footstep.h

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// SVN $HeadURL: https://alufr-ros-pkg.googlecode.com/svn/trunk/humanoid_navigation/footstep_planner/include/footstep_planner/Dstar.h $
// SVN $Id: Dstar.h 1168 2011-03-30 03:18:02Z hornunga@informatik.uni-freiburg.de $

/*
 * A footstep planner for humanoid robots
 *
 * Copyright 2010-2011 Johannes Garimort, Armin Hornung, University of Freiburg
 * http://www.ros.org/wiki/footstep_planner
 *
 * D* Lite (Koenig et al. 2002) partly based on the implementation
 * by J. Neufeld (http://code.google.com/p/dstarlite/)
 *
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, version 3.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef FOOTSTEP_PLANNER_FOOTSTEP_H_
#define FOOTSTEP_PLANNER_FOOTSTEP_H_

#include <vigir_footstep_planning_lib/modeling/planning_state.h>



namespace vigir_footstep_planning
{
class Footstep
{
public:
  Footstep(double x, double y, double theta, double step_cost, double cell_size, int num_angle_bins, int max_hash_size);
  ~Footstep();

  PlanningState performMeOnThisState(const PlanningState& current) const;

  PlanningState reverseMeOnThisState(const PlanningState& current) const;

  double getStepCost() const { return ivStepCost; }

private:
  typedef std::pair<int, int> footstep_xy;

  void init(double x, double y);

  int calculateForwardStep(Leg leg, int global_theta, double x, double y, int* footstep_x, int* footstep_y) const;

  double ivCellSize;
  int ivNumAngleBins;
  double ivAngleBinSize;

  int ivTheta;

  double ivStepCost;

  int ivMaxHashSize;

  std::vector<footstep_xy> ivDiscSuccessorLeft;
  std::vector<footstep_xy> ivDiscSuccessorRight;
  std::vector<footstep_xy> ivDiscPredecessorLeft;
  std::vector<footstep_xy> ivDiscPredecessorRight;
};
} // end of namespace

#endif  // FOOTSTEP_PLANNER_FOOTSTEP_H_