node_creator_com_up_down.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_NODE_CREATOR_COM_UP_DOWN_H_
#define DESIGNLAB_NODE_CREATOR_COM_UP_DOWN_H_
 
#include <memory>
#include <vector>
 
#include "divided_map_state.h"
#include "interface_hexapod_coordinate_converter.h"
#include "interface_hexapod_state_presenter.h"
#include "interface_hexapod_posture_validator.h"
#include "interface_node_creator.h"
 
 
namespace designlab
{
 
class NodeCreatorComUpDown final : public INodeCreator
{
public:
    NodeCreatorComUpDown(
      const DividedMapState& devide_map,
      const std::shared_ptr<const IHexapodCoordinateConverter>& converter_ptr,
      const std::shared_ptr<const IHexapodStatePresenter>& presenter_ptr,
      const std::shared_ptr<const IHexapodPostureValidator>& checker_ptr,
      HexapodMove next_move);
 
    ~NodeCreatorComUpDown() = default;
 
    void Create(const RobotStateNode& current_node, int current_num,
                std::vector<RobotStateNode>* output_graph) const override;
 
private:
    static constexpr int kDiscretization = 7;
 
    // グローバル座標の重心の最低位置と最高位置から，重心を上下に変化させたノードを追加する．
    void pushNodeByMaxAndMinPosZ(
        const RobotStateNode& current_node, int current_num, float high, float low,
        std::vector<RobotStateNode>* output_graph) const;
 
    const DividedMapState map_;
 
    const HexapodMove next_move_;  
 
    const std::shared_ptr<const IHexapodCoordinateConverter> converter_ptr_;
    const std::shared_ptr<const IHexapodStatePresenter> presenter_ptr_;
    const std::shared_ptr<const IHexapodPostureValidator> checker_ptr_;
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_NODE_CREATOR_COM_UP_DOWN_H_