task.h

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#ifndef STOMP_TASK_H_
#define STOMP_TASK_H_

#include <XmlRpcValue.h>
#include <boost/shared_ptr.hpp>
#include <Eigen/Core>
#include "stomp_core/utils.h"

namespace stomp_core
{

class Task;
typedef boost::shared_ptr<Task> TaskPtr; 
class Task
{

public:

    Task(){}

    virtual bool generateNoisyParameters(const Eigen::MatrixXd& parameters,
                                         std::size_t start_timestep,
                                         std::size_t num_timesteps,
                                         int iteration_number,
                                         int rollout_number,
                                         Eigen::MatrixXd& parameters_noise,
                                         Eigen::MatrixXd& noise) = 0;

    virtual bool computeNoisyCosts(const Eigen::MatrixXd& parameters,
                         std::size_t start_timestep,
                         std::size_t num_timesteps,
                         int iteration_number,
                         int rollout_number,
                         Eigen::VectorXd& costs,
                         bool& validity) = 0 ;

    virtual bool computeCosts(const Eigen::MatrixXd& parameters,
                         std::size_t start_timestep,
                         std::size_t num_timesteps,
                         int iteration_number,
                         Eigen::VectorXd& costs,
                         bool& validity) = 0 ;

    virtual bool filterNoisyParameters(std::size_t start_timestep,
                                       std::size_t num_timesteps,
                                       int iteration_number,
                                       int rollout_number,
                                       Eigen::MatrixXd& parameters,
                                       bool& filtered)
    {
      filtered = false;
      return true;
    }

    virtual bool filterParameterUpdates(std::size_t start_timestep,
                                  std::size_t num_timesteps,
                                  int iteration_number,
                                  const Eigen::MatrixXd& parameters,
                                  Eigen::MatrixXd& updates)
    {
      return true;
    }

    virtual void postIteration(std::size_t start_timestep,
                                  std::size_t num_timesteps,int iteration_number,double cost,const Eigen::MatrixXd& parameters){}


    virtual void done(bool success,int total_iterations,double final_cost,const Eigen::MatrixXd& parameters){}

};

}
#endif /* TASK_H_ */