global_footstep_planner.h

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//=================================================================================================
// Copyright (c) 2018, Alexander Stumpf, TU Darmstadt
// All rights reserved.

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//       group, TU Darmstadt nor the names of its contributors may be used to
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#ifndef GLOBAL_FOOTSTEP_PLANNER_H__
#define GLOBAL_FOOTSTEP_PLANNER_H__

#include <ros/ros.h>

#include <vigir_footstep_planning_msgs/footstep_planning_msgs.h>
#include <vigir_footstep_planning_msgs/step_plan.h>

#include <vigir_footstep_planner/footstep_planner.h>



namespace vigir_footstep_planning
{
class GlobalFootstepPlanner
{
public:
  GlobalFootstepPlanner(FootstepPlanner::Ptr& footstep_planner);
  GlobalFootstepPlanner();
  virtual ~GlobalFootstepPlanner();

  void init(ros::NodeHandle& nh);

  msgs::ErrorStatus setStepPlan(const msgs::StepPlan &result);
  msgs::ErrorStatus getStepPlan(msgs::StepPlan& result) const;

  msgs::ErrorStatus appendStepPlan(const std::vector<msgs::StepPlan>& step_plans, msgs::StepPlan& result) const;
  msgs::ErrorStatus stitchStepPlan(const std::vector<msgs::StepPlan>& step_plans, msgs::StepPlan& result) const;

  msgs::ErrorStatus editStep(const msgs::EditStep& edit_step, const msgs::StepPlan& step_plan, std::vector<msgs::StepPlan>& result) const;

  // typedefs
  typedef boost::shared_ptr<GlobalFootstepPlanner> Ptr;
  typedef boost::shared_ptr<const GlobalFootstepPlanner> ConstPtr;

protected:
  // local footstep planner
  FootstepPlanner::Ptr footstep_planner;

  // service clients
  ros::ServiceClient generate_feet_pose_client;

  // internal data structure of step plan
  StepPlan::Ptr step_plan;
};
}

#endif