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::DiscreteLegPos;
  using designlab::HexapodConst;
  using designlab::HexapodMove;
  using designlab::NodeCreatorLegHierarchy;
  using designlab::RobotStateNode;
  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_