#include <step_controller_test_plugin.h>

Inheritance diagram for vigir_step_control::StepControllerTestPlugin:

Public Types
typedef boost::shared_ptr< const StepControllerTestPlugin >	ConstPtr

typedef boost::shared_ptr< StepControllerTestPlugin >	Ptr

Public Types inherited from vigir_step_control::StepControllerPlugin
typedef boost::shared_ptr< const StepControllerPlugin >	ConstPtr

typedef boost::shared_ptr< StepControllerPlugin >	Ptr

Public Member Functions
bool	executeStep (const msgs::Step &step) override
	Handles fake execution of step. In fact it does nothing as accepting the step. More...

void	initWalk () override
	We have to initialize all variables at beginning of new step plan execution here. More...

void	preProcess (const ros::TimerEvent &event) override
	Simulates handling of walking engine and triggers in regular interval a succesful execution of a step. More...

	StepControllerTestPlugin ()

virtual	~StepControllerTestPlugin ()

Public Member Functions inherited from vigir_step_control::StepControllerPlugin
const msgs::ExecuteStepPlanFeedback &	getFeedbackState () const
	Returns current feedback information provided by the plugin. More...

int	getLastStepIndexSent () const
	Returns last step index which has been sent to walking engine. More...

int	getNextStepIndexNeeded () const
	Returns next step index needed by the walking engine. More...

StepControllerState	getState () const
	Get current state of execution. More...

virtual void	postProcess (const ros::TimerEvent &event)
	PostProcess Method is called after processing step, in order to sum up the current status and cleanups. More...

virtual void	process (const ros::TimerEvent &event)
	Overwrite to handle robot specific behavior. The default behavior behaves as followed: More...

virtual void	setStepPlanMsgPlugin (vigir_footstep_planning::StepPlanMsgPlugin::Ptr plugin)
	Sets the StepPlanMsgPlugin to be used. More...

	StepControllerPlugin ()

virtual void	stop ()
	Will be called when (soft) stop is requested and resets plugin. More...

void	updateQueueFeedback ()
	Updates feedback information with internal state data. More...

virtual bool	updateStepPlan (const msgs::StepPlan &step_plan)
	Merges given step plan to the current step queue of steps. Hereby, two cases have to considered: More...

virtual	~StepControllerPlugin ()

Protected Attributes
ros::Time	next_step_needed_time_

Protected Attributes inherited from vigir_step_control::StepControllerPlugin
boost::shared_mutex	plugin_mutex_

vigir_footstep_planning::StepPlanMsgPlugin::Ptr	step_plan_msg_plugin_

StepQueue::Ptr	step_queue_

Additional Inherited Members
Protected Member Functions inherited from vigir_step_control::StepControllerPlugin
virtual void	reset ()
	Resets the plugin (called during construction and by stop()). The default implementation raises the READY flag. Overwrite this method if another behavior is desired. More...

void	setFeedbackState (const msgs::ExecuteStepPlanFeedback &feedback)

void	setLastStepIndexSent (int index)

void	setNextStepIndexNeeded (int index)

void	setState (StepControllerState state)