reachability_state_generator.h

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//=================================================================================================
// Copyright (c) 2018, Alexander Stumpf, TU Darmstadt
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#ifndef VIGIR_FOOTSTEP_PLANNING_LIB_REACHABILITY_STATE_GENERATOR_H__
#define VIGIR_FOOTSTEP_PLANNING_LIB_REACHABILITY_STATE_GENERATOR_H__

#include <ros/ros.h>

#include <vigir_footstep_planning_lib/modeling/footstep.h>
#include <vigir_footstep_planning_lib/threading/threading_manager.h>

#include <vigir_footstep_planning_plugins/plugins/state_generator_plugin.h>

#include <vigir_footstep_planning_default_plugins/state_generator/expand_state_job.h>



namespace vigir_footstep_planning
{
class ReachabilityStateGenerator
  : public StateGeneratorPlugin
{
public:
  // typedefs
  typedef boost::shared_ptr<ReachabilityStateGenerator> Ptr;
  typedef boost::shared_ptr<const ReachabilityStateGenerator> ConstPtr;

  ReachabilityStateGenerator();

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

  std::list<PlanningState::Ptr> generatePredecessors(const PlanningState& state) const override;
  std::list<PlanningState::Ptr> generateSuccessors(const PlanningState& state) const override;

protected:
  // The set of footsteps used.
  std::vector<Footstep> ivContFootstepSet;

  threading::ThreadingManager<threading::ExpandStateJob>::Ptr expand_states_manager;
};
}

#endif