#include <step_plan.h>

Public Types
typedef boost::shared_ptr< const StepPlan >	ConstPtr

typedef boost::shared_ptr< StepPlan >	Ptr

Public Member Functions
msgs::ErrorStatus	appendStepPlan (const msgs::StepPlan &step_plan)
	Appends a step plan to current step plan. No transformation will be done! More...

void	clear ()

bool	empty () const

msgs::ErrorStatus	fromMsg (const msgs::StepPlan &step_plan)

bool	getfirstStep (msgs::Step &step) const

int	getFirstStepIndex () const

bool	getLastStep (msgs::Step &step) const

int	getLastStepIndex () const

bool	getStep (msgs::Step &step, unsigned int step_index) const

bool	getStepAt (msgs::Step &step, unsigned int position) const

bool	hasStep (unsigned int step_index) const

msgs::ErrorStatus	insertStep (const msgs::Step &step)

StepPlan &	operator+ (const msgs::StepPlan &step_plan)

StepPlan &	operator+ (const msgs::Step &step)

StepPlan &	operator- (const msgs::Step &step)

StepPlan &	operator= (const msgs::StepPlan &step_plan)

StepPlan &	operator\| (const msgs::StepPlan &step_plan)

StepPlan &	operator\| (const msgs::Step &step)

bool	popStep (msgs::Step &step)

bool	popStep ()

void	removeStep (unsigned int step_index)

void	removeStepAt (unsigned int position)

void	removeSteps (unsigned int from_step_index, int to_step_index=-1)

size_t	size () const

	StepPlan (const msgs::StepPlan &step_plan)

	StepPlan ()

msgs::ErrorStatus	stitchStepPlan (const msgs::StepPlan &step_plan, int step_index=0)
	Stitches the given step plan into the current step plan starting at step_index. Hereby the all in range [0, step_index] are kept and all steps in range (step_index, inf] are taken from input step plan. The steps at step_index from both step plans are taken as reference points (= both are representing the equal position in world frame) to transform the input step plan towards each other. Finally, all steps are stitched to the current step plan based on the determined transformation. More...

msgs::ErrorStatus	toMsg (msgs::StepPlan &step_plan) const

msgs::ErrorStatus	updateStep (const msgs::Step &step)

msgs::ErrorStatus	updateStepPlan (const msgs::StepPlan &step_plan)
	Merges the given step plan to current step plan. Already exisiting steps will be tagged as modified. No transformation will be done! More...

Static Public Member Functions
static bool	getStep (msgs::Step &step, const msgs::StepPlan &step_plan, unsigned int step_index)

static tf::Transform	getTransform (const geometry_msgs::Pose &current, const geometry_msgs::Pose &target)
	Determines transformation T from current to target coordinate system represented by the given poses in a commom coordinate system W so target_W = T * current_W holds. More...

static void	transformStepPlan (msgs::StepPlan &step_plan, const tf::Transform &transform)

Protected Member Functions
msgs::ErrorStatus	_appendStepPlan (const msgs::StepPlan &step_plan)
	Appends a step plan to current step plan. No transformation will be done! More...

void	_clear ()

bool	_empty () const

bool	_getStep (msgs::Step &step, unsigned int step_index) const

bool	_hasStep (unsigned int step_index) const

msgs::ErrorStatus	_insertStep (const msgs::Step &step)
	Inserts step into step plan. If the step does already exists it will be overwritten and not tagged as modified. More...

size_t	_size () const

msgs::ErrorStatus	_stitchStepPlan (const msgs::StepPlan &step_plan, int step_index=0)
	Stitches the given step plan into the current step plan starting at step_index. Hereby the all in range [0, step_index] are kept and all steps in range (step_index, inf] are taken from input step plan. The steps at step_index from both step plans are taken as reference points (= both are representing the equal position in world frame) to transform the input step plan towards each other. Finally, all steps are stitched to the current step plan based on the determined transformation. More...

msgs::ErrorStatus	_updateStep (const msgs::Step &step)
	Inserts step into step plan. If the step does already exists it will be overwritten and tagged as modified. More...

msgs::ErrorStatus	_updateStepPlan (const msgs::StepPlan &step_plan)
	Merges the given step plan to current step plan. Already exisiting steps will be tagged as modified. No transformation will be done! More...

Protected Attributes
std::vector< uint8_t >	data

msgs::Feet	goal

std_msgs::Header	header

uint8_t	mode

msgs::Feet	start

boost::shared_mutex	step_plan_mutex

std::map< unsigned int, msgs::Step >	steps

Detailed Description

Wrapper class for vigir_footstep_planning_msgs::StepPlan to provide advanced operations.

Definition at line 48 of file step_plan.h.

Member Typedef Documentation

typedef boost::shared_ptr<const StepPlan> vigir_footstep_planning::StepPlan::ConstPtr

Definition at line 152 of file step_plan.h.

typedef boost::shared_ptr<StepPlan> vigir_footstep_planning::StepPlan::Ptr

Definition at line 151 of file step_plan.h.

Constructor & Destructor Documentation

vigir_footstep_planning::StepPlan::StepPlan ( const msgs::StepPlan & step_plan )

Definition at line 7 of file step_plan.cpp.

vigir_footstep_planning::StepPlan::StepPlan ( )

Definition at line 12 of file step_plan.cpp.

Member Function Documentation

msgs::ErrorStatus vigir_footstep_planning::StepPlan::_appendStepPlan ( const msgs::StepPlan & step_plan )

protected

Appends a step plan to current step plan. No transformation will be done!

Parameters

step_plan Step plan to be merged into current step plan.

Returns: error status

Definition at line 370 of file step_plan.cpp.

void vigir_footstep_planning::StepPlan::_clear ( )

protected

mutex free versions

Definition at line 302 of file step_plan.cpp.

bool vigir_footstep_planning::StepPlan::_empty ( ) const

protected

Definition at line 312 of file step_plan.cpp.

bool vigir_footstep_planning::StepPlan::_getStep	(	msgs::Step &	step,
		unsigned int	step_index
	)		const

protected

Definition at line 327 of file step_plan.cpp.

bool vigir_footstep_planning::StepPlan::_hasStep ( unsigned int step_index ) const

protected

Definition at line 322 of file step_plan.cpp.

msgs::ErrorStatus vigir_footstep_planning::StepPlan::_insertStep ( const msgs::Step & step )

protected

Inserts step into step plan. If the step does already exists it will be overwritten and not tagged as modified.

Parameters

step	Step to be inserted

Returns: error status

Definition at line 338 of file step_plan.cpp.

size_t vigir_footstep_planning::StepPlan::_size ( ) const

protected

Definition at line 317 of file step_plan.cpp.

msgs::ErrorStatus vigir_footstep_planning::StepPlan::_stitchStepPlan	(	const msgs::StepPlan &	step_plan,
		int	step_index = `0`
	)

protected

Stitches the given step plan into the current step plan starting at step_index. Hereby the all in range [0, step_index] are kept and all steps in range (step_index, inf] are taken from input step plan. The steps at step_index from both step plans are taken as reference points (= both are representing the equal position in world frame) to transform the input step plan towards each other. Finally, all steps are stitched to the current step plan based on the determined transformation.

Parameters

step_plan Step plan to be merged into current step plan.

Returns: error status

Definition at line 421 of file step_plan.cpp.

msgs::ErrorStatus vigir_footstep_planning::StepPlan::_updateStep ( const msgs::Step & step )

protected

Inserts step into step plan. If the step does already exists it will be overwritten and tagged as modified.

Parameters

step	Step to be inserted

Returns: error status

Definition at line 352 of file step_plan.cpp.

msgs::ErrorStatus vigir_footstep_planning::StepPlan::_updateStepPlan ( const msgs::StepPlan & step_plan )

protected

Merges the given step plan to current step plan. Already exisiting steps will be tagged as modified. No transformation will be done!

Parameters

step_plan Step plan to be merged into current step plan.

Returns: error status

Definition at line 398 of file step_plan.cpp.

msgs::ErrorStatus vigir_footstep_planning::StepPlan::appendStepPlan ( const msgs::StepPlan & step_plan )

Appends a step plan to current step plan. No transformation will be done!

Parameters

step_plan Step plan to be merged into current step plan.

Returns: error status

Definition at line 188 of file step_plan.cpp.

void vigir_footstep_planning::StepPlan::clear ( )

inline

Definition at line 62 of file step_plan.h.

bool vigir_footstep_planning::StepPlan::empty ( ) const

inline

Definition at line 67 of file step_plan.h.

msgs::ErrorStatus vigir_footstep_planning::StepPlan::fromMsg ( const msgs::StepPlan & step_plan )

Definition at line 484 of file step_plan.cpp.

bool vigir_footstep_planning::StepPlan::getfirstStep ( msgs::Step & step ) const

Definition at line 114 of file step_plan.cpp.

int vigir_footstep_planning::StepPlan::getFirstStepIndex ( ) const

Definition at line 53 of file step_plan.cpp.

bool vigir_footstep_planning::StepPlan::getLastStep ( msgs::Step & step ) const

Definition at line 127 of file step_plan.cpp.

int vigir_footstep_planning::StepPlan::getLastStepIndex ( ) const

Definition at line 63 of file step_plan.cpp.

bool vigir_footstep_planning::StepPlan::getStep	(	msgs::Step &	step,
		const msgs::StepPlan &	step_plan,
		unsigned int	step_index
	)

static

Definition at line 85 of file step_plan.cpp.

bool vigir_footstep_planning::StepPlan::getStep	(	msgs::Step &	step,
		unsigned int	step_index
	)		const

inline

Definition at line 91 of file step_plan.h.

bool vigir_footstep_planning::StepPlan::getStepAt	(	msgs::Step &	step,
		unsigned int	position
	)		const

Definition at line 99 of file step_plan.cpp.

tf::Transform vigir_footstep_planning::StepPlan::getTransform	(	const geometry_msgs::Pose &	current,
		const geometry_msgs::Pose &	target
	)

static

Determines transformation T from current to target coordinate system represented by the given poses in a commom coordinate system W so target_W = T * current_W holds.

Parameters

current	center of current coordinate system in common system W
target	center of target coordinate system in common system W

Returns: transformation between both poses

Definition at line 256 of file step_plan.cpp.

bool vigir_footstep_planning::StepPlan::hasStep ( unsigned int step_index ) const

inline

Definition at line 84 of file step_plan.h.

msgs::ErrorStatus vigir_footstep_planning::StepPlan::insertStep ( const msgs::Step & step )

Definition at line 73 of file step_plan.cpp.

StepPlan & vigir_footstep_planning::StepPlan::operator+ ( const msgs::StepPlan & step_plan )

Definition at line 23 of file step_plan.cpp.

StepPlan & vigir_footstep_planning::StepPlan::operator+ ( const msgs::Step & step )

Definition at line 35 of file step_plan.cpp.

StepPlan & vigir_footstep_planning::StepPlan::operator- ( const msgs::Step & step )

Definition at line 47 of file step_plan.cpp.

StepPlan & vigir_footstep_planning::StepPlan::operator= ( const msgs::StepPlan & step_plan )

Definition at line 17 of file step_plan.cpp.

StepPlan & vigir_footstep_planning::StepPlan::operator| ( const msgs::StepPlan & step_plan )

Definition at line 29 of file step_plan.cpp.

StepPlan & vigir_footstep_planning::StepPlan::operator| ( const msgs::Step & step )

Definition at line 41 of file step_plan.cpp.

bool vigir_footstep_planning::StepPlan::popStep ( msgs::Step & step )

Definition at line 140 of file step_plan.cpp.

bool vigir_footstep_planning::StepPlan::popStep ( )

Definition at line 154 of file step_plan.cpp.

void vigir_footstep_planning::StepPlan::removeStep ( unsigned int step_index )

Definition at line 160 of file step_plan.cpp.

void vigir_footstep_planning::StepPlan::removeStepAt ( unsigned int position )

Definition at line 166 of file step_plan.cpp.

void vigir_footstep_planning::StepPlan::removeSteps	(	unsigned int	from_step_index,
		int	to_step_index = `-1`
	)

Definition at line 172 of file step_plan.cpp.

size_t vigir_footstep_planning::StepPlan::size ( ) const

inline

Definition at line 72 of file step_plan.h.

msgs::ErrorStatus vigir_footstep_planning::StepPlan::stitchStepPlan	(	const msgs::StepPlan &	step_plan,
		int	step_index = `0`
	)

Stitches the given step plan into the current step plan starting at step_index. Hereby the all in range [0, step_index] are kept and all steps in range (step_index, inf] are taken from input step plan. The steps at step_index from both step plans are taken as reference points (= both are representing the equal position in world frame) to transform the input step plan towards each other. Finally, all steps are stitched to the current step plan based on the determined transformation.

Parameters

step_plan	Step plan to be merged into current step plan.
step_index	Stitching point where the input step plan will be stitched to the current step plan.

Returns: error status

TODO: Check if stiching would result in consistent step plan

Definition at line 230 of file step_plan.cpp.

msgs::ErrorStatus vigir_footstep_planning::StepPlan::toMsg ( msgs::StepPlan & step_plan ) const

Definition at line 517 of file step_plan.cpp.

void vigir_footstep_planning::StepPlan::transformStepPlan	(	msgs::StepPlan &	step_plan,
		const tf::Transform &	transform
	)

static

Definition at line 269 of file step_plan.cpp.

msgs::ErrorStatus vigir_footstep_planning::StepPlan::updateStep ( const msgs::Step & step )

Definition at line 79 of file step_plan.cpp.

msgs::ErrorStatus vigir_footstep_planning::StepPlan::updateStepPlan ( const msgs::StepPlan & step_plan )

Merges the given step plan to current step plan. Already exisiting steps will be tagged as modified. No transformation will be done!

Parameters

step_plan Step plan to be merged into current step plan.

Returns: error status

Definition at line 210 of file step_plan.cpp.

Member Data Documentation

std::vector<uint8_t> vigir_footstep_planning::StepPlan::data

protected

Definition at line 214 of file step_plan.h.

msgs::Feet vigir_footstep_planning::StepPlan::goal

protected

Definition at line 211 of file step_plan.h.

std_msgs::Header vigir_footstep_planning::StepPlan::header

protected

Definition at line 209 of file step_plan.h.

uint8_t vigir_footstep_planning::StepPlan::mode

protected

Definition at line 213 of file step_plan.h.

msgs::Feet vigir_footstep_planning::StepPlan::start

protected

Definition at line 210 of file step_plan.h.

boost::shared_mutex vigir_footstep_planning::StepPlan::step_plan_mutex

mutableprotected

Definition at line 207 of file step_plan.h.

std::map<unsigned int, msgs::Step> vigir_footstep_planning::StepPlan::steps

protected

Definition at line 212 of file step_plan.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation