robot_operation.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_OPERATION_H_
#define DESIGNLAB_ROBOT_OPERATION_H_
 
#include <format>
 
#include "math_quaternion.h"
#include "string_util.h"
#include "math_vector3.h"
#include "toml_serialize_macro.h"
 
 
namespace designlab
{
 
enum class RobotOperationType : int
{
    kNone,                  
    kStraightMoveVector,    
    kStraightMovePosition,  
    kSpotTurnLastPosture,   
    kSpotTurnRotAxis,       
    kTurn,                  
};
 
 
struct RobotOperation final
{
    Vector3 straight_move_vector{ 1.f, 0.f, 0.f };
 
    Vector3 straight_move_position{ 10000.f, 0.f, 0.f };
 
    Quaternion spot_turn_last_posture{ Quaternion::MakeByAngleAxis(0, Vector3::GetUpVec()) };
 
    Vector3 spot_turn_rot_axis{ Vector3::GetUpVec() };
 
    Vector2 turn_center{ 0.f, 0.f };  
 
    float turn_radius{ 1000.f };  
 
    bool turn_clockwise{ true };  
 
 
    RobotOperationType operation_type{ kStraightMovePosition };
 
private:
    using enum RobotOperationType;
};
 
 
DESIGNLAB_TOML11_DESCRIPTION_CLASS(RobotOperation)
{
    DESIGNLAB_TOML11_FILE_ADD_DESCRIPTION("Note that this file is not referenced by some settings.");
 
    DESIGNLAB_TOML11_TABLE_NO_DESCRIPTION();
 
    DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(straight_move_vector, "Param", "The value that is referenced when the setting is to go straight in the specified direction.");
    DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(straight_move_position, "Param", "The value that is referred to when the setting is to go straight to the specified coordinates.");
    DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(spot_turn_last_posture, "Param", "The value that is referenced when setting the camera to turn on the spot until it reaches the specified posture.");
    DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(spot_turn_rot_axis, "Param", "The value referred to when setting up in-situ turning around the specified axis (in the direction of right-hand threads).");
    DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(turn_center, "Param", "The value referred to when setting the rotation around the specified center.");
    DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(turn_radius, "Param", "The value referenced in the case of a setup that turns at a specified radius.");
    DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(turn_clockwise, "Param", "The value that is referenced when the setting is to turn in the specified direction.");
 
    DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(operation_type, DESIGNLAB_TOML11_NO_TABLE,
                                              std::format("This is the setting of the robot's operation method. ({})", string_util::EnumValuesToString<RobotOperationType>(" / ")));
};
 
}  // namespace designlab
 
 
DESIGNLAB_TOML11_SERIALIZE(
    designlab::RobotOperation,
    straight_move_vector, straight_move_position, spot_turn_last_posture,
    spot_turn_rot_axis, operation_type,
    turn_center, turn_radius, turn_clockwise);
 
 
#endif  // DESIGNLAB_ROBOT_OPERATION_H_