00001 // SVN $HeadURL: https://alufr-ros-pkg.googlecode.com/svn/trunk/humanoid_navigation/footstep_planner/include/footstep_planner/PlanningStateChangeQuery.h $ 00002 // SVN $Id: PlanningStateChangeQuery.h 2135 2011-11-02 11:57:21Z 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_PLANNINGSTATECHANGEQUERY_H_ 00025 #define FOOTSTEP_PLANNER_PLANNINGSTATECHANGEQUERY_H_ 00026 00027 00028 #include <vector> 00029 00030 #include <sbpl/headers.h> 00031 00032 00033 namespace footstep_planner 00034 { 00035 class PlanningStateChangeQuery : public StateChangeQuery 00036 { 00037 public: 00038 PlanningStateChangeQuery(const std::vector<int>& neighbors); 00039 virtual ~PlanningStateChangeQuery(); 00040 00041 const std::vector<int>* getPredecessors() const; 00042 const std::vector<int>* getSuccessors() const; 00043 00044 private: 00045 const std::vector<int>& ivNeighbors; 00046 }; 00047 } 00048 00049 #endif // FOOTSTEP_PLANNER_PLANNINGSTATECHANGEQUERY_H_
