trajectory_cost_function.h

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#ifndef TRAJECTORYCOSTFUNCTION_H_
#define TRAJECTORYCOSTFUNCTION_H_
 
#include <base_local_planner/trajectory.h>
 
namespace base_local_planner {
 
class TrajectoryCostFunction {
public:
 
  virtual bool prepare() = 0;
 
  virtual double scoreTrajectory(Trajectory &traj) = 0;
 
  double getScale() {
    return scale_;
  }
 
  void setScale(double scale) {
    scale_ = scale;
  }
 
  virtual ~TrajectoryCostFunction() {}
 
protected:
  TrajectoryCostFunction(double scale = 1.0): scale_(scale) {}
 
private:
  double scale_;
};
 
}
 
#endif /* TRAJECTORYCOSTFUNCTION_H_ */