reachability_plugin.cpp
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00001 #include <vigir_footstep_planning_plugins/plugins/reachability_plugin.h>
00002 
00003 
00004 
00005 namespace vigir_footstep_planning
00006 {
00007 ReachabilityPlugin::ReachabilityPlugin(const std::string& name)
00008   : Plugin(name)
00009 {
00010 }
00011 
00012 ReachabilityPlugin::~ReachabilityPlugin()
00013 {
00014 }
00015 
00016 bool ReachabilityPlugin::isUnique() const
00017 {
00018   return false;
00019 }
00020 
00021 bool ReachabilityPlugin::isReachable(const State& left_foot, const State& right_foot, const State& swing_foot) const
00022 {
00023   if (swing_foot.getLeg() == LEFT)
00024     return isReachable(right_foot, swing_foot);
00025   else
00026     return isReachable(left_foot, swing_foot);
00027 }
00028 }


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