node_creator_leg_hierarchy_test.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_TEST_H_
#define DESIGNLAB_NODE_CREATOR_LEG_HIERARCHY_TEST_H_
 
#include <array>
#include <vector>
 
#include "doctest.h"
 
#include "node_creator_leg_hierarchy.h"
 
 
TEST_SUITE("NodeCreatorLegHierarchyTest")
{
    using designlab::NodeCreatorLegHierarchy;
    using designlab::RobotStateNode;
    using designlab::HexapodMove;
    using designlab::HexapodConst;
    using designlab::enums::DiscreteLegPos;
    using designlab::enums::DiscreteComPos;
    using designlab::leg_func::MakeLegStateBit;
 
    TEST_CASE("CreateTest_WhenOneLegIsSwinging")
    {
        using enum DiscreteLegPos;
 
        // Arrange
        const HexapodMove move = HexapodMove::kComMove;
        const std::vector<DiscreteLegPos> discrete_leg_pos = {
            kBack, kCenter, kFront, };
 
        NodeCreatorLegHierarchy node_creator_leg_hierarchy{
            move, discrete_leg_pos };
 
        // 1脚のみ遊脚させる．
        std::array<bool, HexapodConst::kLegNum> ground_leg = {
            false, true, true, true, true, true };
 
        RobotStateNode robot_state_node;
 
        robot_state_node.leg_state = MakeLegStateBit(
            DiscreteComPos::kCenterFront,
            ground_leg,
            { kCenter, kCenter, kCenter, kCenter, kCenter, kCenter });
 
        // Act
        std::vector<RobotStateNode> actual;
 
        node_creator_leg_hierarchy.Create(robot_state_node, 0, &actual);
 
        // Assert
        CHECK(actual.size() == 3);
 
 
    }
}
 
#endif  // DESIGNLAB_NODE_CREATOR_LEG_HIERARCHY_TEST_H_