simulation_end_checker_by_posture.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_SIMULATION_END_CHECKER_BY_POSTURE_H_
#define DESIGNLAB_SIMULATION_END_CHECKER_BY_POSTURE_H_
 
#include "interface_simulation_end_checker.h"
#include "math_euler.h"
#include "math_quaternion.h"
 
namespace designlab {
 
class SimulationEndCheckerByPosture final : public ISimulationEndChecker {
 public:
  SimulationEndCheckerByPosture(const Quaternion& goal_orientation,
                                float allowable_error);
 
  bool IsEnd(const RobotStateNode& node) const override;
 
 private:
  const Quaternion goal_orientation_;  
  const EulerXYZ goal_euler_;          
 
  const float allowable_error_;  
};
 
}  // namespace designlab
 
#endif  // DESIGNLAB_SIMULATION_END_CHECKER_BY_POSTURE_H_