00001 /* 00002 * A footstep planner for humanoid robots 00003 * 00004 * Copyright 2010-2011 Johannes Garimort, Armin Hornung, University of Freiburg 00005 * http://www.ros.org/wiki/footstep_planner 00006 * 00007 * 00008 * This program is free software: you can redistribute it and/or modify 00009 * it under the terms of the GNU General Public License as published by 00010 * the Free Software Foundation, version 3. 00011 * 00012 * This program is distributed in the hope that it will be useful, 00013 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00014 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00015 * GNU General Public License for more details. 00016 * 00017 * You should have received a copy of the GNU General Public License 00018 * along with this program. If not, see <http://www.gnu.org/licenses/>. 00019 */ 00020 00021 #ifndef FOOTSTEP_PLANNER_FOOTSTEPPLANNERNODE_H_ 00022 #define FOOTSTEP_PLANNER_FOOTSTEPPLANNERNODE_H_ 00023 00024 00025 #include <ros/ros.h> 00026 00027 #include <geometry_msgs/PoseStamped.h> 00028 #include <geometry_msgs/PoseWithCovarianceStamped.h> 00029 #include <footstep_planner/FootstepPlanner.h> 00030 00031 00032 namespace footstep_planner 00033 { 00038 class FootstepPlannerNode 00039 { 00040 public: 00041 FootstepPlannerNode(); 00042 virtual ~FootstepPlannerNode(); 00043 00044 protected: 00045 FootstepPlanner ivFootstepPlanner; 00046 00047 ros::Subscriber ivGoalPoseSub; 00048 ros::Subscriber ivGridMapSub; 00049 ros::Subscriber ivStartPoseSub; 00050 ros::Subscriber ivRobotPoseSub; 00051 00052 ros::ServiceServer ivFootstepPlanService; 00053 ros::ServiceServer ivFootstepPlanFeetService; 00054 }; 00055 } 00056 #endif // FOOTSTEP_PLANNER_FOOTSTEPPLANNERNODE_H_