robot_operator_factory.cpp

[詳解]

 
 
// Copyright(c) 2023-2025 Design Engineering Laboratory, Saitama University
// Released under the MIT license
// https://opensource.org/licenses/mit-license.php
 
#include "robot_operator_factory.h"
 
#include "cassert_define.h"
#include "robot_operation.h"
#include "robot_operator_for_gpg.h"
#include "robot_operator_fixed.h"
#include "robot_operator_for_path.h"
#include "toml_file_importer.h"
#include "toml_directory_exporter.h"
 
 
namespace designlab
{
 
std::unique_ptr<IRobotOperator> RobotOperatorFactory::Create(const SimulationSettingRecord& setting)
{
    using enum enums::RobotOperateMode;
 
    if (setting.operate_mode == kForGloabalPathGenerate)
    {
        return std::make_unique<RobotOperatorForGpg>();
    }
    else if (setting.operate_mode == kFixed)
    {
        TomlFileImporter<RobotOperation> importer;
 
        const auto operation = importer.ImportOrUseDefault(
            TomlDirectoryExporter::kTomlFileDirPath + setting.fixed_operate_file_name);
 
        return std::make_unique<RobotOperatorFixed>(operation);
    }
    else if (setting.operate_mode == kForPath)
    {
        return std::make_unique<RobotOperatorForPath>(setting.path_points);
    }
    else
    {
        assert(false);
 
        return nullptr;
    }
}
 
}  // namespace designlab