Testable.hpp

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#ifndef AIKIDO_CONSTRAINT_TESTABLE_HPP_
#define AIKIDO_CONSTRAINT_TESTABLE_HPP_
 
#include <memory>
 
#include "aikido/common/pointers.hpp"
#include "aikido/constraint/DefaultTestableOutcome.hpp"
#include "aikido/statespace/StateSpace.hpp"
 
namespace aikido {
namespace constraint {
 
AIKIDO_DECLARE_POINTERS(Testable)
class TestableOutcome;
 
class Testable
{
public:
  virtual ~Testable() = default;
 
  virtual bool isSatisfied(
      const statespace::StateSpace::State* _state,
      TestableOutcome* outcome = nullptr) const = 0;
 
  virtual statespace::ConstStateSpacePtr getStateSpace() const = 0;
 
  virtual std::unique_ptr<TestableOutcome> createOutcome() const = 0;
};
 
} // namespace constraint
} // namespace aikido
 
#endif // AIKIDO_CONSTRAINT_TESTABLE_HPP_