post_processor.cpp
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00001 #include <vigir_footstep_planning_plugins/plugin_aggregators/post_processor.h>
00002 
00003 
00004 
00005 namespace vigir_footstep_planning
00006 {
00007 PostProcessor::PostProcessor()
00008   : ExtendedPluginAggregator<PostProcessor, PostProcessPlugin>("PostProcessor")
00009 {
00010 }
00011 
00012 void PostProcessor::postProcessForward(const State& left_foot, const State& right_foot, State& swing_foot) const
00013 {
00014   for (PostProcessPlugin::Ptr plugin : getPlugins())
00015   {
00016     if (plugin)
00017       plugin->postProcessStepForward(left_foot, right_foot, swing_foot);
00018   }
00019 }
00020 
00021 void PostProcessor::postProcessBackward(const State& left_foot, const State& right_foot, State& swing_foot) const
00022 {
00023   for (PostProcessPlugin::Ptr plugin : getPlugins())
00024   {
00025     if (plugin)
00026       plugin->postProcessStepBackward(left_foot, right_foot, swing_foot);
00027   }
00028 }
00029 
00030 void PostProcessor::postProcess(msgs::StepPlan step_plan) const
00031 {
00032   for (PostProcessPlugin::Ptr plugin : getPlugins())
00033   {
00034     if (plugin)
00035       plugin->postProcess(step_plan);
00036   }
00037 }
00038 }


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