simulation_end_checker_by_position.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 "simulation_end_checker_by_position.h"
 
 
namespace designlab
{
 
SimulationEndCheckerByPosition::SimulationEndCheckerByPosition(
    const Vector3& goal_position,
    const float allowable_error) :
    goal_position_(goal_position),
    allowable_error_(allowable_error)
{
}
 
bool SimulationEndCheckerByPosition::IsEnd(const RobotStateNode& node) const
{
    // 位置を取得し，誤差を計算．
    const float dif = (node.center_of_mass_global_coord - goal_position_).GetLength();
 
    if (dif > allowable_error_)
    {
        return false;
    }
 
    return true;
}
 
}  // namespace designlab