step_controller_test_plugin.h

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//=================================================================================================
// Copyright (c) 2018, Alexander Stumpf, TU Darmstadt
// All rights reserved.

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// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * 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 STEP_CONTROLLER_TEST_PLUGIN_H__
#define STEP_CONTROLLER_TEST_PLUGIN_H__

#include <ros/ros.h>

#include <vigir_step_control/step_controller_plugin.h>



namespace vigir_step_control
{
using namespace vigir_footstep_planning_msgs;

class StepControllerTestPlugin
  : public StepControllerPlugin
{
public:
  // typedefs
  typedef boost::shared_ptr<StepControllerTestPlugin> Ptr;
  typedef boost::shared_ptr<const StepControllerTestPlugin> ConstPtr;

  StepControllerTestPlugin();
  virtual ~StepControllerTestPlugin();

  void initWalk() override;

  void preProcess(const ros::TimerEvent& event) override;

  bool executeStep(const msgs::Step& step) override;

protected:
  ros::Time next_step_needed_time_;
};
}

#endif