transition_limit.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
00003  * Software License Agreement (BSD License)
00004  *
00005  *  Copyright (c) 2015, JSK Lab
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00008  *  Redistribution and use in source and binary forms, with or without
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00011  *
00012  *   * Redistributions of source code must retain the above copyright
00013  *     notice, this list of conditions and the following disclaimer.
00014  *   * Redistributions in binary form must reproduce the above
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00035 
00036 
00037 #ifndef JSK_FOOTSTEP_PLANNER_TRANSITION_LIMIT_H_
00038 #define JSK_FOOTSTEP_PLANNER_TRANSITION_LIMIT_H_
00039 
00040 #include "jsk_footstep_planner/footstep_state.h"
00041 
00042 namespace jsk_footstep_planner
00043 {
00044   class TransitionLimit
00045   {
00046   public:
00047     typedef boost::shared_ptr<TransitionLimit> Ptr;
00048     virtual bool check(FootstepState::Ptr from,
00049                        FootstepState::Ptr to) const = 0;
00050                        
00051   protected:
00052   private:
00053     
00054   };
00055 
00056   class TransitionLimitXYZRPY: public TransitionLimit
00057   {
00058   public:
00059     typedef boost::shared_ptr<TransitionLimitXYZRPY> Ptr;
00060     TransitionLimitXYZRPY(double x_max,
00061                           double y_max,
00062                           double z_max,
00063                           double roll_max,
00064                           double pitch_max,
00065                           double yaw_max);
00066     virtual bool check(FootstepState::Ptr from,
00067                        FootstepState::Ptr to) const;
00068   protected:
00069     const double x_max_;
00070     const double y_max_;
00071     const double z_max_;
00072     const double roll_max_;
00073     const double pitch_max_;
00074     const double yaw_max_;
00075   private:
00076     
00077   };
00078 }
00079 
00080 #endif


jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Wed Sep 16 2015 04:37:57