00001 // -*- mode: c++ -*- 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2015, JSK Lab 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/o2r other materials provided 00017 * with the distribution. 00018 * * Neither the name of the JSK Lab nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 #include "jsk_footstep_planner/footstep_state_discrete_close_list.h" 00037 00038 namespace jsk_footstep_planner 00039 { 00040 FootstepStateDiscreteCloseListLocal::FootstepStateDiscreteCloseListLocal( 00041 int x_offset, int y_offset, int theta_offset, 00042 size_t x_num, size_t y_num, size_t theta_num): 00043 x_num_(x_num), y_num_(y_num), theta_num_(theta_num), 00044 x_offset_(x_offset), y_offset_(y_offset), theta_offset_(theta_offset), 00045 size_(0) 00046 { 00047 // initialize data_ 00048 data_ = std::vector<std::vector<std::vector<FootstepState::Ptr> > >(x_num_); 00049 for (size_t xi = 0; xi < x_num_; xi++) { 00050 data_[xi] = std::vector<std::vector<FootstepState::Ptr> >(y_num_); 00051 for (size_t yi = 0; yi < y_num_; yi++) { 00052 data_[xi][yi] = std::vector<FootstepState::Ptr>(theta_num_); 00053 } 00054 } 00055 } 00056 00057 FootstepStateDiscreteCloseList::FootstepStateDiscreteCloseList( 00058 const size_t local_x_num, 00059 const size_t local_y_num, 00060 const size_t local_theta_num): 00061 local_x_num_(local_x_num), 00062 local_y_num_(local_y_num), 00063 local_theta_num_(local_theta_num) 00064 { 00065 } 00066 00067 }