29 #ifndef VIGIR_FOOTSTEP_PLANNING_LIB_STEP_DYNAMICS_POST_PROCESS_H__ 30 #define VIGIR_FOOTSTEP_PLANNING_LIB_STEP_DYNAMICS_POST_PROCESS_H__ 34 #include <vigir_footstep_planning_plugins/plugins/post_process_plugin.h> 41 :
public PostProcessPlugin
46 bool loadParams(
const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet())
override;
48 void postProcessStepForward(
const State& left_foot,
const State& right_foot, State& swing_foot)
const override;
49 void postProcessStepBackward(
const State& left_foot,
const State& right_foot, State& swing_foot)
const override;
57 virtual void determineStepAttributes(
const State& swing_foot_before,
const State& stand_foot, State& swing_foot_after)
const;
58 virtual void determineTravelDistance(
const State& swing_foot_before,
const State& stand_foot, State& swing_foot_after)
const;
59 virtual void determineTimings(
const State& swing_foot_before,
const State& stand_foot, State& swing_foot_after)
const;
60 virtual void determineDynamics(
const State& swing_foot_before,
const State& stand_foot, State& swing_foot_after)
const;