reachability_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_REACHABILITY_PLUGIN_H
00030 #define VIGIR_FOOTSTEP_PLANNING_REACHABILITY_PLUGIN_H
00031 
00032 #include <ros/ros.h>
00033 
00034 #include <vigir_pluginlib/plugin.h>
00035 
00036 #include <vigir_footstep_planning_lib/modeling/state.h>
00037 
00038 
00039 
00040 namespace vigir_footstep_planning
00041 {
00042 using namespace vigir_generic_params;
00043 
00044 class ReachabilityPlugin
00045   : public vigir_pluginlib::Plugin
00046 {
00047 public:
00048   // typedefs
00049   typedef boost::shared_ptr<ReachabilityPlugin> Ptr;
00050   typedef boost::shared_ptr<const ReachabilityPlugin> ConstPtr;
00051 
00052   ReachabilityPlugin(const std::string& name);
00053   virtual ~ReachabilityPlugin();
00054 
00058   virtual void reset() {}
00059 
00060   bool isUnique() const final;
00061 
00062   virtual bool isReachable(const State& current, const State& next) const = 0;
00063   virtual bool isReachable(const State& left_foot, const State& right_foot, const State& swing_foot) const;
00064 };
00065 }
00066 
00067 #endif


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