node_creator_leg_up_down_2d.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_2D_H_
#define DESIGNLAB_NODE_CREATOR_LEG_UP_DOWN_2D_H_
 
#include <memory>
#include <vector>
 
#include "discrete_leg_pos.h"
#include "divided_map_state.h"
#include "hexapod_next_move.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 NodeCreatorLegUpDown2d final : public INodeCreator {
 public:
  NodeCreatorLegUpDown2d(
      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);
 
  ~NodeCreatorLegUpDown2d() = 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;
 
  DiscreteLegPos ConvertTo2D(DiscreteLegPos leg_pos) const;
 
  const float
      kLegMargin;  
 
  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_2D_H_