State.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_STATE_H_
00022 #define FOOTSTEP_PLANNER_STATE_H_
00023 
00024 #include <footstep_planner/helper.h>
00025 
00026 
00027 namespace footstep_planner
00028 {
00034 class State
00035 {
00036 public:
00037   State();
00038   State(double x, double y, double theta, Leg leg);
00039   ~State();
00040 
00041   void setX(double x) { ivX = x; }
00042   void setY(double y) { ivY = y; }
00043   void setTheta(double theta) { ivTheta = theta; }
00044   void setLeg(Leg leg) { ivLeg = leg; }
00045 
00046   double getX() const { return ivX; }
00047   double getY() const { return ivY; };
00048   double getTheta() const { return ivTheta; }
00049   Leg getLeg() const { return ivLeg; }
00050 
00055   bool operator ==(const State& s2) const;
00056 
00061   bool operator !=(const State& s2) const;
00062 
00063 private:
00065   double ivX;
00067   double ivY;
00069   double ivTheta;
00071   Leg ivLeg;
00072 };
00073 }
00074 #endif /* FOOTSTEP_PLANNER_STATE_H_ */


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