vigir_footstep_planning::WorldModel Class Reference

#include <world_model.h>

Inheritance diagram for vigir_footstep_planning::WorldModel:

Public Member Functions
bool	getHeight (double x, double y, double &height) const
	update z, roll and pitch of state based on terrain model More...
TerrainModelPlugin::ConstPtr	getTerrainModel () const
bool	isAccessible (const State &s) const
bool	isAccessible (const State &next, const State &current) const
bool	isTerrainModelAvailable () const
bool	loadParams (const vigir_generic_params::ParameterSet &params) override
void	loadPlugins () override
void	resetPlugins () override
bool	update3DData (State &s) const
void	useTerrainModel (bool enabled)
	WorldModel ()
Public Member Functions inherited from vigir_footstep_planning::ExtendedPluginAggregator< WorldModel, CollisionCheckPlugin >
	ExtendedPluginAggregator (const std::string &name=std::string("PluginAggregator"))

Protected Attributes
TerrainModelPlugin::Ptr	terrain_model_
bool	use_terrain_model_

Additional Inherited Members
Public Types inherited from vigir_footstep_planning::ExtendedPluginAggregator< WorldModel, CollisionCheckPlugin >
typedef boost::shared_ptr< const WorldModel >	ConstPtr
typedef boost::shared_ptr< WorldModel >	Ptr
Static Public Member Functions inherited from vigir_footstep_planning::Singleton< WorldModel >
static const T &	const2Instance ()
static const T &	instance ()
static T &	mutableInstance ()

Detailed Description

Definition at line 42 of file world_model.h.

Constructor & Destructor Documentation

vigir_footstep_planning::WorldModel::WorldModel

(

)

Definition at line 5 of file world_model.cpp.

Member Function Documentation

bool vigir_footstep_planning::WorldModel::getHeight	(	double	x,
		double	y,
		double &	height
	)		const

update z, roll and pitch of state based on terrain model

Returns

false if terrain model is available but has no data for given state, otherwise true even if no terrain model is available

Definition at line 76 of file world_model.cpp.

TerrainModelPlugin::ConstPtr vigir_footstep_planning::WorldModel::getTerrainModel

(

)

const

Definition at line 71 of file world_model.cpp.

bool vigir_footstep_planning::WorldModel::isAccessible

(

const State &

s

)

const

Definition at line 41 of file world_model.cpp.

bool vigir_footstep_planning::WorldModel::isAccessible	(	const State &	next,
		const State &	current
	)		const

Definition at line 51 of file world_model.cpp.

bool vigir_footstep_planning::WorldModel::isTerrainModelAvailable

(

)

const

Definition at line 66 of file world_model.cpp.

bool vigir_footstep_planning::WorldModel::loadParams ( const vigir_generic_params::ParameterSet &  params )

override

Definition at line 23 of file world_model.cpp.

void vigir_footstep_planning::WorldModel::loadPlugins ( )

override

Definition at line 10 of file world_model.cpp.

void vigir_footstep_planning::WorldModel::resetPlugins ( )

overridevirtual

Reimplemented from vigir_footstep_planning::ExtendedPluginAggregator< WorldModel, CollisionCheckPlugin >.

Definition at line 33 of file world_model.cpp.

bool vigir_footstep_planning::WorldModel::update3DData

(

State &

s

)

const

Definition at line 84 of file world_model.cpp.

void vigir_footstep_planning::WorldModel::useTerrainModel

(

bool

enabled

)

Definition at line 61 of file world_model.cpp.

Member Data Documentation

TerrainModelPlugin::Ptr vigir_footstep_planning::WorldModel::terrain_model_

protected

Definition at line 71 of file world_model.h.

bool vigir_footstep_planning::WorldModel::use_terrain_model_

protected

Definition at line 70 of file world_model.h.

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

• world_model.h
• world_model.cpp