step_cost_estimator.h

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//=================================================================================================
// Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
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//       group, TU Darmstadt nor the names of its contributors may be used to
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#ifndef VIGIR_FOOTSTEP_PLANNING_PLUGINS_STEP_COST_ESTIMATOR_H__
#define VIGIR_FOOTSTEP_PLANNING_PLUGINS_STEP_COST_ESTIMATOR_H__

#include <ros/ros.h>

#include <vigir_footstep_planning_plugins/plugin_aggregators/extended_plugin_aggregator.h>
#include <vigir_footstep_planning_plugins/plugins/step_cost_estimator_plugin.h>



namespace vigir_footstep_planning
{
class StepCostEstimator
  : public ExtendedPluginAggregator<StepCostEstimator, StepCostEstimatorPlugin>
{
public:
  StepCostEstimator();

  bool loadParams(const vigir_generic_params::ParameterSet& params) override;

  bool getCost(const State& left_foot, const State& right_foot, const State& swing_foot, double& cost, double& risk) const;
  bool getCost(const State& left_foot, const State& right_foot, const State& swing_foot, float& cost, float& risk) const;

protected:
  double max_risk_;
};
}

#endif