robot_operator_for_path.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_OPERATOR_FOR_PATH_H_
#define DESIGNLAB_ROBOT_OPERATOR_FOR_PATH_H_
 
#include <vector>
 
#include "math_util.h"
#include "interface_robot_operator.h"
 
 
namespace designlab
{
 
class RobotOperatorForPath final : public IRobotOperator
{
public:
    explicit RobotOperatorForPath(const std::vector<Vector3>& path);
 
    RobotOperation Init() const override;
 
    RobotOperation Update(const RobotStateNode& node) override;
 
private:
    static constexpr float kAllowableAngleError{ math_util::ConvertDegToRad(1.2f) };
 
    std::vector<Vector3> global_route_;  
    int most_near_index_{ 0 };
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_ROBOT_OPERATOR_FOR_PATH_H_