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_LIB_REACHABILITY_STATE_GENERATOR_H__ 00030 #define VIGIR_FOOTSTEP_PLANNING_LIB_REACHABILITY_STATE_GENERATOR_H__ 00031 00032 #include <ros/ros.h> 00033 00034 #include <vigir_footstep_planning_lib/modeling/footstep.h> 00035 #include <vigir_footstep_planning_lib/threading/threading_manager.h> 00036 00037 #include <vigir_footstep_planning_plugins/plugins/state_generator_plugin.h> 00038 00039 #include <vigir_footstep_planning_default_plugins/state_generator/expand_state_job.h> 00040 00041 00042 00043 namespace vigir_footstep_planning 00044 { 00045 class ReachabilityStateGenerator 00046 : public StateGeneratorPlugin 00047 { 00048 public: 00049 // typedefs 00050 typedef boost::shared_ptr<ReachabilityStateGenerator> Ptr; 00051 typedef boost::shared_ptr<const ReachabilityStateGenerator> ConstPtr; 00052 00053 ReachabilityStateGenerator(); 00054 00055 bool loadParams(const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet()) override; 00056 00057 std::list<PlanningState::Ptr> generatePredecessor(const PlanningState& state) const override; 00058 std::list<PlanningState::Ptr> generateSuccessor(const PlanningState& state) const override; 00059 00060 protected: 00061 // The set of footsteps used. 00062 std::vector<Footstep> ivContFootstepSet; 00063 00064 threading::ThreadingManager<threading::ExpandStateJob>::Ptr expand_states_manager; 00065 }; 00066 } 00067 00068 #endif