movement_locus_renderer.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_MOVEMENT_LOCUS_RENDERER_H_
#define DESIGNLAB_MOVEMENT_LOCUS_RENDERER_H_
 
#include <vector>
 
#include "math_vector3.h"
#include "robot_state_node.h"
 
 
namespace designlab
{
 
class MovementLocusRenderer final
{
public:
    MovementLocusRenderer();
 
 
    void SetMoveLocusPoint(const std::vector<RobotStateNode>& locus);
 
    void SetSimulationEndIndexes(const std::vector<size_t>& index);
 
    inline void SetIsHighQuality(const bool is_high_quality)
    {
        is_high_quality_ = is_high_quality;
    }
 
    void Draw(const size_t draw_simulation_num, bool draw_all_simulation = false) const;
 
private:
    const unsigned int kHiddenLocusLineColor;  
 
    const unsigned int kDisplayLocusLineColor;  
 
    const int kHiddenLocusLineAlpha;  
 
    const float kLocusLineMaxLength;  
 
    const float kLocusLineRadius;  
 
 
    std::vector<Vector3> move_locus_point_;  
 
    std::vector<size_t> simulation_end_indexes_;
 
    bool is_high_quality_;  
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_MOVEMENT_LOCUS_RENDERER_H_