post_process_plugin.h

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//=================================================================================================
// Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
// All rights reserved.

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//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
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//     * Neither the name of the Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt nor the names of its contributors may be used to
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#ifndef VIGIR_FOOTSTEP_PLANNING_PLUGINS_POST_PROCESS_PLUGIN_H__
#define VIGIR_FOOTSTEP_PLANNING_PLUGINS_POST_PROCESS_PLUGIN_H__

#include <ros/ros.h>

#include <vigir_pluginlib/plugin.h>

#include <vigir_footstep_planning_lib/modeling/state.h>



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

  PostProcessPlugin(const std::string& name);

  virtual void reset() {}

  bool isUnique() const final;

  virtual void postProcessStepForward(const State& left, const State& right, State& swing) const;
  virtual void postProcessStepBackward(const State& left, const State& right, State& swing) const;

  virtual void postProcessStep(const msgs::Step& left, const msgs::Step& right, msgs::Step& swing, msgs::StepPlan& step_plan) const;
  virtual void postProcess(msgs::StepPlan step_plan) const;
};
}

#endif