00001 // SVN $HeadURL$ 00002 // SVN $Id$ 00003 00004 /* 00005 * A footstep planner for humanoid robots 00006 * 00007 * Copyright 2010-2011 Johannes Garimort, Armin Hornung, University of Freiburg 00008 * http://www.ros.org/wiki/footstep_planner 00009 * 00010 * 00011 * This program is free software: you can redistribute it and/or modify 00012 * it under the terms of the GNU General Public License as published by 00013 * the Free Software Foundation, version 3. 00014 * 00015 * This program is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00018 * GNU General Public License for more details. 00019 * 00020 * You should have received a copy of the GNU General Public License 00021 * along with this program. If not, see <http://www.gnu.org/licenses/>. 00022 */ 00023 00024 #ifndef FOOTSTEP_PLANNER_FOOTSTEPPLANNERNODE_H_ 00025 #define FOOTSTEP_PLANNER_FOOTSTEPPLANNERNODE_H_ 00026 00027 00028 #include <ros/ros.h> 00029 00030 #include <geometry_msgs/PoseStamped.h> 00031 #include <geometry_msgs/PoseWithCovarianceStamped.h> 00032 #include <footstep_planner/FootstepPlanner.h> 00033 00034 00035 namespace footstep_planner 00036 { 00041 class FootstepPlannerNode 00042 { 00043 public: 00044 FootstepPlannerNode(); 00045 virtual ~FootstepPlannerNode(); 00046 00047 protected: 00048 FootstepPlanner ivFootstepPlanner; 00049 00050 ros::Subscriber ivGoalPoseSub; 00051 ros::Subscriber ivGridMapSub; 00052 ros::Subscriber ivStartPoseSub; 00053 ros::Subscriber ivRobotPoseSub; 00054 00055 ros::ServiceServer ivFootstepPlanService; 00056 ros::ServiceServer ivFootstepReplanService; 00057 }; 00058 } 00059 #endif // FOOTSTEP_PLANNER_FOOTSTEPPLANNERNODE_H_
