node_creator_leg_hierarchy.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_LEG_HIERARCHY_H_
#define DESIGNLAB_NODE_CREATOR_LEG_HIERARCHY_H_
 
#include <memory>
#include <vector>
 
#include "discrete_leg_pos.h"
#include "hexapod_next_move.h"
#include "interface_node_creator.h"
 
namespace designlab {
 
class NodeCreatorLegHierarchy final : public INodeCreator {
 public:
  NodeCreatorLegHierarchy(
      HexapodMove next_move,
      const std::vector<DiscreteLegPos>& discrete_leg_pos_list);
 
  ~NodeCreatorLegHierarchy() = default;
 
  void Create(const RobotStateNode& current_node, int current_node_index,
              std::vector<RobotStateNode>* output_nodes) const override;
 
 private:
  void Create1LegLifted(const RobotStateNode& current_node,
                        int current_node_index,
                        std::vector<RobotStateNode>* output_nodes) const;
 
  void Create2LegLifted(const RobotStateNode& current_node,
                        int current_node_index,
                        std::vector<RobotStateNode>* output_nodes) const;
 
  void Create3LegLifted(const RobotStateNode& current_node,
                        int current_node_index,
                        std::vector<RobotStateNode>* output_nodes) const;
 
  const HexapodMove next_move_;  
 
  const std::vector<DiscreteLegPos> discrete_leg_pos_list_;
};
 
}  // namespace designlab
 
#endif  // DESIGNLAB_NODE_CREATOR_LEG_HIERARCHY_H_