phantomx_mk2_renderer_model.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_RENDERER_MODEL_H_
#define DESIGNLAB_PHANTOMX_MK2_RENDERER_MODEL_H_
 
#include <array>
#include <memory>
 
#include <Dxlib.h>
 
#include "display_quality.h"
#include "hexapod_const.h"
#include "interface_dxlib_3d_renderer.h"
#include "interface_dxlib_node_setter.h"
#include "interface_hexapod_coordinate_converter.h"
#include "interface_hexapod_joint_calculator.h"
#include "robot_state_node.h"
 
 
namespace designlab
{
 
class PhantomXMkIIRendererModel final : public IDxlib3dRenderer, public IDxlibNodeSetter
{
public:
    PhantomXMkIIRendererModel(
      const std::shared_ptr<const IHexapodCoordinateConverter>& converter_ptr,
      const std::shared_ptr<const IHexapodJointCalculator>& calculator_ptr);
 
    void SetNode(const RobotStateNode& node) override;
 
    void Draw() const override;
 
private:
    void DrawBody() const;
 
    void DrawCoxaLink(int leg_index) const;
 
    void DrawFemurLink(int leg_index) const;
 
    void DrawTibiaLink(int leg_index) const;
 
    void DrawJointAxis(int leg_index) const;
 
    const std::shared_ptr<const IHexapodCoordinateConverter> converter_ptr_;
 
    const std::shared_ptr<const IHexapodJointCalculator> calculator_ptr_;
 
    RobotStateNode draw_node_;
 
    std::array<HexapodJointState, HexapodConst::kLegNum> draw_joint_state_;
    DisplayQuality display_quality_;  
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_PHANTOMX_MK2_RENDERER_MODEL_H_