terrain_model_plugin.h
Go to the documentation of this file.
1 //=================================================================================================
2 // Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
3 // All rights reserved.
4 
5 // Redistribution and use in source and binary forms, with or without
6 // modification, are permitted provided that the following conditions are met:
7 // * Redistributions of source code must retain the above copyright
8 // notice, this list of conditions and the following disclaimer.
9 // * Redistributions in binary form must reproduce the above copyright
10 // notice, this list of conditions and the following disclaimer in the
11 // documentation and/or other materials provided with the distribution.
12 // * Neither the name of the Simulation, Systems Optimization and Robotics
13 // group, TU Darmstadt nor the names of its contributors may be used to
14 // endorse or promote products derived from this software without
15 // specific prior written permission.
16 
17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
18 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
19 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
20 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
21 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
22 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
23 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
24 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
26 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
27 //=================================================================================================
28 
29 #ifndef VIGIR_FOOTSTEP_PLANNING_PLUGINS_TERRAIN_MODEL_PLUGIN_H__
30 #define VIGIR_FOOTSTEP_PLANNING_PLUGINS_TERRAIN_MODEL_PLUGIN_H__
31 
32 #include <ros/ros.h>
33 
34 #include <pcl/io/pcd_io.h>
35 #include <pcl/point_cloud.h>
36 
37 #include <geometry_msgs/Pose.h>
38 
40 
41 
42 
44 {
46  : public CollisionCheckPlugin
47 {
48 public:
49  // typedefs
52 
53  TerrainModelPlugin(const std::string& name);
54 
55  bool isUnique() const final;
56 
57  virtual bool isTerrainModelAvailable() const = 0;
58 
59  virtual double getResolution() const = 0;
60 
61  virtual bool getPointWithNormal(const pcl::PointNormal& p_search, pcl::PointNormal& p_result) const;
62  virtual bool getHeight(double x, double y, double& height) const;
63  virtual bool getFootContactSupport(const geometry_msgs::Pose& p, double& support, pcl::PointCloud<pcl::PointXYZI>::Ptr checked_positions = pcl::PointCloud<pcl::PointXYZI>::Ptr()) const;
64 
65  virtual bool update3DData(geometry_msgs::Pose& p) const = 0;
66  virtual bool update3DData(State& s) const = 0;
67 };
68 }
69 
70 #endif
virtual bool getFootContactSupport(const geometry_msgs::Pose &p, double &support, pcl::PointCloud< pcl::PointXYZI >::Ptr checked_positions=pcl::PointCloud< pcl::PointXYZI >::Ptr()) const
virtual bool getHeight(double x, double y, double &height) const
virtual bool getPointWithNormal(const pcl::PointNormal &p_search, pcl::PointNormal &p_result) const
virtual double getResolution() const =0
boost::shared_ptr< TerrainModelPlugin > Ptr
boost::shared_ptr< const TerrainModelPlugin > ConstPtr
virtual bool isTerrainModelAvailable() const =0
virtual bool update3DData(geometry_msgs::Pose &p) const =0


vigir_footstep_planning_plugins
Author(s): Alexander Stumpf
autogenerated on Mon Jun 10 2019 15:47:39