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 "math_vector3.h"
#include "string_util.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_