reachability_plugin.h

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//=================================================================================================
// Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
// All rights reserved.

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//     * Redistributions in binary form must reproduce the above copyright
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//       group, TU Darmstadt nor the names of its contributors may be used to
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#ifndef VIGIR_FOOTSTEP_PLANNING_REACHABILITY_PLUGIN_H
#define VIGIR_FOOTSTEP_PLANNING_REACHABILITY_PLUGIN_H

#include <ros/ros.h>

#include <vigir_pluginlib/plugin.h>

#include <vigir_footstep_planning_lib/modeling/state.h>



namespace vigir_footstep_planning
{
using namespace vigir_generic_params;

class ReachabilityPlugin
  : public vigir_pluginlib::Plugin
{
public:
  // typedefs
  typedef boost::shared_ptr<ReachabilityPlugin> Ptr;
  typedef boost::shared_ptr<const ReachabilityPlugin> ConstPtr;

  ReachabilityPlugin(const std::string& name);
  virtual ~ReachabilityPlugin();

  virtual void reset() {}

  bool isUnique() const final;

  virtual bool isReachable(const State& current, const State& next) const = 0;
  virtual bool isReachable(const State& left_foot, const State& right_foot, const State& swing_foot) const;
};
}

#endif