i_foot_trajectory_generator.h

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#ifndef OPEN_WALKER_CORE_INTERFACES_I_FOOT_TRAJECTORY_GENERATOR_H
#define OPEN_WALKER_CORE_INTERFACES_I_FOOT_TRAJECTORY_GENERATOR_H

#include <ow_core/Interfaces/i_foot_trajectory_generator_out_ports.h>

namespace ow_core{

// forward declaration: Access to FootStepPlanner ouput ports
class IFootStepPlannerOutPorts;

// forward declaration: Access to FK Foot Transformations (L,R)
class IForwardKinematicsOutPorts;

class IFootTrajectoryGenerator
{
public:
  virtual ~IFootTrajectoryGenerator()
  {
  }

  virtual connectInPortFootStepPlanner(const IFootStepPlannerOutPorts* fsp) = 0;

  virtual connectInPortForwardKinematic(const IForwardKinematicsOutPorts* fk) = 0;

  virtual const IFootTrajectoryGeneratorOutPorts* outPorts() const = 0;

};


}

#endif // OPEN_WALKER_CORE_INTERFACES_I_FOOT_TRAJECTORY_GENERATOR_H