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_simulation_end_checker.h"
#include "interface_robot_operator.h"
#include "interface_system_main.h"
#include "map_state.h"
#include "node_initializer.h"
#include "result_file_exporter.h"
#include "stopwatch.h"
#include "robot_operation.h"
#include "robot_operator_for_gpg.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_