00001 // SVN $HeadURL: https://alufr-ros-pkg.googlecode.com/svn/trunk/humanoid_stacks/humanoid_navigation/footstep_planner/include/footstep_planner/State2.h $ 00002 // SVN $Id: State2.h 2793 2012-06-07 10:37:53Z Garimort.Johannes $ 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_STATE_H_ 00025 #define FOOTSTEP_PLANNER_STATE_H_ 00026 00027 #include <footstep_planner/helper.h> 00028 00029 00030 namespace footstep_planner 00031 { 00037 class State 00038 { 00039 public: 00040 State(); 00041 State(double x, double y, double theta, Leg leg); 00042 ~State(); 00043 00044 void setX(double x) { ivX = x; }; 00045 void setY(double y) { ivY = y; }; 00046 void setTheta(double theta) { ivTheta = theta; }; 00047 void setLeg(Leg leg) { ivLeg = leg; }; 00048 00049 double getX() const { return ivX; }; 00050 double getY() const { return ivY; }; 00051 double getTheta() const { return ivTheta; }; 00052 Leg getLeg() const { return ivLeg; }; 00053 00058 bool operator ==(const State& s2) const; 00059 00064 bool operator !=(const State& s2) const; 00065 00066 private: 00068 double ivX; 00070 double ivY; 00072 double ivTheta; 00074 Leg ivLeg; 00075 }; 00076 } 00077 #endif /* FOOTSTEP_PLANNER_STATE_H_ */