plugins.xml

<library path="lib/libthor_mang_footstep_planning_plugins">
  <class name="thor_mang_reachability" type="thor_mang_footstep_planning::ThorMangReachability" base_class_type="vigir_footstep_planning::ReachabilityPlugin">
    <description>
      ThorMangReachability: This plugins maps the special movement capabilities of THORMANG3.
    </description>
  </class>

  <class name="thor_mang_heuristic" type="thor_mang_footstep_planning::ThorMangHeuristic" base_class_type="vigir_footstep_planning::HeuristicPlugin">
    <description>
      ThorMangHeuristic: Estimates remaining rotate, translate, rotate movement needed by THORMANG3 to get to goal state.
    </description>
  </class>

  <class name="thor_mang_step_plan_msg_plugin" type="thor_mang_footstep_planning::ThorMangStepPlanMsgPlugin" base_class_type="vigir_footstep_planning::StepPlanMsgPlugin">
    <description>
      ThorMangStepPlanMsgPlugin: Plugin for (un-)packing thor mang messages
    </description>
  </class>
</library>