node_creator_builder_ground_conforming_rot.cpp

[詳解]

 
 
// Copyright(c) 2023-2025 Design Engineering Laboratory, Saitama University
// Released under the MIT license
// https://opensource.org/licenses/mit-license.php
 
#include "node_creator_builder_ground_conforming_rot.h"
 
#include <vector>
 
#include "cassert_define.h"
#include "node_creator_body_rot.h"
#include "node_creator_com_move.h"
#include "node_creator_com_move_straight.h"
#include "node_creator_com_up_down.h"
#include "node_creator_leg_hierarchy.h"
#include "node_creator_leg_up_down.h"
#include "node_creator_leg_up_down_2d.h"
#include "node_creator_leg_up_down_radius.h"
 
namespace designlab {
 
NodeCreatorBuilderGroundConformingRot::NodeCreatorBuilderGroundConformingRot(
    const std::shared_ptr<const IHexapodCoordinateConverter>& converter_ptr,
    const std::shared_ptr<const IHexapodStatePresenter>& presenter_ptr,
    const std::shared_ptr<const IHexapodPostureValidator>& checker_ptr)
    : converter_ptr_(converter_ptr),
      presenter_ptr_(presenter_ptr),
      checker_ptr_(checker_ptr) {
  assert(converter_ptr_ != nullptr);
  assert(presenter_ptr_ != nullptr);
  assert(checker_ptr_ != nullptr);
}
 
void NodeCreatorBuilderGroundConformingRot::Build(
    const DividedMapState& map,
    std::map<HexapodMove, std::unique_ptr<INodeCreator>>* node_creator) const {
  using enum DiscreteLegPos;
  using enum HexapodMove;
 
  assert(node_creator != nullptr);  // node_creator が nullptr でない.
  assert(node_creator->size() == 0);  // node_creator は空でなければならない.
 
  // 追加したい場合,以下のように記述する.
  // (*node_creator)[HexapodMove::???] =
  // std::make_unique<クラス名>(クラスのコンストラクタの引数);
  // この場合,HexapodMove::???のノードを作成するクラスは,^~~~~~ である.
 
  const auto hierarchy_list = std::vector<DiscreteLegPos>{
      DiscreteLegPos::kBack,       DiscreteLegPos::kCenter,
      DiscreteLegPos::kFront,      DiscreteLegPos::kLowerBack,
      DiscreteLegPos::kLowerFront, DiscreteLegPos::kUpperBack,
      DiscreteLegPos::kUpperFront};
 
  (*node_creator)[kLegHierarchyChange] =
      std::make_unique<NodeCreatorLegHierarchy>(kLegUpDown, hierarchy_list);
 
  (*node_creator)[kLegUpDown] = std::make_unique<NodeCreatorLegUpDown>(
      map, converter_ptr_, presenter_ptr_, checker_ptr_, kComUpDown);
 
  (*node_creator)[kComUpDown] = std::make_unique<NodeCreatorComUpDown>(
      map, converter_ptr_, presenter_ptr_, checker_ptr_, kComMove);
 
  (*node_creator)[HexapodMove::kComMove] =
      std::make_unique<NodeCreatorComMoveStraight>(
          map, converter_ptr_, presenter_ptr_, checker_ptr_, kBodyPitchRot);
 
  (*node_creator)[kBodyPitchRot] = std::make_unique<NodeCreatorBodyRot>(
      map, converter_ptr_, checker_ptr_, Vector3{0, 1, 0}, kLegHierarchyChange);
}
 
}  // namespace designlab