expand_state_job.h

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//=================================================================================================
// Copyright (c) 2018, Alexander Stumpf, TU Darmstadt
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#ifndef VIGIR_FOOTSTEP_PLANNING_THREADING_EXPAND_STATE_JOB_H__
#define VIGIR_FOOTSTEP_PLANNING_THREADING_EXPAND_STATE_JOB_H__

#include <ros/ros.h>

#include <vigir_footstep_planning_lib/modeling/footstep.h>
#include <vigir_footstep_planning_lib/modeling/planning_state.h>
#include <vigir_footstep_planning_lib/threading/job.h>



namespace vigir_footstep_planning
{
namespace threading
{
struct ExpandStateJob
  : public Job
{
  // typedefs
  typedef boost::shared_ptr<ExpandStateJob> Ptr;
  typedef boost::shared_ptr<const ExpandStateJob> ConstPtr;

  ExpandStateJob(const Footstep& footstep_, const PlanningState& state_);
  virtual ~ExpandStateJob();

  void run();

  PlanningState::Ptr next;
  bool successful;

private:
  const Footstep& footstep_;
  const PlanningState& state_;
};
}
}

#endif