step_cost_estimator_plugin.h

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//=================================================================================================
// Copyright (c) 2017, Alexander Stumpf, TU Darmstadt
// All rights reserved.

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//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
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//     * Neither the name of the Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt nor the names of its contributors may be used to
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#ifndef VIGIR_FOOTSTEP_PLANNING_STEP_COST_ESTIMATOR_PLUGIN_H
#define VIGIR_FOOTSTEP_PLANNING_STEP_COST_ESTIMATOR_PLUGIN_H

#include <ros/ros.h>

#include <vigir_pluginlib/plugin.h>

#include <vigir_footstep_planning_lib/modeling/state.h>



namespace vigir_footstep_planning
{
class StepCostEstimatorPlugin
  : public vigir_pluginlib::Plugin
{
public:
  // typedefs
  typedef boost::shared_ptr<StepCostEstimatorPlugin> Ptr;
  typedef boost::shared_ptr<const StepCostEstimatorPlugin> ConstPtr;

  StepCostEstimatorPlugin(const std::string& name);
  virtual ~StepCostEstimatorPlugin();

  virtual void reset() {}

  bool isUnique() const final;

  virtual bool getCost(const State& left_foot, const State& right_foot, const State& swing_foot, double& cost, double& cost_multiplier, double& risk, double& risk_multiplier) const = 0;
};
}

#endif