upper_body_grid_map_model.h

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

#include <ros/ros.h>

#include <vigir_footstep_planning_default_plugins/world_model/grid_map_model.h>



namespace vigir_footstep_planning
{
class UpperBodyGridMapModel
  : public GridMapModel
{
public:
  UpperBodyGridMapModel(const std::string& name = "upper_body_grid_map_model");

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

  bool isAccessible(const State& s) const override;
  bool isAccessible(const State& next, const State& current) const override;

protected:
  // upper body parameters
  geometry_msgs::Vector3 upper_body_size;
  geometry_msgs::Vector3 upper_body_origin_shift;
};
}

#endif