system_main_robot_control.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_ROBOT_CONTROL_H_
#define DESIGNLAB_SYSTEM_MAIN_ROBOT_CONTROL_H_
 
#include <memory>
#include <string>
 
#include "graphic_data_broker.h"
#include "interface_system_main.h"
#include "result_file_importer.h"
 
namespace designlab {
 
class SystemMainRobotControl final : public ISystemMain {
 public:
  SystemMainRobotControl(const std::shared_ptr<GraphicDataBroker>& broker_ptr);
  ~SystemMainRobotControl() = default;
 
  void Main() override;
 
 private:
  void RemoveDoNotMoveNode(std::vector<RobotStateNode>* graph_ptr);
 
  void MergeContinuousMove(std::vector<RobotStateNode>* graph_ptr);
 
  void DivideSwingAndStance(std::vector<RobotStateNode>* graph_ptr);
 
  void InitializeDirectory();
 
  ResultFileImporter result_importer_;
 
  const std::shared_ptr<GraphicDataBroker> broker_ptr_;
 
  const std::string kResultFileDirectoryPath{
      "robot_control"};  
};
 
}  // namespace designlab
 
#endif  // DESIGNLAB_SYSTEM_MAIN_ROBOT_CONTROL_H_