stomp_cost_function.h

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#ifndef INDUSTRIAL_MOVEIT_STOMP_CORE_INCLUDE_STOMP_CORE_STOMP_COST_FUNCTION_H_
#define INDUSTRIAL_MOVEIT_STOMP_CORE_INCLUDE_STOMP_CORE_STOMP_COST_FUNCTION_H_

#include <string>
#include <XmlRpc.h>
#include <stomp_core/utils.h>
#include <moveit_msgs/GetMotionPlan.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit/planning_scene/planning_scene.h>

namespace stomp_moveit
{

namespace cost_functions
{

class StompCostFunction;
typedef boost::shared_ptr<StompCostFunction> StompCostFunctionPtr;

class StompCostFunction
{
public:
  StompCostFunction():
    cost_weight_(1.0)
  {

  }

  virtual ~StompCostFunction(){}

  virtual bool initialize(moveit::core::RobotModelConstPtr robot_model_ptr,
                          const std::string& group_name,XmlRpc::XmlRpcValue& config) = 0;

  virtual bool configure(const XmlRpc::XmlRpcValue& config) = 0;

  virtual bool setMotionPlanRequest(const planning_scene::PlanningSceneConstPtr& planning_scene,
                   const moveit_msgs::MotionPlanRequest &req,
                   const stomp_core::StompConfiguration &config,
                   moveit_msgs::MoveItErrorCodes& error_code) = 0;


  virtual bool computeCosts(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 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){}


  virtual std::string getGroupName() const
  {
    return "Not Implemented";
  }

  virtual double getWeight() const
  {
    return cost_weight_;
  }

  virtual std::string getName() const
  {
    return "Not Implemented";
  }

  virtual int getOptimizedIndex() const
  {
    return -1;
  }


protected:

  double cost_weight_;

};


} /* namespace cost_functions */
} /* namespace stomp */

#endif /* INDUSTRIAL_MOVEIT_STOMP_CORE_INCLUDE_STOMP_CORE_STOMP_COST_FUNCTION_H_ */