robot_ground_point_renderer.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_ROBOT_GROUND_POINT_RENDERER_H_
#define DESIGNLAB_ROBOT_GROUND_POINT_RENDERER_H_
 
#include <array>
#include <memory>
#include <vector>
 
#include "math_vector3.h"
#include "hexapod_const.h"
#include "interface_hexapod_coordinate_converter.h"
#include "robot_state_node.h"
 
 
namespace designlab
{
 
class RobotGroundPointRenderer final
{
public:
    RobotGroundPointRenderer(
        const std::shared_ptr<const IHexapodCoordinateConverter>& converter_ptr);
 
 
    void SetNodeAndSimulationEndNodeIndex(const std::vector<RobotStateNode>& result_node,
                                          const std::vector<size_t>& simulation_end_node_index);
 
    void Draw(size_t draw_simulation_num, bool draw_all_simulation = false) const;
 
private:
    struct VectorAndIsGround
    {
        Vector3 vec;  
 
        bool is_ground;  
    };
 
 
    const unsigned int kRightLegGroundPointColor;  
 
    const unsigned int kLeftLegGroundPointColor;  
 
    const unsigned int kRightLegGroundPointDarkColor;  
 
    const unsigned int kLeftLegGroundPointDarkColor;  
 
    const std::shared_ptr<const IHexapodCoordinateConverter> converter_ptr_;
 
    size_t loaded_node_num_;
 
    std::vector<std::vector<std::array<VectorAndIsGround, HexapodConst::kLegNum>>> ground_point_;
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_ROBOT_GROUND_POINT_RENDERER_H_