simple_scored_sampling_planner.h

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#ifndef SIMPLE_SCORED_SAMPLING_PLANNER_H_
#define SIMPLE_SCORED_SAMPLING_PLANNER_H_

#include <vector>
#include <base_local_planner/trajectory.h>
#include <base_local_planner/trajectory_cost_function.h>
#include <base_local_planner/trajectory_sample_generator.h>
#include <base_local_planner/trajectory_search.h>

namespace base_local_planner {

class SimpleScoredSamplingPlanner : public base_local_planner::TrajectorySearch {
public:

  ~SimpleScoredSamplingPlanner() {}

  SimpleScoredSamplingPlanner() {}

  SimpleScoredSamplingPlanner(std::vector<TrajectorySampleGenerator*> gen_list, std::vector<TrajectoryCostFunction*>& critics, int max_samples = -1);

  double scoreTrajectory(Trajectory& traj, double best_traj_cost);

  bool findBestTrajectory(Trajectory& traj, std::vector<Trajectory>* all_explored = 0);


private:
  std::vector<TrajectorySampleGenerator*> gen_list_;
  std::vector<TrajectoryCostFunction*> critics_;

  int max_samples_;
};




} // namespace

#endif /* SIMPLE_SCORED_SAMPLING_PLANNER_H_ */