NavigationPathIKRatingModule.h

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#pragma once

#include "robot_model_services/rating/IKRatingModule.h"
#include "robot_model_services/robot_model/RobotModel.hpp"
#include "robot_model_services/helper/DebugHelper.hpp"

namespace robot_model_services {
    class NavigationPathIKRatingModule : public IKRatingModule {
    public:
        NavigationPathIKRatingModule(RobotModelPtr robotModel);

        virtual ~NavigationPathIKRatingModule();

        double getPanAngleRating(const geometry_msgs::Point &sourcePosition, const geometry_msgs::Point &targetPosition, double sourceRotationBase, double targetRotationBase);
    private:
        RobotModelPtr mRobotModel;
        DebugHelperPtr mDebugHelperPtr;
    };

    typedef boost::shared_ptr<NavigationPathIKRatingModule> NavigationPathIKRatingModulePtr;
}