collision_check_plugin.h
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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_PLUGINS_COLLISION_CHECK_PLUGIN_H__
00030 #define VIGIR_FOOTSTEP_PLANNING_PLUGINS_COLLISION_CHECK_PLUGIN_H__
00031 
00032 #include <ros/ros.h>
00033 
00034 #include <boost/thread/mutex.hpp>
00035 
00036 #include <vigir_pluginlib/plugin.h>
00037 
00038 #include <vigir_footstep_planning_lib/modeling/state.h>
00039 
00040 
00041 
00042 namespace vigir_footstep_planning
00043 {
00044 class CollisionCheckPlugin
00045   : public vigir_pluginlib::Plugin
00046 {
00047 public:
00048   enum
00049   {
00050     FOOT                  = 1,
00051     UPPER_BODY            = 2,
00052     FOOT_CONTACT_SUPPORT  = 4
00053   };
00054 
00055   // typedefs
00056   typedef boost::shared_ptr<CollisionCheckPlugin> Ptr;
00057   typedef boost::shared_ptr<const CollisionCheckPlugin> ConstPtr;
00058 
00059   CollisionCheckPlugin(const std::string& name);
00060 
00061   bool loadParams(const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet()) override;
00062 
00063   bool initialize(const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet()) override;
00064 
00068   virtual void reset();
00069 
00070   bool isUnique() const override;
00071   virtual bool isCollisionCheckAvailable() const;
00072 
00073   virtual bool isAccessible(const State& s) const = 0;
00074   virtual bool isAccessible(const State& next, const State& current) const = 0;
00075 
00076 private:
00077   bool collision_check_enabled_;
00078   unsigned int collision_check_flag_;
00079 };
00080 }
00081 
00082 #endif


vigir_footstep_planning_plugins
Author(s): Alexander Stumpf
autogenerated on Sat Jul 15 2017 02:48:02