world_model.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_WORLD_MODEL_H__
00030 #define VIGIR_FOOTSTEP_PLANNING_PLUGINS_WORLD_MODEL_H__
00031 
00032 #include <ros/ros.h>
00033 
00034 #include <vigir_footstep_planning_plugins/plugin_aggregators/extended_plugin_aggregator.h>
00035 #include <vigir_footstep_planning_plugins/plugins/collision_check_plugin.h>
00036 #include <vigir_footstep_planning_plugins/plugins/terrain_model_plugin.h>
00037 
00038 
00039 
00040 namespace vigir_footstep_planning
00041 {
00042 class WorldModel
00043   : public ExtendedPluginAggregator<WorldModel, CollisionCheckPlugin>
00044 {
00045 public:
00046   WorldModel();
00047 
00048   void loadPlugins() override;
00049   bool loadParams(const vigir_generic_params::ParameterSet& params) override;
00050 
00051   void resetPlugins() override;
00052 
00053   // evaluation will be done in alphabetical order of plugin names
00054   bool isAccessible(const State& s) const;
00055   bool isAccessible(const State& next, const State& current) const;
00056 
00057   void useTerrainModel(bool enabled);
00058   bool isTerrainModelAvailable() const;
00059   TerrainModelPlugin::ConstPtr getTerrainModel() const;
00060 
00066   bool getHeight(double x, double y, double& height) const;
00067   bool update3DData(State& s) const;
00068 
00069 protected:
00070   bool use_terrain_model_;
00071   TerrainModelPlugin::Ptr terrain_model_;
00072 };
00073 }
00074 
00075 typedef vigir_footstep_planning::WorldModel PlannerWorldModel;
00076 
00077 #endif


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