robot_model.h

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//=================================================================================================
// Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
// All rights reserved.

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// modification, are permitted provided that the following conditions are met:
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//     * Redistributions in binary form must reproduce the above copyright
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//     * Neither the name of the Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt nor the names of its contributors may be used to
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#ifndef VIGIR_FOOTSTEP_PLANNING_PLUGINS_ROBOT_MODEL_H__
#define VIGIR_FOOTSTEP_PLANNING_PLUGINS_ROBOT_MODEL_H__

#include <ros/ros.h>

#include <vigir_footstep_planning_lib/modeling/state.h>

#include <vigir_footstep_planning_plugins/plugin_aggregators/extended_plugin_aggregator.h>
#include <vigir_footstep_planning_plugins/plugins/reachability_plugin.h>
#include <vigir_footstep_planning_plugins/plugins/robot_model_plugin.h>



namespace vigir_footstep_planning
{
class RobotModel
  : public ExtendedPluginAggregator<RobotModel, ReachabilityPlugin>
{
public:
  RobotModel();

  bool isReachable(const State& current, const State& next) const;
  bool isReachable(const State& left, const State& right, const State& swing) const;
};
}

#endif