dynamics_reachability.h
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00001 //=================================================================================================
00002 // Copyright (c) 2018, Alexander Stumpf, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Simulation, Systems Optimization and Robotics
00013 //       group, TU Darmstadt nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef VIGIR_FOOTSTEP_PLANNING_DYNAMICS_REACHABILITY_H__
00030 #define VIGIR_FOOTSTEP_PLANNING_DYNAMICS_REACHABILITY_H__
00031 
00032 #include <ros/ros.h>
00033 
00034 #include <vigir_footstep_planning_plugins/plugins/reachability_plugin.h>
00035 
00036 
00037 
00038 namespace vigir_footstep_planning
00039 {
00040 class DynamicsReachability
00041   : public ReachabilityPlugin
00042 {
00043 public:
00044   DynamicsReachability();
00045 
00046   bool loadParams(const ParameterSet& params = vigir_generic_params::ParameterSet()) override;
00047 
00048   bool isReachable(const State& current, const State& next) const override;
00049 
00050 protected:
00051   double max_body_vel_sq;
00052   double max_body_acc_sq;
00053 };
00054 }
00055 
00056 #endif


vigir_footstep_planning_default_plugins
Author(s): Alexander Stumpf
autogenerated on Thu Jun 6 2019 18:38:06