node_creator_leg_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_LEG_UP_DOWN_H_
#define DESIGNLAB_NODE_CREATOR_LEG_UP_DOWN_H_
 
#include <memory>
#include <vector>
 
#include "divided_map_state.h"
#include "hexapod_next_move.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 NodeCreatorLegUpDown final : public INodeCreator
{
public:
    NodeCreatorLegUpDown(
      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);
 
    ~NodeCreatorLegUpDown() = default;
 
    void Create(const RobotStateNode& current_node, int current_node_index,
                std::vector<RobotStateNode>* output_graph) const override;
 
private:
    bool IsGroundableLeg(int leg_num, const RobotStateNode& current_node,
                         Vector3* output_ground_pos) const;
 
    bool IsAbleLegPos(const RobotStateNode& node, int leg_num) const;
 
 
    const float kLegMargin;  
 
    const float kHighMargin;
 
    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_LEG_UP_DOWN_H_