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