node_creator_builder_turn.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_turn.h"
 
#include <vector>
 
#include "cassert_define.h"
#include "node_creator_body_rot.h"
#include "node_creator_com_move.h"
#include "node_creator_com_up_down.h"
#include "node_creator_leg_hierarchy.h"
#include "node_creator_leg_up_down.h"
 
namespace designlab {
 
NodeCreatorBuilderTurn::NodeCreatorBuilderTurn(
    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) {}
 
void NodeCreatorBuilderTurn::Build(
    const DividedMapState& map,
    std::map<HexapodMove, std::unique_ptr<INodeCreator>>* node_creator) const {
  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.
 
  const auto hierarchy_list = std::vector<DiscreteLegPos>{
      DiscreteLegPos::kBack,       DiscreteLegPos::kCenter,
      DiscreteLegPos::kFront,      DiscreteLegPos::kLowerBack,
      DiscreteLegPos::kLowerFront, DiscreteLegPos::kUpperBack,
      DiscreteLegPos::kUpperFront};
 
  (*node_creator)[HexapodMove::kLegHierarchyChange] =
      std::make_unique<NodeCreatorLegHierarchy>(HexapodMove::kLegUpDown,
                                                hierarchy_list);
 
  (*node_creator)[HexapodMove::kLegUpDown] =
      std::make_unique<NodeCreatorLegUpDown>(map, converter_ptr_,
                                             presenter_ptr_, checker_ptr_,
                                             HexapodMove::kBodyYawRot);
 
  (*node_creator)[HexapodMove::kBodyYawRot] =
      std::make_unique<NodeCreatorBodyRot>(map, converter_ptr_, checker_ptr_,
                                           Vector3::GetUpVec(),
                                           HexapodMove::kComUpDown);
 
  (*node_creator)[HexapodMove::kComUpDown] =
      std::make_unique<NodeCreatorComUpDown>(map, converter_ptr_,
                                             presenter_ptr_, checker_ptr_,
                                             HexapodMove::kComMove);
 
  (*node_creator)[HexapodMove::kComMove] = std::make_unique<NodeCreatorComMove>(
      map, converter_ptr_, presenter_ptr_, checker_ptr_,
      HexapodMove::kLegHierarchyChange);
}
 
}  // namespace designlab