system_main_simulation.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_SIMULATION_H_
#define DESIGNLAB_SYSTEM_MAIN_SIMULATION_H_
 
#include <memory>
#include <string>
 
#include "application_setting_record.h"
#include "graphic_data_broker.h"
#include "interface_gait_pattern_generator.h"
#include "interface_map_creator.h"
#include "interface_robot_operator.h"
#include "interface_simulation_end_checker.h"
#include "interface_system_main.h"
#include "map_state.h"
#include "node_initializer.h"
#include "result_file_exporter.h"
#include "robot_operation.h"
#include "robot_operator_for_gpg.h"
#include "stopwatch.h"
 
namespace designlab {
 
class SystemMainSimulation final : public ISystemMain {
 public:
  SystemMainSimulation() = delete;  
 
  SystemMainSimulation(
      std::unique_ptr<IGaitPatternGenerator>&& gait_pattern_generator_ptr,
      std::unique_ptr<IMapCreator>&& map_creator_ptr,
      std::unique_ptr<ISimulationEndChecker>&& simulation_end_checker_ptr,
      std::unique_ptr<IRobotOperator>&& robot_operator_ptr,
      std::unique_ptr<NodeInitializer>&& node_initializer_ptr,
      const std::shared_ptr<GraphicDataBroker>& broker_ptr,
      const std::shared_ptr<const ApplicationSettingRecord>& setting_ptr,
      const std::shared_ptr<ResultFileExporter>& result_exporter_ptr);
 
  void Main() override;
 
 private:
  static constexpr int kSimulationNum{
      5};  
 
  static constexpr int kGaitPatternGenerationLimit{1000};
 
  void OutputSetting() const;
 
  const std::unique_ptr<IGaitPatternGenerator> gait_pattern_generator_ptr_;
 
  const std::unique_ptr<IMapCreator> map_creator_ptr_;
 
  const std::unique_ptr<const ISimulationEndChecker>
      simulation_end_checker_ptr_;
 
  const std::unique_ptr<IRobotOperator> robot_operator_ptr_;
 
  const std::unique_ptr<NodeInitializer> node_initializer_ptr_;
 
  const std::shared_ptr<GraphicDataBroker> broker_ptr_;
 
  const std::shared_ptr<const ApplicationSettingRecord> setting_ptr_;
 
  const std::shared_ptr<ResultFileExporter>
      result_exporter_ptr_;  
 
  MapState map_state_;  
 
  Stopwatch timer_;  
};
 
}  // namespace designlab
 
#endif  // DESIGNLAB_SYSTEM_MAIN_SIMULATION_H_