heuristic_plugin.h

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//=================================================================================================
// Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
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#ifndef VIGIR_FOOTSTEP_PLANNING_HEURISTIC_PLUGIN_H
#define VIGIR_FOOTSTEP_PLANNING_HEURISTIC_PLUGIN_H

#include <ros/ros.h>

#include <vigir_pluginlib/plugin.h>

#include <vigir_footstep_planning_lib/modeling/state.h>



namespace vigir_footstep_planning
{
class HeuristicPlugin
  : public vigir_pluginlib::Plugin
{
public:
  // typedefs
  typedef boost::shared_ptr<HeuristicPlugin> Ptr;
  typedef boost::shared_ptr<const HeuristicPlugin> ConstPtr;

  HeuristicPlugin(const std::string& name);
  virtual ~HeuristicPlugin();

  virtual void reset() {}

  bool isUnique() const final;

  bool loadParams(const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet()) override;

  virtual double getHeuristicValue(const State& from, const State& to, const State& start, const State& goal) const = 0;

protected:
  double max_heuristic_value_;
};
}

#endif