ompl_ros_projection_evaluator.h

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#ifndef OMPL_ROS_PROJECTION_EVALUATOR_
#define OMPL_ROS_PROJECTION_EVALUATOR_

#include <ompl_ros_interface/helpers/ompl_ros_conversions.h>
#include <ompl_ros_interface/helpers/ompl_ros_exception.h>

#include <ompl/base/ProjectionEvaluator.h>

#include <boost/math/constants/constants.hpp>

namespace ompl_ros_interface
{

class OmplRosProjectionEvaluator : public ompl::base::ProjectionEvaluator
{
public:
        OmplRosProjectionEvaluator(const ompl::base::StateSpace *state_space, 
                             const std::string &evaluator_name);
        
        virtual unsigned int getDimension(void) const;
        
        virtual void project(const ompl::base::State *state, 
                       ompl::base::EuclideanProjection &projection) const;

private:
  unsigned int dimension_;
  unsigned int mapping_index_;
  ompl_ros_interface::MAPPING_TYPE mapping_type_;
};
}

#endif