state_generator.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_PLUGINS_STATE_GENERATOR_H__
#define VIGIR_FOOTSTEP_PLANNING_PLUGINS_STATE_GENERATOR_H__

#include <ros/ros.h>

#include <vigir_footstep_planning_plugins/plugin_aggregators/extended_plugin_aggregator.h>
#include <vigir_footstep_planning_plugins/plugins/state_generator_plugin.h>



namespace vigir_footstep_planning
{
class StateGenerator
  : public ExtendedPluginAggregator<StateGenerator, StateGeneratorPlugin>
{
public:
  StateGenerator();

  std::list<PlanningState::Ptr> generatePredecessor(const PlanningState& state) const;
  std::list<PlanningState::Ptr> generateSuccessor(const PlanningState& state) const;
};
}

#endif