terrain_model_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_PLUGINS_TERRAIN_MODEL_PLUGIN_H__
00030 #define VIGIR_FOOTSTEP_PLANNING_PLUGINS_TERRAIN_MODEL_PLUGIN_H__
00031 
00032 #include <ros/ros.h>
00033 
00034 #include <pcl/io/pcd_io.h>
00035 #include <pcl/point_cloud.h>
00036 
00037 #include <geometry_msgs/Pose.h>
00038 
00039 #include <vigir_footstep_planning_plugins/plugins/collision_check_plugin.h>
00040 
00041 
00042 
00043 namespace vigir_footstep_planning
00044 {
00045 class TerrainModelPlugin
00046   : public CollisionCheckPlugin
00047 {
00048 public:
00049   // typedefs
00050   typedef boost::shared_ptr<TerrainModelPlugin> Ptr;
00051   typedef boost::shared_ptr<const TerrainModelPlugin> ConstPtr;
00052 
00053   TerrainModelPlugin(const std::string& name);
00054 
00055   bool isUnique() const final;
00056 
00057   virtual bool isTerrainModelAvailable() const = 0;
00058 
00059   virtual double getResolution() const = 0;
00060 
00061   virtual bool getPointWithNormal(const pcl::PointNormal& p_search, pcl::PointNormal& p_result) const;
00062   virtual bool getHeight(double x, double y, double& height) const;
00063   virtual bool getFootContactSupport(const geometry_msgs::Pose& p, double& support, pcl::PointCloud<pcl::PointXYZI>::Ptr checked_positions = pcl::PointCloud<pcl::PointXYZI>::Ptr()) const;
00064 
00065   virtual bool update3DData(geometry_msgs::Pose& p) const = 0;
00066   virtual bool update3DData(State& s) const = 0;
00067 };
00068 }
00069 
00070 #endif


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