phantomx_mk2_parameter_record.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_PHANTOMX_MK2_PARAMETER_RECORD_H_
#define DESIGNLAB_PHANTOMX_MK2_PARAMETER_RECORD_H_
 
#include "toml_serialize_macro.h"
 
 
namespace designlab
{
 
struct PhantomXMkIIParameterRecord final
{
    float body_lifting_height_min{ 30.f };
 
    float body_lifting_height_max{ 160.f };
 
 
    float movable_coxa_angle_min_deg{ -40.f };  
    float movable_coxa_angle_max_deg{ 40.f };   
 
 
    float min_leg_range{ 140.f };   
    float max_leg_range{ 200.f };   
 
 
    float free_leg_height{ -20.f };  
 
    float stable_margin{ 15.f };
};
 
 
DESIGNLAB_TOML11_DESCRIPTION_CLASS(PhantomXMkIIParameterRecord)
{
    DESIGNLAB_TOML11_FILE_NO_DESCRIPTION();
 
    DESIGNLAB_TOML11_TABLE_NO_DESCRIPTION();
 
    DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(body_lifting_height_min, "Body",
        "Height at which the body is lifted from the ground [mm]. "
        "The minimum height can be lowered to this level.");
    DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(body_lifting_height_max, "Body",
        "Height at which the body is lifted from the ground [mm]. "
        "The maximum height can be raised to this level.");
 
    DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(
        movable_coxa_angle_min_deg, "CoxaRange",
        "Minimum leg movement range [deg].");
    DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(
        movable_coxa_angle_max_deg, "CoxaRange",
        "Maximum leg range of motion [deg].");
 
    DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(min_leg_range, "LegRange",
        "Minimum distance from the base of the leg to the tip of the leg [mm].");
    DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(max_leg_range, "LegRange",
        "Maximum distance from the base of the leg to the tip of the leg [mm].");
 
    DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(free_leg_height, "Other",
        "Height of the swing leg from the center of gravity [mm].");
    DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(stable_margin, "Other",
        "Static safety margin: 15mm is a reasonable value. "
        "(Based on previous studies, max is about 40 mm.)");
};
 
}  // namespace designlab
 
 
DESIGNLAB_TOML11_SERIALIZE(
  designlab::PhantomXMkIIParameterRecord,
  body_lifting_height_min,
  body_lifting_height_max,
  movable_coxa_angle_min_deg,
  movable_coxa_angle_max_deg,
  min_leg_range,
  max_leg_range,
  free_leg_height,
  stable_margin);
 
#endif  // DESIGNLAB_PHANTOMX_MK2_PARAMETER_RECORD_H_