step_dynamics_post_process.h

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//=================================================================================================
// Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
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#ifndef VIGIR_FOOTSTEP_PLANNING_LIB_STEP_DYNAMICS_POST_PROCESS_H__
#define VIGIR_FOOTSTEP_PLANNING_LIB_STEP_DYNAMICS_POST_PROCESS_H__

#include <ros/ros.h>

#include <vigir_footstep_planning_plugins/plugins/post_process_plugin.h>



namespace vigir_footstep_planning
{
class StepDynamicsPostProcess
  : public PostProcessPlugin
{
public:
  StepDynamicsPostProcess();

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

  void postProcessStepForward(const State& left_foot, const State& right_foot, State& swing_foot) const override;
  void postProcessStepBackward(const State& left_foot, const State& right_foot, State& swing_foot) const override;

  // typedefs
  typedef boost::shared_ptr<StepDynamicsPostProcess> Ptr;
  typedef boost::shared_ptr<const StepDynamicsPostProcess> ConstPtr;

protected:
  // following methods represents single processing steps which will be execute in the given order
  virtual void determineStepAttributes(const State& swing_foot_before, const State& stand_foot, State& swing_foot_after) const;
  virtual void determineTravelDistance(const State& swing_foot_before, const State& stand_foot, State& swing_foot_after) const;
  virtual void determineTimings(const State& swing_foot_before, const State& stand_foot, State& swing_foot_after) const;
  virtual void determineDynamics(const State& swing_foot_before, const State& stand_foot, State& swing_foot_after) const;

  double default_swing_height;
  double default_sway_duration;
  double default_step_duration;
};
}

#endif