robot_model.cpp
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00001 #include <vigir_footstep_planning_plugins/plugin_aggregators/robot_model.h>
00002 
00003 
00004 
00005 namespace vigir_footstep_planning
00006 {
00007 RobotModel::RobotModel()
00008   : ExtendedPluginAggregator<RobotModel, ReachabilityPlugin>("RobotModel")
00009 {
00010 }
00011 
00012 bool RobotModel::isReachable(const State& current, const State& next) const
00013 {
00014   for (ReachabilityPlugin::Ptr plugin : getPlugins())
00015   {
00016     if (plugin && !plugin->isReachable(current, next))
00017       return false;
00018   }
00019   return true;
00020 }
00021 
00022 bool RobotModel::isReachable(const State& left, const State& right, const State& swing) const
00023 {
00024   for (ReachabilityPlugin::Ptr plugin : getPlugins())
00025   {
00026     if (plugin && !plugin->isReachable(left, right, swing))
00027       return false;
00028   }
00029   return true;
00030 }
00031 }


vigir_footstep_planning_plugins
Author(s): Alexander Stumpf
autogenerated on Sat Jun 8 2019 19:01:52