world_model.h

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* Author: Eitan Marder-Eppstein
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#ifndef TRAJECTORY_ROLLOUT_WORLD_MODEL_H_
#define TRAJECTORY_ROLLOUT_WORLD_MODEL_H_

#include <vector>
#include <costmap_2d/observation.h>
#include <geometry_msgs/Point.h>
#include <base_local_planner/planar_laser_scan.h>

namespace base_local_planner {
  class WorldModel{
    public:
      virtual double footprintCost(const geometry_msgs::Point& position, const std::vector<geometry_msgs::Point>& footprint,
          double inscribed_radius, double circumscribed_radius) = 0;

      virtual ~WorldModel(){}

    protected:
      WorldModel(){}
  };

};
#endif