transition_limit.h
Go to the documentation of this file.
1 // -*- mode: c++ -*-
2 /*********************************************************************
3  * Software License Agreement (BSD License)
4  *
5  * Copyright (c) 2015, JSK Lab
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/o2r other materials provided
17  * with the distribution.
18  * * Neither the name of the JSK Lab nor the names of its
19  * contributors may be used to endorse or promote products derived
20  * from this software without specific prior written permission.
21  *
22  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
23  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
24  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
25  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
26  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
27  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
28  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
30  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
31  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
32  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33  * POSSIBILITY OF SUCH DAMAGE.
34  *********************************************************************/
35 
36 
37 #ifndef JSK_FOOTSTEP_PLANNER_TRANSITION_LIMIT_H_
38 #define JSK_FOOTSTEP_PLANNER_TRANSITION_LIMIT_H_
39 
41 
42 namespace jsk_footstep_planner
43 {
44 
50  {
51  public:
53  virtual bool check(FootstepState::Ptr from,
54  FootstepState::Ptr to) const = 0;
55 
56  protected:
57  private:
58 
59  };
60 
67  {
68  public:
70  TransitionLimitRP(double roll_max,
71  double pitch_max);
72  virtual bool check(FootstepState::Ptr from,
73  FootstepState::Ptr to) const;
74  protected:
75  const double roll_max_;
76  const double pitch_max_;
77 
78  private:
79  };
80 
86  {
87  public:
89  TransitionLimitXYZRPY(double x_max,
90  double y_max,
91  double z_max,
92  double roll_max,
93  double pitch_max,
94  double yaw_max);
95  virtual bool check(FootstepState::Ptr from,
96  FootstepState::Ptr to) const;
97  protected:
98  const double x_max_;
99  const double y_max_;
100  const double z_max_;
101  const double roll_max_;
102  const double pitch_max_;
103  const double yaw_max_;
104  private:
105 
106  };
107 }
108 
109 #endif
boost::shared_ptr< TransitionLimitXYZRPY > Ptr
boost::shared_ptr< TransitionLimit > Ptr
boost::shared_ptr< TransitionLimitRP > Ptr
virtual bool check(FootstepState::Ptr from, FootstepState::Ptr to) const =0
Class to provide limit of transition of footstep about Roll and Pitch. This class is designed for glo...
class to provide limit of transition of footstep with 6 Full parameters.
virtual class to provide limit of transition of footstep.


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Thu Nov 14 2019 03:53:28