FootstepPlannerNode.h
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00001 /*
00002  * A footstep planner for humanoid robots
00003  *
00004  * Copyright 2010-2011 Johannes Garimort, Armin Hornung, University of Freiburg
00005  * http://www.ros.org/wiki/footstep_planner
00006  *
00007  *
00008  * This program is free software: you can redistribute it and/or modify
00009  * it under the terms of the GNU General Public License as published by
00010  * the Free Software Foundation, version 3.
00011  *
00012  * This program is distributed in the hope that it will be useful,
00013  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00014  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015  * GNU General Public License for more details.
00016  *
00017  * You should have received a copy of the GNU General Public License
00018  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
00019  */
00020 
00021 #ifndef FOOTSTEP_PLANNER_FOOTSTEPPLANNERNODE_H_
00022 #define FOOTSTEP_PLANNER_FOOTSTEPPLANNERNODE_H_
00023 
00024 
00025 #include <ros/ros.h>
00026 
00027 #include <geometry_msgs/PoseStamped.h>
00028 #include <geometry_msgs/PoseWithCovarianceStamped.h>
00029 #include <footstep_planner/FootstepPlanner.h>
00030 
00031 
00032 namespace footstep_planner
00033 {
00038 class FootstepPlannerNode
00039 {
00040 public:
00041   FootstepPlannerNode();
00042   virtual ~FootstepPlannerNode();
00043 
00044 protected:
00045   FootstepPlanner ivFootstepPlanner;
00046 
00047   ros::Subscriber ivGoalPoseSub;
00048   ros::Subscriber ivGridMapSub;
00049   ros::Subscriber ivStartPoseSub;
00050   ros::Subscriber ivRobotPoseSub;
00051 
00052   ros::ServiceServer ivFootstepPlanService;
00053   ros::ServiceServer ivFootstepPlanFeetService;
00054 };
00055 }
00056 #endif  // FOOTSTEP_PLANNER_FOOTSTEPPLANNERNODE_H_


footstep_planner
Author(s): Johannes Garimort, Armin Hornung
autogenerated on Sat Jun 8 2019 20:21:05