robot_model_plugin.h
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1 //=================================================================================================
2 // Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
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4 
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28 
29 #ifndef VIGIR_FOOTSTEP_PLANNING_PLUGINS_ROBOT_MODEL_PLUGIN_H__
30 #define VIGIR_FOOTSTEP_PLANNING_PLUGINS_ROBOT_MODEL_PLUGIN_H__
31 
32 #include <ros/ros.h>
33 
34 #include <vigir_pluginlib/plugin.h>
35 
37 
38 
39 
41 {
43  : public vigir_pluginlib::Plugin
44 {
45 public:
46  // typedefs
49 
51 
52  bool initialize(const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet()) override;
53 
57  virtual void reset() {}
58 
59  bool isUnique() const final;
60 
61  const geometry_msgs::Vector3& getFootSize() const;
62  const geometry_msgs::Vector3& getUpperBodySize() const;
63  const geometry_msgs::Vector3& getUpperBodyOriginShift() const;
64 
65 protected:
66  // foot paramaters
67  geometry_msgs::Vector3 foot_size_;
68 
69  // upper body parameters
70  geometry_msgs::Vector3 upper_body_size_;
71  geometry_msgs::Vector3 upper_body_origin_shift_;
72 };
73 }
74 
75 #endif
const geometry_msgs::Vector3 & getUpperBodySize() const
bool initialize(const vigir_generic_params::ParameterSet &params=vigir_generic_params::ParameterSet()) override
const geometry_msgs::Vector3 & getFootSize() const
const geometry_msgs::Vector3 & getUpperBodyOriginShift() const
boost::shared_ptr< RobotModelPlugin > Ptr
boost::shared_ptr< const RobotModelPlugin > ConstPtr
virtual void reset()
Resets the plugin to initial state.


vigir_footstep_planning_plugins
Author(s): Alexander Stumpf
autogenerated on Mon Jun 10 2019 15:47:39