDistance = 0.15f;  
    static constexpr float kInterpolatedAngle = math_util::ConvertDegToRad(0.1f);  
 
    static constexpr float kBodyMoveMaxInterpolatedDistance = 200.0f;  
 
    bool IsNoChange(const RobotStateNode& current_node, const RobotStateNode& next_node) const;
 
    bool IsBodyMove(const RobotStateNode& current_node, const RobotStateNode& next_node) const;
 
    bool IsBodyRot(const RobotStateNode& current_node, const RobotStateNode& next_node) const;
 
    std::vector<RobotStateNode> CreateBodyMoveInterpolatedNode(const RobotStateNode& current_node, const RobotStateNode& next_node) const;
 
    std::vector<RobotStateNode> CreateBodyRotInterpolatedNode(const RobotStateNode& current_node, const RobotStateNode& next_node) const;
 
    std::vector<int> GetGroundMoveIndex(const RobotStateNode& current_node, const RobotStateNode& next_node) const;
 
    std::vector<int> GetFreeMoveIndex(const RobotStateNode& current_node, const RobotStateNode& next_node) const;
 
    std::vector<RobotStateNode> CreateLegMoveInterpolatedNode(const RobotStateNode& current_node, const RobotStateNode& next_node) const;
 
 
    const std::shared_ptr<const IHexapodCoordinateConverter> converter_ptr_;
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_INTERPOLATED_NODE_CREATOR_H_