footstep_planner: footstep_planner: State.h Source File

00001 // SVN $HeadURL: https://alufr-ros-pkg.googlecode.com/svn/trunk/humanoid_stacks/humanoid_navigation/footstep_planner/include/footstep_planner/State2.h $
00002 // SVN $Id: State2.h 2793 2012-06-07 10:37:53Z Garimort.Johannes $
00003 
00004 /*
00005  * A footstep planner for humanoid robots
00006  *
00007  * Copyright 2010-2011 Johannes Garimort, Armin Hornung, University of Freiburg
00008  * http://www.ros.org/wiki/footstep_planner
00009  *
00010  *
00011  * This program is free software: you can redistribute it and/or modify
00012  * it under the terms of the GNU General Public License as published by
00013  * the Free Software Foundation, version 3.
00014  *
00015  * This program is distributed in the hope that it will be useful,
00016  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  * GNU General Public License for more details.
00019  *
00020  * You should have received a copy of the GNU General Public License
00021  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
00022  */
00023 
00024 #ifndef FOOTSTEP_PLANNER_STATE_H_
00025 #define FOOTSTEP_PLANNER_STATE_H_
00026 
00027 #include <footstep_planner/helper.h>
00028 
00029 
00030 namespace footstep_planner
00031 {
00037 class State
00038 {
00039 public:
00040   State();
00041   State(double x, double y, double theta, Leg leg);
00042   ~State();
00043 
00044   void setX(double x) { ivX = x; };
00045   void setY(double y) { ivY = y; };
00046   void setTheta(double theta) { ivTheta = theta; };
00047   void setLeg(Leg leg) { ivLeg = leg; };
00048 
00049   double getX() const { return ivX; };
00050   double getY() const { return ivY; };
00051   double getTheta() const { return ivTheta; };
00052   Leg getLeg() const { return ivLeg; };
00053 
00058   bool operator ==(const State& s2) const;
00059 
00064   bool operator !=(const State& s2) const;
00065 
00066 private:
00068   double ivX;
00070   double ivY;
00072   double ivTheta;
00074   Leg ivLeg;
00075 };
00076 }
00077 #endif /* FOOTSTEP_PLANNER_STATE_H_ */