00001 //================================================================================================= 00002 // Copyright (c) 2017, Alexander Stumpf, TU Darmstadt 00003 // All rights reserved. 00004 00005 // Redistribution and use in source and binary forms, with or without 00006 // modification, are permitted provided that the following conditions are met: 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Simulation, Systems Optimization and Robotics 00013 // group, TU Darmstadt nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //================================================================================================= 00028 00029 #ifndef VIGIR_FOOTSTEP_PLANNING_STEP_COST_ESTIMATOR_PLUGIN_H 00030 #define VIGIR_FOOTSTEP_PLANNING_STEP_COST_ESTIMATOR_PLUGIN_H 00031 00032 #include <ros/ros.h> 00033 00034 #include <vigir_pluginlib/plugin.h> 00035 00036 #include <vigir_footstep_planning_lib/modeling/state.h> 00037 00038 00039 00040 namespace vigir_footstep_planning 00041 { 00042 class StepCostEstimatorPlugin 00043 : public vigir_pluginlib::Plugin 00044 { 00045 public: 00046 // typedefs 00047 typedef boost::shared_ptr<StepCostEstimatorPlugin> Ptr; 00048 typedef boost::shared_ptr<const StepCostEstimatorPlugin> ConstPtr; 00049 00050 StepCostEstimatorPlugin(const std::string& name); 00051 virtual ~StepCostEstimatorPlugin(); 00052 00056 virtual void reset() {} 00057 00058 bool isUnique() const final; 00059 00060 virtual bool getCost(const State& left_foot, const State& right_foot, const State& swing_foot, double& cost, double& cost_multiplier, double& risk, double& risk_multiplier) const = 0; 00061 }; 00062 } 00063 00064 #endif