heuristic.h

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//=================================================================================================
// Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
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//       group, TU Darmstadt nor the names of its contributors may be used to
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#ifndef VIGIR_FOOTSTEP_PLANNING_PLUGINS_HEURISTIC_H__
#define VIGIR_FOOTSTEP_PLANNING_PLUGINS_HEURISTIC_H__

#include <ros/ros.h>

#include <vigir_footstep_planning_plugins/plugin_aggregators/extended_plugin_aggregator.h>
#include <vigir_footstep_planning_plugins/plugins/heuristic_plugin.h>



namespace vigir_footstep_planning
{
class Heuristic
  : public ExtendedPluginAggregator<Heuristic, HeuristicPlugin>
{
public:
  Heuristic();

  double getHeuristicValue(const State& from, const State& to, const State& start, const State& goal) const;
};
}

#endif