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_posture_validator.h"
#include "interface_hexapod_state_presenter.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_