step_cost_key.h

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//=================================================================================================
// Copyright (c) 2018, Alexander Stumpf, TU Darmstadt
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#ifndef VIGIR_FOOTSTEP_PLANNING_STEP_COST_KEY_H
#define VIGIR_FOOTSTEP_PLANNING_STEP_COST_KEY_H

#include <vigir_footstep_planning_lib/modeling/state.h>

#define STATE_DIM 6



namespace vigir_footstep_planning
{
class StepCostKey
  : public std::vector<int>
{
public:
  StepCostKey(const std::vector<double> &state, double cell_size, double angle_bin_size);
  StepCostKey(const State &left_foot, const State &right_foot, const State &swing_foot, double cell_size, double angle_bin_size);
  StepCostKey(const StepCostKey &other);

  bool operator== (const StepCostKey &other) const;
  bool operator< (const StepCostKey &other) const;

  void setState(const std::vector<double> &state);
  void getState(std::vector<double> &state) const;

protected:
  void transformStates(const State &left_foot, const State &right_foot, const State &swing_foot, std::vector<double> &state) const;
  void mirrorPoseOnXPlane(tf::Pose &mirror, const tf::Pose &orig) const;

  inline int cont_2_disc(double value, double cell_size) const
  {
    return int(round(value / cell_size));
  }

  inline double disc_2_cont(int value, double cell_size) const
  {
    return double(value) * cell_size;
  }

  const double cell_size, angle_bin_size;
};
}

std::size_t hash_value(const vigir_footstep_planning::StepCostKey &key);

#endif