system_main_result_viewer.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_SYSTEM_MAIN_RESULT_VIEWER_H_
#define DESIGNLAB_SYSTEM_MAIN_RESULT_VIEWER_H_
 
#include <memory>
#include <string>
 
#include "application_setting_record.h"
#include "graphic_data_broker.h"
#include "interface_hexapod_coordinate_converter.h"
#include "interface_hexapod_joint_calculator.h"
#include "interface_system_main.h"
#include "result_file_importer.h"
 
namespace designlab {
 
class SystemMainResultViewer final : public ISystemMain {
 public:
  SystemMainResultViewer(
      const std::shared_ptr<GraphicDataBroker>& broker_ptr,
      const std::shared_ptr<const ApplicationSettingRecord> setting_ptr,
      const std::shared_ptr<const IHexapodJointCalculator> joint_calculator,
      const std::shared_ptr<const IHexapodCoordinateConverter> converter);
 
  void Main() override;
 
 private:
  ResultFileImporter result_importer_;
 
  const std::shared_ptr<GraphicDataBroker> broker_ptr_;
 
  const std::shared_ptr<const IHexapodJointCalculator> joint_calculator_;
 
  const std::shared_ptr<const IHexapodCoordinateConverter> converter_;
 
  void OutputErrorLegPos(const std::string& file,
                         const std::vector<RobotStateNode>& nodes);
};
 
}  // namespace designlab
 
#endif  // DESIGNLAB_SYSTEM_MAIN_RESULT_VIEWER_H_