post_processor.h

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//=================================================================================================
// Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
// All rights reserved.

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//     * Neither the name of the Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt nor the names of its contributors may be used to
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#ifndef VIGIR_FOOTSTEP_PLANNING_PLUGINS_POST_PROCESSOR_H__
#define VIGIR_FOOTSTEP_PLANNING_PLUGINS_POST_PROCESSOR_H__

#include <ros/ros.h>

#include <vigir_footstep_planning_plugins/plugin_aggregators/extended_plugin_aggregator.h>
#include <vigir_footstep_planning_plugins/plugins/post_process_plugin.h>



namespace vigir_footstep_planning
{
class PostProcessor
  : public ExtendedPluginAggregator<PostProcessor, PostProcessPlugin>
{
public:
  PostProcessor();

  void postProcessForward(const State& left_foot, const State& right_foot, State& swing_foot) const;
  void postProcessBackward(const State& left_foot, const State& right_foot, State& swing_foot) const;
  void postProcess(msgs::StepPlan step_plan) const;
};
}

#endif