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include
jsk_footstep_planner
transition_limit.h
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// -*- mode: c++ -*-
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2015, JSK Lab
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/o2r other materials provided
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* with the distribution.
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* * Neither the name of the JSK Lab nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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*********************************************************************/
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#ifndef JSK_FOOTSTEP_PLANNER_TRANSITION_LIMIT_H_
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#define JSK_FOOTSTEP_PLANNER_TRANSITION_LIMIT_H_
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#include "
jsk_footstep_planner/footstep_state.h
"
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namespace
jsk_footstep_planner
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{
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class
TransitionLimit
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{
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public
:
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typedef
boost::shared_ptr<TransitionLimit>
Ptr
;
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virtual
bool
check
(
FootstepState::Ptr
from,
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FootstepState::Ptr
to)
const
= 0;
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protected
:
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private
:
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};
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class
TransitionLimitRP
:
public
TransitionLimit
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{
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public
:
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typedef
boost::shared_ptr<TransitionLimitRP>
Ptr
;
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TransitionLimitRP
(
double
roll_max,
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double
pitch_max);
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virtual
bool
check
(
FootstepState::Ptr
from,
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FootstepState::Ptr
to)
const
;
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protected
:
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const
double
roll_max_
;
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const
double
pitch_max_
;
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private
:
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};
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class
TransitionLimitXYZRPY
:
public
TransitionLimit
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{
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public
:
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typedef
boost::shared_ptr<TransitionLimitXYZRPY>
Ptr
;
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TransitionLimitXYZRPY
(
double
x_max,
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double
y_max,
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double
z_max
,
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double
roll_max,
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double
pitch_max,
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double
yaw_max);
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virtual
bool
check
(
FootstepState::Ptr
from,
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FootstepState::Ptr
to)
const
;
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protected
:
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const
double
x_max_
;
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const
double
y_max_
;
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const
double
z_max_
;
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const
double
roll_max_
;
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const
double
pitch_max_
;
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const
double
yaw_max_
;
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private
:
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};
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}
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#endif
jsk_footstep_planner::TransitionLimitRP::roll_max_
const double roll_max_
Definition:
transition_limit.h:75
footstep_state.h
jsk_footstep_planner::TransitionLimitXYZRPY::yaw_max_
const double yaw_max_
Definition:
transition_limit.h:103
jsk_footstep_planner::TransitionLimitXYZRPY::Ptr
boost::shared_ptr< TransitionLimitXYZRPY > Ptr
Definition:
transition_limit.h:88
jsk_footstep_planner
Definition:
ann_grid.h:50
boost::shared_ptr< TransitionLimit >
jsk_footstep_planner::TransitionLimitXYZRPY::pitch_max_
const double pitch_max_
Definition:
transition_limit.h:102
jsk_footstep_planner::TransitionLimit::Ptr
boost::shared_ptr< TransitionLimit > Ptr
Definition:
transition_limit.h:52
jsk_footstep_planner::TransitionLimitRP::pitch_max_
const double pitch_max_
Definition:
transition_limit.h:76
jsk_footstep_planner::TransitionLimitRP::Ptr
boost::shared_ptr< TransitionLimitRP > Ptr
Definition:
transition_limit.h:69
jsk_footstep_planner::TransitionLimit::check
virtual bool check(FootstepState::Ptr from, FootstepState::Ptr to) const =0
jsk_footstep_planner::TransitionLimitXYZRPY::y_max_
const double y_max_
Definition:
transition_limit.h:99
jsk_footstep_planner::TransitionLimitRP
Class to provide limit of transition of footstep about Roll and Pitch. This class is designed for glo...
Definition:
transition_limit.h:66
jsk_footstep_planner::TransitionLimitXYZRPY::x_max_
const double x_max_
Definition:
transition_limit.h:98
jsk_footstep_planner::TransitionLimitXYZRPY::roll_max_
const double roll_max_
Definition:
transition_limit.h:101
jsk_footstep_planner::TransitionLimitXYZRPY::z_max_
const double z_max_
Definition:
transition_limit.h:100
footstep_array_to_bounding_box_array.z_max
z_max
Definition:
footstep_array_to_bounding_box_array.py:22
jsk_footstep_planner::TransitionLimitXYZRPY
class to provide limit of transition of footstep with 6 Full parameters.
Definition:
transition_limit.h:85
jsk_footstep_planner::TransitionLimit
virtual class to provide limit of transition of footstep.
Definition:
transition_limit.h:49
jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Fri May 14 2021 02:51:52