simulation_end_checker_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 "simulation_end_checker_factory.h"
 
#include <utility>
 
#include "cassert_define.h"
#include "math_quaternion.h"
#include "math_rot_converter.h"
#include "simulation_end_checker_by_goal_tape.h"
#include "simulation_end_checker_by_position.h"
#include "simulation_end_checker_by_posture.h"
 
 
namespace designlab
{
 
std::unique_ptr<ISimulationEndChecker> SimulationEndCheckerFactory::Create(const SimulationSettingRecord& record)
{
    using enum enums::SimulationEndCheckMode;
    using math_util::ConvertDegToRad;
 
    if (record.end_check_mode == kGoalTape)
    {
        auto simulation_end_checker = std::make_unique<SimulationEndCheckerByGoalTape>(record.goal_tape_position_x);
 
        return std::move(simulation_end_checker);
    }
    else if (record.end_check_mode == kPosture)
    {
        EulerXYZ target_euler_rad{
          ConvertDegToRad(record.target_posture.x_angle),
          ConvertDegToRad(record.target_posture.y_angle),
          ConvertDegToRad(record.target_posture.z_angle)
        };
 
        auto simulation_end_checker = std::make_unique<SimulationEndCheckerByPosture>(ToQuaternion(target_euler_rad), ConvertDegToRad(record.target_posture_allowable_error_deg));
 
        return std::move(simulation_end_checker);
    }
    else if (record.end_check_mode == kPosition)
    {
        const Vector3 goal_position(record.target_position);
 
        auto simulation_end_checker = std::make_unique<SimulationEndCheckerByPosition>(goal_position, record.target_position_allowable_error);
 
        return std::move(simulation_end_checker);
    }
    else
    {
        assert(false);
    }
 
    return nullptr;
}
 
}  // namespace designlab