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_