#include <ros/ros.h>#include <vigir_pluginlib/plugin.h>#include <vigir_footstep_planning_plugins/plugins/step_plan_msg_plugin.h>#include <vigir_step_control/step_queue.h>
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Classes | |
| class | vigir_step_control::StepControllerPlugin |
| The StepControllerPlugin class provides the basic interface in order to handle robot-specific behavior. In order to integrate a new robot system, at least following methods have to be overloaded: initWalk: Initialize all variables and interfaces properly preProcess: Handles state maching by updating the feedback state properly executeStep: Sends step to low level walk algorithm using the provided interfaces by the robot infrastructure. More... | |
Namespaces | |
| vigir_step_control | |
Enumerations | |
| enum | vigir_step_control::StepControllerState { vigir_step_control::NOT_READY = msgs::ExecuteStepPlanFeedback::NOT_READY, vigir_step_control::READY = msgs::ExecuteStepPlanFeedback::READY, vigir_step_control::ACTIVE = msgs::ExecuteStepPlanFeedback::ACTIVE, vigir_step_control::PAUSED = msgs::ExecuteStepPlanFeedback::PAUSED, vigir_step_control::FINISHED = msgs::ExecuteStepPlanFeedback::FINISHED, vigir_step_control::FAILED = msgs::ExecuteStepPlanFeedback::FAILED } |
Functions | |
| std::string | vigir_step_control::toString (const StepControllerState &state) |