planning_state.h

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// SVN $HeadURL: http://alufr-ros-pkg.googlecode.com/svn/trunk/humanoid_stacks/humanoid_navigation/footstep_planner/include/footstep_planner/planning_state.h $
// SVN $Id: planning_state.h 3298 2012-09-28 11:37:38Z hornunga@informatik.uni-freiburg.de $

/*
 * A footstep planner for humanoid robots
 *
 * Copyright 2010-2011 Johannes Garimort, Armin Hornung, University of Freiburg
 * http://www.ros.org/wiki/footstep_planner
 *
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, version 3.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef FOOTSTEP_PLANNER_PLANNINGSTATE_H_
#define FOOTSTEP_PLANNER_PLANNINGSTATE_H_

#include <vigir_footstep_planning_lib/math.h>
#include <vigir_footstep_planning_lib/modeling/state.h>



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

  PlanningState(double x, double y, double z, double roll, double pitch, double yaw,
                Leg leg, double cell_size, double angle_bin_size, int max_hash_size, const PlanningState *pred_state = nullptr, const PlanningState *succ_state = nullptr);

  PlanningState(int x, int y, double z, double roll, double pitch, int yaw,
                Leg leg, double cell_size, double angle_bin_size, int max_hash_size, const PlanningState *pred_state = nullptr, const PlanningState *succ_state = nullptr);

  PlanningState(const geometry_msgs::Pose& pose, Leg leg, double cell_size, double angle_bin_size, int max_hash_size, const PlanningState *pred_state = nullptr, const PlanningState *succ_state = nullptr);

  PlanningState(const State& s, double cell_size, double angle_bin_size, int max_hash_size, const PlanningState *pred_state = nullptr, const PlanningState *succ_state = nullptr);

  PlanningState(const PlanningState& s);

  ~PlanningState();

  bool operator==(const PlanningState& s2) const;

  bool operator!=(const PlanningState& s2) const;

  void setId(unsigned int id) { ivId = id; }

  int getX() const { return ivX; }
  int getY() const { return ivY; }
  int getYaw() const { return ivYaw; }

  double getSwingHeight() const { return ivState.getSwingHeight(); }

  double getSwayDuration() const { return ivState.getSwayDuration(); }
  double getStepDuration() const { return ivState.getStepDuration(); }

  Leg getLeg() const { return ivState.getLeg(); }

  void setPredState(const PlanningState* pred_state) { ivpPredState = pred_state; }
  const PlanningState* getPredState() const { return ivpPredState; }

  void setSuccState(const PlanningState* succ_state) { ivpSuccState = succ_state; }
  const PlanningState* getSuccState() const { return ivpSuccState; }

  unsigned int getHashTag() const { return ivHashTag; }

  int getId() const { return ivId; }

  const State& getState() const;
  State& getState();

private:
  State ivState;

  int ivX;
  int ivY;
  int ivYaw;

  const PlanningState *ivpPredState;
  const PlanningState *ivpSuccState;

  int ivId;

  unsigned int ivHashTag;
};
}
#endif  // FOOTSTEP_PLANNER_PLANNINGSTATE_H_