xr_r1_parameter_record.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_XR_R1_PARAMETER_RECORD_H_
#define DESIGNLAB_XR_R1_PARAMETER_RECORD_H_
 
#include "toml_serialize_macro.h"
 
namespace designlab {
 
struct XrR1ParameterRecord final {
  float body_lifting_height_min{60.f};
 
  float body_lifting_height_max{190.f};
 
  float movable_coxa_angle_min_deg{-35.f};  
  float movable_coxa_angle_max_deg{35.f};  
 
  float min_leg_range{135.f};  
  float max_leg_range{200.f};  
 
  float free_leg_height{-40.f};  
 
  float stable_margin{10.f};
};
 
DESIGNLAB_TOML11_DESCRIPTION_CLASS(XrR1ParameterRecord) {
  DESIGNLAB_TOML11_FILE_NO_DESCRIPTION();
 
  DESIGNLAB_TOML11_TABLE_NO_DESCRIPTION();
 
  DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(
      body_lifting_height_min, "Body",
      "Height at which the body is lifted from the ground [mm]. "
      "The minimum height can be lowered to this level.");
  DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(
      body_lifting_height_max, "Body",
      "Height at which the body is lifted from the ground [mm]. "
      "The maximum height can be raised to this level.");
 
  DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(
      movable_coxa_angle_min_deg, "CoxaRange",
      "Minimum leg movement range [deg].");
  DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(
      movable_coxa_angle_max_deg, "CoxaRange",
      "Maximum leg range of motion [deg].");
 
  DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(
      min_leg_range, "LegRange",
      "Minimum distance from the base of the leg to the tip of the leg [mm].");
  DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(
      max_leg_range, "LegRange",
      "Maximum distance from the base of the leg to the tip of the leg [mm].");
 
  DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(
      free_leg_height, "Other",
      "Height of the swing leg from the center of gravity [mm].");
  DESIGNLAB_TOML11_VARIABLE_ADD_DESCRIPTION(
      stable_margin, "Other",
      "Static safety margin: 15mm is a reasonable value. "
      "(Based on previous studies, max is about 40 mm.)");
};
 
}  // namespace designlab
 
DESIGNLAB_TOML11_SERIALIZE(designlab::XrR1ParameterRecord,
                           body_lifting_height_min, body_lifting_height_max,
                           movable_coxa_angle_min_deg,
                           movable_coxa_angle_max_deg, min_leg_range,
                           max_leg_range, free_leg_height, stable_margin);
 
#endif  // DESIGNLAB_XR_R1_PARAMETER_RECORD_H_