#include <footstep_marker.h>

Public Types
typedef jsk_interactive_marker::FootstepMarkerConfig	Config
typedef actionlib::SimpleActionClient < jsk_footstep_msgs::ExecFootstepsAction >	ExecuteActionClient
typedef actionlib::SimpleActionClient < jsk_footstep_msgs::PlanFootstepsAction >	PlanningActionClient
typedef jsk_footstep_msgs::PlanFootstepsResult	PlanResult
Public Member Functions
	FootstepMarker ()
void	updateInitialFootstep ()
virtual	~FootstepMarker ()
Protected Member Functions
void	callEstimateOcclusion ()
void	cancelWalk ()
void	changePlannerHeuristic (const std::string &heuristic)
geometry_msgs::Pose	computeLegTransformation (uint8_t leg)
geometry_msgs::Polygon	computePolygon (uint8_t leg)
void	configCallback (Config &config, uint32_t level)
void	executeCB (const std_msgs::Empty::ConstPtr &msg)
void	executeFootstep ()
geometry_msgs::Pose	getFootstepPose (bool leftp)
void	initializeInteractiveMarker ()
void	lookGround ()
visualization_msgs::Marker	makeFootstepMarker (geometry_msgs::Pose pose)
void	menuCommandCB (const std_msgs::UInt8::ConstPtr &msg)
void	menuFeedbackCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	moveMarkerCB (const geometry_msgs::PoseStamped::ConstPtr &msg)
void	planDoneCB (const actionlib::SimpleClientGoalState &state, const PlanResult::ConstPtr &result)
void	planIfPossible ()
void	processFeedbackCB (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
void	processMenuFeedback (uint8_t id)
void	projectionCallback (const geometry_msgs::PoseStamped &pose)
bool	projectMarkerToPlane ()
void	readPoseParam (ros::NodeHandle &pnh, const std::string param, tf::Transform &offset)
void	resetLegPoses ()
void	resumeCB (const std_msgs::Empty::ConstPtr &msg)
void	resumeFootstep ()
void	snapLegs ()
Protected Attributes
PlanningActionClient	ac_
ExecuteActionClient	ac_exec_
bool	always_planning_
ros::Publisher	current_pose_pub_
ros::ServiceClient	estimate_occlusion_client_
ros::Subscriber	exec_sub_
double	foot_size_x_
double	foot_size_y_
double	foot_size_z_
double	footstep_margin_
ros::Publisher	footstep_pub_
std::string	initial_reference_frame_
jsk_recognition_msgs::SimpleOccupancyGridArray::ConstPtr	latest_grids_
std::string	lfoot_frame_id_
bool	lleg_first_
geometry_msgs::Pose	lleg_initial_pose_
tf::Transform	lleg_offset_
geometry_msgs::Pose	lleg_pose_
std::string	marker_frame_id_
geometry_msgs::PoseStamped	marker_pose_
ros::Subscriber	menu_command_sub_
interactive_markers::MenuHandler	menu_handler_
ros::Subscriber	move_marker_sub_
PlanResult::ConstPtr	plan_result_
bool	plan_run_
boost::mutex	plan_run_mutex_
boost::mutex	plane_mutex_
ros::Publisher	project_footprint_pub_
ros::Subscriber	projection_sub_
ros::Subscriber	resume_sub_
std::string	rfoot_frame_id_
geometry_msgs::Pose	rleg_initial_pose_
tf::Transform	rleg_offset_
geometry_msgs::Pose	rleg_pose_
boost::shared_ptr < interactive_markers::InteractiveMarkerServer >	server_
bool	show_6dof_control_
ros::ServiceClient	snapit_client_
ros::Publisher	snapped_pose_pub_
boost::shared_ptr < dynamic_reconfigure::Server < Config > >	srv_
boost::shared_ptr < tf::TransformListener >	tf_listener_
bool	use_footstep_controller_
bool	use_footstep_planner_
bool	use_initial_footstep_tf_
bool	use_initial_reference_
bool	use_plane_snap_
bool	use_projection_service_
bool	use_projection_topic_
bool	wait_snapit_server_