reachability_plugin.cpp

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#include <vigir_footstep_planning_plugins/plugins/reachability_plugin.h>



namespace vigir_footstep_planning
{
ReachabilityPlugin::ReachabilityPlugin(const std::string& name)
  : Plugin(name)
{
}

ReachabilityPlugin::~ReachabilityPlugin()
{
}

bool ReachabilityPlugin::isUnique() const
{
  return false;
}

bool ReachabilityPlugin::isReachable(const State& left_foot, const State& right_foot, const State& swing_foot) const
{
  if (swing_foot.getLeg() == LEFT)
    return isReachable(right_foot, swing_foot);
  else
    return isReachable(left_foot, swing_foot);
}
}