robot_model_plugin.h

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//=================================================================================================
// Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
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//       group, TU Darmstadt nor the names of its contributors may be used to
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#ifndef VIGIR_FOOTSTEP_PLANNING_PLUGINS_ROBOT_MODEL_PLUGIN_H__
#define VIGIR_FOOTSTEP_PLANNING_PLUGINS_ROBOT_MODEL_PLUGIN_H__

#include <ros/ros.h>

#include <vigir_pluginlib/plugin.h>

#include <vigir_footstep_planning_lib/helper.h>



namespace vigir_footstep_planning
{
class RobotModelPlugin
  : public vigir_pluginlib::Plugin
{
public:
  // typedefs
  typedef boost::shared_ptr<RobotModelPlugin> Ptr;
  typedef boost::shared_ptr<const RobotModelPlugin> ConstPtr;

  RobotModelPlugin();

  bool initialize(const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet()) override;

  virtual void reset() {}

  bool isUnique() const final;

  const geometry_msgs::Vector3& getFootSize() const;
  const geometry_msgs::Vector3& getUpperBodySize() const;
  const geometry_msgs::Vector3& getUpperBodyOriginShift() const;

protected:
  // foot paramaters
  geometry_msgs::Vector3 foot_size_;

  // upper body parameters
  geometry_msgs::Vector3 upper_body_size_;
  geometry_msgs::Vector3 upper_body_origin_shift_;
};
}

#endif