PlanningState.h

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// SVN $HeadURL$
// SVN $Id$

/*
 * A footstep planner for humanoid robots
 *
 * Copyright 2010-2011 Johannes Garimort, Armin Hornung, University of Freiburg
 * http://www.ros.org/wiki/footstep_planner
 *
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, version 3.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef FOOTSTEP_PLANNER_PLANNINGSTATE_H_
#define FOOTSTEP_PLANNER_PLANNINGSTATE_H_

#include <footstep_planner/helper.h>
#include <footstep_planner/State.h>


namespace footstep_planner
{
class PlanningState
{
public:
  PlanningState(double x, double y, double theta, Leg leg,
                double cell_size, int num_angle_bins, int max_hash_size);

  PlanningState(int x, int y, int theta, Leg leg, int max_hash_size);

  PlanningState(const State& s, double cell_size, int num_angle_bins,
                int max_hash_size);

  PlanningState(const PlanningState& s);

  ~PlanningState();

  bool operator ==(const PlanningState& s2) const;

  bool operator !=(const PlanningState& s2) const;

  void setId(unsigned int id) { ivId = id; };

  Leg getLeg() const { return ivLeg; };
  int getTheta() const { return ivTheta; };
  int getX() const { return ivX; };
  int getY() const { return ivY; };

  unsigned int getHashTag() const { return ivHashTag; };

  int getId() const { return ivId; };

  State getState(double cell_size, int num_angle_bins) const;

private:
  int ivX;
  int ivY;
  int ivTheta;
  Leg   ivLeg;

  int ivId;

  unsigned int ivHashTag;
};
}
#endif  // FOOTSTEP_PLANNER_PLANNINGSTATE_H_