transition_limit.h

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// -*- mode: c++ -*-
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#ifndef JSK_FOOTSTEP_PLANNER_TRANSITION_LIMIT_H_
#define JSK_FOOTSTEP_PLANNER_TRANSITION_LIMIT_H_

#include "jsk_footstep_planner/footstep_state.h"

namespace jsk_footstep_planner
{

  class TransitionLimit
  {
  public:
    typedef boost::shared_ptr<TransitionLimit> Ptr;
    virtual bool check(FootstepState::Ptr from,
                       FootstepState::Ptr to) const = 0;
                       
  protected:
  private:
    
  };
  
  class TransitionLimitRP: public TransitionLimit
  {
  public:
    typedef boost::shared_ptr<TransitionLimitRP> Ptr;
    TransitionLimitRP(double roll_max,
                      double pitch_max);
    virtual bool check(FootstepState::Ptr from,
                       FootstepState::Ptr to) const;
  protected:
    const double roll_max_;
    const double pitch_max_;

  private:
  };

  class TransitionLimitXYZRPY: public TransitionLimit
  {
  public:
    typedef boost::shared_ptr<TransitionLimitXYZRPY> Ptr;
    TransitionLimitXYZRPY(double x_max,
                          double y_max,
                          double z_max,
                          double roll_max,
                          double pitch_max,
                          double yaw_max);
    virtual bool check(FootstepState::Ptr from,
                       FootstepState::Ptr to) const;
  protected:
    const double x_max_;
    const double y_max_;
    const double z_max_;
    const double roll_max_;
    const double pitch_max_;
    const double yaw_max_;
  private:
    
  };
}

#endif