00001 // SVN $HeadURL: https://alufr-ros-pkg.googlecode.com/svn/trunk/humanoid_stacks/humanoid_navigation/footstep_planner/include/footstep_planner/FootstepPlannerNode.h $ 00002 // SVN $Id: FootstepPlannerNode.h 3298 2012-09-28 11:37:38Z hornunga@informatik.uni-freiburg.de $ 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_FOOTSTEPPLANNERNODE_H_ 00025 #define FOOTSTEP_PLANNER_FOOTSTEPPLANNERNODE_H_ 00026 00027 00028 #include <ros/ros.h> 00029 00030 #include <geometry_msgs/PoseStamped.h> 00031 #include <geometry_msgs/PoseWithCovarianceStamped.h> 00032 #include <footstep_planner/FootstepPlanner.h> 00033 #include <footstep_planner/State.h> 00034 #include <bipedRobin_msgs/InitialStepsService.h> 00035 #include <bipedRobin_msgs/SetModeService.h> 00036 #include <std_msgs/String.h> 00037 #include <std_srvs/Empty.h> 00038 00039 namespace footstep_planner 00040 { 00045 class FootstepPlannerNodeNew 00046 { 00047 public: 00048 FootstepPlannerNodeNew(); 00049 virtual ~FootstepPlannerNodeNew(); 00050 bool initialStepsCallback(bipedRobin_msgs::InitialStepsService::Request &req, bipedRobin_msgs::InitialStepsService::Response &res); 00051 00052 protected: 00053 FootstepPlanner ivFootstepPlanner; 00054 ros::Subscriber ivGoalPoseSub; 00055 ros::Subscriber ivGridMapSub; 00056 ros::Subscriber ivStartPoseSub; 00057 ros::Subscriber ivRobotPoseSub; 00058 00059 ros::ServiceServer initialsteps_srv; 00060 ros::ServiceServer replan_srv; 00061 ros::ServiceServer ivFootstepPlanService; 00062 }; 00063 } 00064 #endif // FOOTSTEP_PLANNER_FOOTSTEPPLANNERNODE_H_