result_file_exporter.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_RESULT_FILE_EXPORTER_H_
#define DESIGNLAB_RESULT_FILE_EXPORTER_H_
 
#include <fstream>
#include <memory>
#include <string>
#include <vector>
 
#include "interface_hexapod_coordinate_converter.h"
#include "interface_hexapod_joint_calculator.h"
#include "interpolated_node_creator.h"
#include "robot_state_node.h"
#include "simulation_result_record.h"
 
 
namespace designlab {
 
class ResultFileConst final {
public:
    static const std::string kDirectoryPath;
 
    static const std::string kLegDirectoryName;
 
    static const std::string kSuccessfulCount;
 
    static const std::string kDetailFileName;
 
    static const std::string kNodeListName;
 
    static const std::string kMapStateName;
 
    static const std::string kLegAngleName;
};
 
 
class ResultFileExporter final {
public:
    ResultFileExporter(
        const std::shared_ptr<const IHexapodJointCalculator>& calculator_ptr,
        const std::shared_ptr<const IHexapodCoordinateConverter>& converter_ptr);
 
    void CreateRootDirectory();
 
    void PushSimulationResult(const SimulationResultRecord& simulation_result);
 
    void Export() const;
 
private:
    std::string MakeOutputDirectory() const;
 
    void ExportEachNodeList(const std::string& path) const;
 
    void ExportEachMapState(const std::string& path) const;
 
    void ExportEachSimulationDetail(const std::string& path) const;
 
    void ExportSuccessfulCount(const std::string& path) const;
 
    void ExportEachLegPos(const std::string& path) const;
 
    void ExportAllLegPos(const std::string& path) const;
 
    void ExportEachLegPosAllSuccessfulSimulation(const std::string& path) const;
 
    void ExportAllLegPosAllSuccessfulSimulation(const std::string& path) const;
 
    void ExportAllLegAngle(const std::string& path) const;
 
    std::string GetHeader() const;
 
    std::string GetLegChangeStatus(
        const std::optional<Vector3>& past, const Vector3& current) const;
 
    std::vector<SimulationResultRecord> result_list_;
 
    const std::shared_ptr<const IHexapodJointCalculator> calculator_ptr_;
 
    const std::unique_ptr<const InterpolatedNodeCreator> interpolated_node_creator_ptr_;
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_RESULT_FILE_EXPORTER_H_