VectorField.hpp

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#ifndef AIKIDO_PLANNER_VECTORFIELD_VECTORFIELD_HPP_
#define AIKIDO_PLANNER_VECTORFIELD_VECTORFIELD_HPP_
 
#include "aikido/constraint/Testable.hpp"
#include "aikido/planner/vectorfield/VectorFieldPlannerStatus.hpp"
#include "aikido/statespace/StateSpace.hpp"
#include "aikido/trajectory/Trajectory.hpp"
 
namespace aikido {
namespace planner {
namespace vectorfield {
 
class VectorField
{
public:
  explicit VectorField(aikido::statespace::ConstStateSpacePtr stateSpace);
 
  virtual ~VectorField() = default;
 
  virtual bool evaluateVelocity(
      const aikido::statespace::StateSpace::State* state,
      Eigen::VectorXd& qd) const = 0;
 
  virtual VectorFieldPlannerStatus evaluateStatus(
      const aikido::statespace::StateSpace::State* state) const = 0;
 
  virtual bool evaluateTrajectory(
      const aikido::trajectory::Trajectory& trajectory,
      const aikido::constraint::Testable* constraint,
      double evalStepSize,
      double& evalTimePivot,
      bool includeEndTime) const = 0;
 
  aikido::statespace::ConstStateSpacePtr getStateSpace();
 
  aikido::statespace::ConstStateSpacePtr getStateSpace() const;
 
protected:
  aikido::statespace::ConstStateSpacePtr mStateSpace;
};
 
using VectorFieldPtr = std::shared_ptr<VectorField>;
 
} // namespace vectorfield
} // namespace planner
} // namespace aikido
 
#endif // AIKIDO_PLANNER_VECTORFIELD_VECTORFIELD_HPP_