29 #ifndef VIGIR_FOOTSTEP_PLAN_TRANSFORMER_H__ 30 #define VIGIR_FOOTSTEP_PLAN_TRANSFORMER_H__ 35 #include <vigir_footstep_planning_lib/helper.h> 37 #include <vigir_footstep_planning_msgs/footstep_planning_msgs.h> 54 msgs::ErrorStatus
transform(msgs::Foot& foot,
const std::string& target_frame)
const;
55 msgs::ErrorStatus
transform(msgs::Feet& feet,
const std::string& target_frame)
const;
56 msgs::ErrorStatus
transform(msgs::Step&
step,
const std::string& target_frame)
const;
57 msgs::ErrorStatus
transform(msgs::StepPlan& step_plan,
const std::string& target_frame)
const;
59 template<
template <
typename...>
class Container>
60 msgs::ErrorStatus
transform(Container<msgs::Step>& cont,
const std::string& target_frame)
const 62 msgs::ErrorStatus status;
63 for (
typename Container<msgs::Step>::iterator itr = cont.begin(); itr != cont.end(); itr++)
64 status +=
transform(itr->foot, target_frame);