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 }