规范模块目录和第三方依赖结构

2026-06-01 16:57:39 +08:00
parent e8e485b115
commit c2ce29d874
1758 changed files with 187 additions and 102 deletions
--- a/include/QuadrupedRobotSimulation/RobotConfig.hpp
+++ b/include/QuadrupedRobotSimulation/RobotConfig.hpp
@@ -0,0 +1,173 @@
+#pragma once
+
+#include <string>
+#include <vector>
+#include <map>
+#include <nlohmann/json.hpp>
+#include <fstream>
+#include <sstream>
+#include <iostream> // 必须包含这个头文件
+#include <iomanip>
+// 前置声明
+struct GaitInfo;
+struct SystemParameters;
+struct ComponentID;
+struct LegModelIDs;
+struct ModelID;
+struct LegParam;
+struct LegParameters;
+struct RobotBody;
+struct RequestParameters;
+
+// GaitInfo 结构
+struct GaitInfo
+{
+    std::string GaitType;
+    double Period;
+    double Frequency;
+    double StepTime;
+    double SupportTime;
+    double SwingTime;
+    double SupportRatio;
+    double SwingRatio;
+    int TotalFrames;
+    double TotalTime;
+};
+
+// SystemParameters 结构
+struct SystemParameters
+{
+    double A_x;
+    double A_y;
+    double L10;
+    double L20;
+    double L30;
+    double StepLength;
+    double StepHeight;
+    double X;
+    double DeltaX;
+    double L21;
+    double L22;
+    double L23;
+    double Beta1;
+    double BB2_BC_Angle;
+    double C1_B_Length;
+    double CC1;
+    double L31;
+    double C2C3_Length;
+    double Lead;
+    double D1_L_Offset;
+    double D2_L_Offset;
+    double C4_D2_Offset;
+    double ThighMotorReduction;
+    double ShankMotorReduction;
+    double AnkleMotorReduction;
+};
+
+// ComponentID 结构
+struct ComponentID
+{
+    std::string name;
+    std::string uuid;
+};
+
+// LegModelIDs 结构
+struct LegModelIDs
+{
+    std::vector<ComponentID> components;
+};
+
+// ModelID 结构
+struct ModelID
+{
+    LegModelIDs LF;
+    LegModelIDs LH;
+    LegModelIDs RF;
+    LegModelIDs RH;
+};
+
+// LegParam 结构
+struct LegParam
+{
+    double thigh_angle_deg;
+    double shank_angle_deg;
+    double ankle_angle_deg;
+};
+
+// LegParameters 结构
+struct LegParameters
+{
+    LegParam LF;
+    LegParam LH;
+    LegParam RF;
+    LegParam RH;
+};
+
+// RobotBody 结构
+struct RobotBody
+{
+    std::string BodyCode;
+    double x;
+    double y;
+    double z;
+    double qx;
+    double qy;
+    double qz;
+    double qw;
+};
+
+// RequestParameters 主结构
+struct RequestParameters
+{
+    GaitInfo GaitInfo;
+    SystemParameters SystemParameters;
+    ModelID ModelID;
+    LegParameters Param;
+    RobotBody RobotBody;
+    std::string RobotID = "0";
+    double t_percentage;
+    // 初始化静态变量 左腿和右腿
+    std::map<std::string, std::vector<double>> old_initial_points_dictLF;
+    std::map<std::string, std::vector<double>> old_initial_points_dictLH;
+    // 静态方法
+    static RequestParameters fromJsonString(const std::string &jsonStr);
+    static RequestParameters fromJsonFile(const std::string &filename);
+    // 静态函数版本
+    static RequestParameters &updateFromJson(const nlohmann::json &j, RequestParameters &req_param);
+
+    // 序列化为JSON字符串
+    std::string toJsonString() const;
+
+    // 保存到文件
+    bool saveToFile(const std::string &filename) const;
+    // 显示所有数据的调试函数
+    void debugPrint() const;
+};
+
+// JSON序列化/反序列化声明
+void to_json(nlohmann::json &j, const GaitInfo &g);
+void from_json(const nlohmann::json &j, GaitInfo &g);
+
+void to_json(nlohmann::json &j, const SystemParameters &s);
+void from_json(const nlohmann::json &j, SystemParameters &s);
+
+void to_json(nlohmann::json &j, const ComponentID &c);
+void from_json(const nlohmann::json &j, ComponentID &c);
+
+void to_json(nlohmann::json &j, const LegModelIDs &l);
+void from_json(const nlohmann::json &j, LegModelIDs &l);
+
+void to_json(nlohmann::json &j, const ModelID &m);
+void from_json(const nlohmann::json &j, ModelID &m);
+
+void to_json(nlohmann::json &j, const LegParam &l);
+void from_json(const nlohmann::json &j, LegParam &l);
+
+void to_json(nlohmann::json &j, const LegParameters &l);
+void from_json(const nlohmann::json &j, LegParameters &l);
+
+void to_json(nlohmann::json &j, const RobotBody &r);
+void from_json(const nlohmann::json &j, RobotBody &r);
+
+void to_json(nlohmann::json &j, const RequestParameters &c);
+void from_json(const nlohmann::json &j, RequestParameters &c);