transition_limit.h
Go to the documentation of this file.
00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
00006  *  All rights reserved.
00007  *
00008  *  Redistribution and use in source and binary forms, with or without
00009  *  modification, are permitted provided that the following conditions
00010  *  are met:
00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
00015  *     copyright notice, this list of conditions and the following
00016  *     disclaimer in the documentation and/o2r other materials provided
00017  *     with the distribution.
00018  *   * Neither the name of the JSK Lab nor the names of its
00019  *     contributors may be used to endorse or promote products derived
00020  *     from this software without specific prior written permission.
00021  *
00022  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00031  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00032  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00033  *  POSSIBILITY OF SUCH DAMAGE.
00034  *********************************************************************/
00035 
00036 
00037 #ifndef JSK_FOOTSTEP_PLANNER_TRANSITION_LIMIT_H_
00038 #define JSK_FOOTSTEP_PLANNER_TRANSITION_LIMIT_H_
00039 
00040 #include "jsk_footstep_planner/footstep_state.h"
00041 
00042 namespace jsk_footstep_planner
00043 {
00044 
00049   class TransitionLimit
00050   {
00051   public:
00052     typedef boost::shared_ptr<TransitionLimit> Ptr;
00053     virtual bool check(FootstepState::Ptr from,
00054                        FootstepState::Ptr to) const = 0;
00055                        
00056   protected:
00057   private:
00058     
00059   };
00060   
00066   class TransitionLimitRP: public TransitionLimit
00067   {
00068   public:
00069     typedef boost::shared_ptr<TransitionLimitRP> Ptr;
00070     TransitionLimitRP(double roll_max,
00071                       double pitch_max);
00072     virtual bool check(FootstepState::Ptr from,
00073                        FootstepState::Ptr to) const;
00074   protected:
00075     const double roll_max_;
00076     const double pitch_max_;
00077 
00078   private:
00079   };
00080 
00085   class TransitionLimitXYZRPY: public TransitionLimit
00086   {
00087   public:
00088     typedef boost::shared_ptr<TransitionLimitXYZRPY> Ptr;
00089     TransitionLimitXYZRPY(double x_max,
00090                           double y_max,
00091                           double z_max,
00092                           double roll_max,
00093                           double pitch_max,
00094                           double yaw_max);
00095     virtual bool check(FootstepState::Ptr from,
00096                        FootstepState::Ptr to) const;
00097   protected:
00098     const double x_max_;
00099     const double y_max_;
00100     const double z_max_;
00101     const double roll_max_;
00102     const double pitch_max_;
00103     const double yaw_max_;
00104   private:
00105     
00106   };
00107 }
00108 
00109 #endif


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Fri Apr 19 2019 03:45:28