dynamics_reachability.h

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//=================================================================================================
// Copyright (c) 2018, Alexander Stumpf, TU Darmstadt
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//       group, TU Darmstadt nor the names of its contributors may be used to
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#ifndef VIGIR_FOOTSTEP_PLANNING_DYNAMICS_REACHABILITY_H__
#define VIGIR_FOOTSTEP_PLANNING_DYNAMICS_REACHABILITY_H__

#include <ros/ros.h>

#include <vigir_footstep_planning_plugins/plugins/reachability_plugin.h>



namespace vigir_footstep_planning
{
class DynamicsReachability
  : public ReachabilityPlugin
{
public:
  DynamicsReachability();

  bool loadParams(const ParameterSet& params = vigir_generic_params::ParameterSet()) override;

  bool isReachable(const State& current, const State& next) const override;

protected:
  double max_body_vel_sq;
  double max_body_acc_sq;
};
}

#endif