euclidean_step_cost_estimator.h

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//=================================================================================================
// Copyright (c) 2018, Alexander Stumpf, TU Darmstadt
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#ifndef VIGIR_FOOTSTEP_PLANNING_EUCLIDEAN_STEP_COST_ESTIMATOR_H
#define VIGIR_FOOTSTEP_PLANNING_EUCLIDEAN_STEP_COST_ESTIMATOR_H

#include <vigir_footstep_planning_plugins/plugins/step_cost_estimator_plugin.h>



namespace vigir_footstep_planning
{
class EuclideanStepCostEstimator
  : public StepCostEstimatorPlugin
{
public:
  EuclideanStepCostEstimator();

  bool getCost(const State& left_foot, const State& right_foot, const State& swing_foot, double& cost, double& cost_multiplier, double& risk, double& risk_multiplier) const override;
};
}

#endif