reachability_polygon.h

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//=================================================================================================
// Copyright (c) 2018, Alexander Stumpf, TU Darmstadt
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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_POLYGON_H__
#define VIGIR_FOOTSTEP_PLANNING_REACHABILITY_POLYGON_H__

#include <ros/ros.h>

#include <vigir_footstep_planning_lib/math.h>

#include <vigir_footstep_planning_plugins/plugins/reachability_plugin.h>



namespace vigir_footstep_planning
{
class ReachabilityPolygon
  : public ReachabilityPlugin
{
public:
  ReachabilityPolygon();
  ~ReachabilityPolygon();

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

  bool isReachable(const State& current, const State& next) const override;

protected:
  double cell_size;
  double angle_bin_size;

  bool* ivpStepRange;
  size_t step_range_size_x;
  size_t step_range_size_y;
  size_t step_range_size;

  double max_step_range_x, max_step_range_y, max_step_range_yaw;
  double max_step_range_inv_x, max_step_range_inv_y, max_step_range_inv_yaw;
  double max_step_range_width_sq;
};
}

#endif