Problem.hpp

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#ifndef AIKIDO_PLANNER_PROBLEM_HPP_
#define AIKIDO_PLANNER_PROBLEM_HPP_
 
#include <string>
 
#include "aikido/constraint/Testable.hpp"
#include "aikido/statespace/StateSpace.hpp"
 
namespace aikido {
namespace planner {
 
class Problem
{
public:
  Problem(
      statespace::ConstStateSpacePtr stateSpace,
      constraint::ConstTestablePtr constraint = nullptr);
 
  virtual ~Problem() = default;
 
  virtual const std::string& getType() const = 0;
 
  statespace::ConstStateSpacePtr getStateSpace() const;
 
  constraint::ConstTestablePtr getConstraint() const;
 
protected:
  statespace::ConstStateSpacePtr mStateSpace;
 
  constraint::ConstTestablePtr mConstraint;
};
// Note: All the problem classes intentionally don't have setters. This is
// because we assume creating a new problem for different problem settings makes
// sense. We can revisit this design decision if we find a compelling reason to
// have setters.
 
} // namespace planner
} // namespace aikido
 
#endif // AIKIDO_PLANNER_PROBLEM_HPP_