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vigir_feet_pose_generator
feet_pose_generator_node.h
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//=================================================================================================
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// Copyright (c) 2018, Alexander Stumpf, TU Darmstadt
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// All rights reserved.
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of the Simulation, Systems Optimization and Robotics
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// group, TU Darmstadt nor the names of its contributors may be used to
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// endorse or promote products derived from this software without
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// specific prior written permission.
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
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// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//=================================================================================================
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#ifndef VIGIR_FEET_POSE_GENERATOR_NODE_H__
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#define VIGIR_FEET_POSE_GENERATOR_NODE_H__
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#include <
ros/ros.h
>
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#include <vigir_footstep_planning_lib/helper.h>
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#include <vigir_footstep_planning_msgs/footstep_planning_msgs.h>
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#include <
vigir_feet_pose_generator/feet_pose_generator.h
>
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namespace
vigir_footstep_planning
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{
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class
FeetPoseGeneratorNode
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{
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public
:
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FeetPoseGeneratorNode
(
ros::NodeHandle
& nh);
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virtual
~FeetPoseGeneratorNode
();
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protected
:
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// service calls
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bool
generateFeetPoseService
(msgs::GenerateFeetPoseService::Request& req, msgs::GenerateFeetPoseService::Response& resp);
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// action server calls
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void
generateFeetPoseAction
(SimpleActionServer<msgs::GenerateFeetPoseAction>::Ptr& as);
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// subscriber
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ros::Subscriber
robot_pose_sub
;
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ros::Subscriber
robot_pose_with_cov_sub
;
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ros::Subscriber
terrain_model_sub
;
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// service servers
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ros::ServiceServer
generate_feet_pose_srv
;
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// action servers
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SimpleActionServer<msgs::GenerateFeetPoseAction>::Ptr
generate_feet_pose_as
;
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FeetPoseGenerator
feet_pose_generator
;
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};
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}
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#endif
vigir_footstep_planning::FeetPoseGeneratorNode::FeetPoseGeneratorNode
FeetPoseGeneratorNode(ros::NodeHandle &nh)
Definition:
feet_pose_generator_node.cpp:5
vigir_footstep_planning::FeetPoseGeneratorNode::robot_pose_sub
ros::Subscriber robot_pose_sub
Definition:
feet_pose_generator_node.h:58
ros::NodeHandle
vigir_footstep_planning::FeetPoseGeneratorNode::generate_feet_pose_as
SimpleActionServer< msgs::GenerateFeetPoseAction >::Ptr generate_feet_pose_as
Definition:
feet_pose_generator_node.h:66
vigir_footstep_planning::FeetPoseGeneratorNode::~FeetPoseGeneratorNode
virtual ~FeetPoseGeneratorNode()
Definition:
feet_pose_generator_node.cpp:20
vigir_footstep_planning::FeetPoseGeneratorNode::generateFeetPoseService
bool generateFeetPoseService(msgs::GenerateFeetPoseService::Request &req, msgs::GenerateFeetPoseService::Response &resp)
Definition:
feet_pose_generator_node.cpp:26
vigir_footstep_planning::FeetPoseGeneratorNode::generateFeetPoseAction
void generateFeetPoseAction(SimpleActionServer< msgs::GenerateFeetPoseAction >::Ptr &as)
Definition:
feet_pose_generator_node.cpp:34
feet_pose_generator.h
vigir_footstep_planning::FeetPoseGeneratorNode
Definition:
feet_pose_generator_node.h:44
ros::ServiceServer
ros::Subscriber
vigir_footstep_planning
Definition:
feet_pose_generator.h:46
vigir_footstep_planning::FeetPoseGeneratorNode::feet_pose_generator
FeetPoseGenerator feet_pose_generator
Definition:
feet_pose_generator_node.h:68
vigir_footstep_planning::FeetPoseGeneratorNode::generate_feet_pose_srv
ros::ServiceServer generate_feet_pose_srv
Definition:
feet_pose_generator_node.h:63
ros.h
vigir_footstep_planning::FeetPoseGenerator
Definition:
feet_pose_generator.h:48
vigir_footstep_planning::FeetPoseGeneratorNode::terrain_model_sub
ros::Subscriber terrain_model_sub
Definition:
feet_pose_generator_node.h:60
vigir_footstep_planning::FeetPoseGeneratorNode::robot_pose_with_cov_sub
ros::Subscriber robot_pose_with_cov_sub
Definition:
feet_pose_generator_node.h:59
vigir_feet_pose_generator
Author(s): Alexander Stumpf
autogenerated on Sun Nov 17 2019 03:29:56