state_generator_plugin.h

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//=================================================================================================
// Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
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//     * Redistributions in binary form must reproduce the above copyright
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//       group, TU Darmstadt nor the names of its contributors may be used to
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#ifndef VIGIR_FOOTSTEP_PLANNING_STATE_GENERATOR_PLUGIN_H
#define VIGIR_FOOTSTEP_PLANNING_STATE_GENERATOR_PLUGIN_H

#include <ros/ros.h>

#include <vigir_pluginlib/plugin.h>

#include <vigir_footstep_planning_lib/modeling/planning_state.h>



namespace vigir_footstep_planning
{
using namespace vigir_generic_params;

class StateGeneratorPlugin
  : public vigir_pluginlib::Plugin
{
public:
  // typedefs
  typedef boost::shared_ptr<StateGeneratorPlugin> Ptr;
  typedef boost::shared_ptr<const StateGeneratorPlugin> ConstPtr;

  StateGeneratorPlugin(const std::string& name);
  virtual ~StateGeneratorPlugin();

  virtual void reset() {}

  bool isUnique() const final;

  virtual std::list<PlanningState::Ptr> generatePredecessor(const PlanningState& state) const = 0;

  virtual std::list<PlanningState::Ptr> generateSuccessor(const PlanningState& state) const = 0;
};
}

#endif