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 "map_state.h"
#include "robot_state_node.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_