node_initializer.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_INITIALIZER_H_
#define DESIGNLAB_NODE_INITIALIZER_H_
 
#include "robot_state_node.h"
#include "map_state.h"
 
namespace designlab
{
 
class NodeInitializer final
{
public:
    NodeInitializer(const Vector3& pos, const EulerXYZ& posture_,
                    HexapodMove move);
 
    RobotStateNode InitNode() const;
 
    RobotStateNode InitNodeForTerrain(const RobotStateNode& node, const MapState map) const;
 
private:
    const Vector3 pos_;
    const EulerXYZ posture_;
    const HexapodMove move_;
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_NODE_INITIALIZER_H_