stability_margin_renderer.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_STABILITY_MARGIN_RENDERER_H_
#define DESIGNLAB_STABILITY_MARGIN_RENDERER_H_
 
#include <memory>
 
#include "interface_dxlib_node_setter.h"
#include "interface_dxlib_3d_renderer.h"
#include "interface_hexapod_coordinate_converter.h"
#include "robot_state_node.h"
 
 
namespace designlab
{
 
class StabilityMarginRenderer final :
    public IDxlib3dRenderer,
    public IDxlibNodeSetter
{
public:
    StabilityMarginRenderer(
        const std::shared_ptr<const IHexapodCoordinateConverter>& converter_ptr);
    ~StabilityMarginRenderer() = default;
 
    void SetNode(const RobotStateNode& node) override
    {
        node_ = node;
    };
 
    void Draw() const override;
 
 
private:
    const unsigned int kMarginColor;  
 
    const unsigned int kMarginErrorColor;  
 
    const int kAlpha;  
 
 
    const std::shared_ptr<const IHexapodCoordinateConverter> converter_ptr_;  
 
    RobotStateNode node_;  
};
 
}  // namespace designlab
 
 
#endif  // DESIGNLAB_STABILITY_MARGIN_RENDERER_H_