world_model.h

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

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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_WORLD_MODEL_H__
#define VIGIR_FOOTSTEP_PLANNING_PLUGINS_WORLD_MODEL_H__

#include <ros/ros.h>

#include <vigir_footstep_planning_plugins/plugin_aggregators/extended_plugin_aggregator.h>
#include <vigir_footstep_planning_plugins/plugins/collision_check_plugin.h>
#include <vigir_footstep_planning_plugins/plugins/terrain_model_plugin.h>



namespace vigir_footstep_planning
{
class WorldModel
  : public ExtendedPluginAggregator<WorldModel, CollisionCheckPlugin>
{
public:
  WorldModel();

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

  void resetPlugins() override;

  // evaluation will be done in alphabetical order of plugin names
  bool isAccessible(const State& s) const;
  bool isAccessible(const State& next, const State& current) const;

  void useTerrainModel(bool enabled);
  bool isTerrainModelAvailable() const;
  TerrainModelPlugin::ConstPtr getTerrainModel() const;

  bool getHeight(double x, double y, double& height) const;
  bool update3DData(State& s) const;

protected:
  bool use_terrain_model_;
  TerrainModelPlugin::Ptr terrain_model_;
};
}

typedef vigir_footstep_planning::WorldModel PlannerWorldModel;

#endif