State.h

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/*
 * A footstep planner for humanoid robots
 *
 * Copyright 2010-2011 Johannes Garimort, Armin Hornung, University of Freiburg
 * http://www.ros.org/wiki/footstep_planner
 *
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, version 3.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef FOOTSTEP_PLANNER_STATE_H_
#define FOOTSTEP_PLANNER_STATE_H_

#include <footstep_planner/helper.h>


namespace footstep_planner
{
class State
{
public:
  State();
  State(double x, double y, double theta, Leg leg);
  ~State();

  void setX(double x) { ivX = x; }
  void setY(double y) { ivY = y; }
  void setTheta(double theta) { ivTheta = theta; }
  void setLeg(Leg leg) { ivLeg = leg; }

  double getX() const { return ivX; }
  double getY() const { return ivY; };
  double getTheta() const { return ivTheta; }
  Leg getLeg() const { return ivLeg; }

  bool operator ==(const State& s2) const;

  bool operator !=(const State& s2) const;

private:
  double ivX;
  double ivY;
  double ivTheta;
  Leg ivLeg;
};
}
#endif /* FOOTSTEP_PLANNER_STATE_H_ */