node_creator_builder_turn_spot.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_spot.h"
 
#include <vector>
 
#include "node_creator_body_rot.h"
#include "cassert_define.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"
#include "node_creator_leg_up_down_2d.h"
#include "node_creator_leg_up_down_radius.h"
 
 
namespace designlab
{
 
NodeCreatorBuilderTurnSpot::NodeCreatorBuilderTurnSpot(
  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 NodeCreatorBuilderTurnSpot::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<enums::DiscreteLegPos>{
      enums::DiscreteLegPos::kBack,
      enums::DiscreteLegPos::kCenter,
      enums::DiscreteLegPos::kFront,
      enums::DiscreteLegPos::kLowerBack,
      enums::DiscreteLegPos::kLowerFront,
      enums::DiscreteLegPos::kUpperBack,
      enums::DiscreteLegPos::kUpperFront
    };
 
    (*node_creator)[HexapodMove::kLegHierarchyChange] = std::make_unique<NodeCreatorLegHierarchy>(HexapodMove::kLegUpDown, hierarchy_list);
 
    (*node_creator)[HexapodMove::kLegUpDown] = std::make_unique<NodeCreatorLegUpDownRadius>(
      map,
      converter_ptr_,
      presenter_ptr_,
      checker_ptr_,
      HexapodMove::kComUpDown);
 
    (*node_creator)[HexapodMove::kComUpDown] = std::make_unique<NodeCreatorComUpDown>(
      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::kLegHierarchyChange);
}
 
}  // namespace designlab