reachability_polygon.h
Go to the documentation of this file.
00001 //=================================================================================================
00002 // Copyright (c) 2017, 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_REACHABILITY_POLYGON_H__
00030 #define VIGIR_FOOTSTEP_PLANNING_REACHABILITY_POLYGON_H__
00031 
00032 #include <ros/ros.h>
00033 
00034 #include <vigir_footstep_planning_lib/math.h>
00035 
00036 #include <vigir_footstep_planning_plugins/plugins/reachability_plugin.h>
00037 
00038 
00039 
00040 namespace vigir_footstep_planning
00041 {
00042 class ReachabilityPolygon
00043   : public ReachabilityPlugin
00044 {
00045 public:
00046   ReachabilityPolygon();
00047   ~ReachabilityPolygon();
00048 
00049   bool loadParams(const ParameterSet& params = vigir_generic_params::ParameterSet()) override;
00050 
00051   bool isReachable(const State& current, const State& next) const override;
00052 
00053 protected:
00054   double cell_size;
00055   double angle_bin_size;
00056 
00057   bool* ivpStepRange;
00058   size_t step_range_size_x;
00059   size_t step_range_size_y;
00060   size_t step_range_size;
00061 
00062   double max_step_range_x, max_step_range_y, max_step_range_yaw;
00063   double max_step_range_inv_x, max_step_range_inv_y, max_step_range_inv_yaw;
00064   double max_step_range_width_sq;
00065 };
00066 }
00067 
00068 #endif


vigir_footstep_planning_default_plugins
Author(s): Alexander Stumpf
autogenerated on Fri Apr 7 2017 02:59:40