robot_model_plugin.cpp
Go to the documentation of this file.
00001 #include <vigir_footstep_planning_plugins/plugins/robot_model_plugin.h>
00002 
00003 
00004 
00005 namespace vigir_footstep_planning
00006 {
00007 using namespace vigir_generic_params;
00008 
00009 RobotModelPlugin::RobotModelPlugin()
00010   : Plugin("robot_model")
00011 {
00012 }
00013 
00014 bool RobotModelPlugin::initialize(const vigir_generic_params::ParameterSet& params)
00015 {
00016   if (!Plugin::initialize(params))
00017     return false;
00018 
00019   // get foot dimensions
00020   vigir_footstep_planning::getFootSize(nh_, foot_size_);
00021 
00022   // get upper body dimensions
00023   vigir_footstep_planning::getUpperBodySize(nh_, upper_body_size_);
00024   vigir_footstep_planning::getUpperBodyOriginShift(nh_, upper_body_origin_shift_);
00025 
00026   return true;
00027 }
00028 
00029 bool RobotModelPlugin::isUnique() const
00030 {
00031   return true;
00032 }
00033 
00034 const geometry_msgs::Vector3& RobotModelPlugin::getFootSize() const
00035 {
00036   return foot_size_;
00037 }
00038 
00039 const geometry_msgs::Vector3& RobotModelPlugin::getUpperBodySize() const
00040 {
00041   return upper_body_size_;
00042 }
00043 
00044 const geometry_msgs::Vector3& RobotModelPlugin::getUpperBodyOriginShift() const
00045 {
00046   return upper_body_origin_shift_;
00047 }
00048 }


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