ConfigurationRanker.hpp

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#ifndef AIKIDO_DISTANCE_CONFIGURATIONRANKER_HPP_
#define AIKIDO_DISTANCE_CONFIGURATIONRANKER_HPP_
 
#include <dart/dynamics/dynamics.hpp>
 
#include "aikido/distance/DistanceMetric.hpp"
#include "aikido/distance/defaults.hpp"
#include "aikido/statespace/dart/MetaSkeletonStateSpace.hpp"
 
namespace aikido {
namespace distance {
 
AIKIDO_DECLARE_POINTERS(ConfigurationRanker)
 
class ConfigurationRanker
{
public:
  ConfigurationRanker(
      statespace::dart::ConstMetaSkeletonStateSpacePtr metaSkeletonStateSpace,
      ::dart::dynamics::ConstMetaSkeletonPtr metaSkeleton,
      std::vector<double> weights = std::vector<double>());
 
  virtual ~ConfigurationRanker() = default;
 
  void rankConfigurations(
      std::vector<statespace::dart::MetaSkeletonStateSpace::ScopedState>&
          configurations) const;
 
protected:
  virtual double evaluateConfiguration(
      const statespace::dart::MetaSkeletonStateSpace::State* solution)
      const = 0;
 
  statespace::dart::ConstMetaSkeletonStateSpacePtr mMetaSkeletonStateSpace;
 
  ::dart::dynamics::ConstMetaSkeletonPtr mMetaSkeleton;
 
  distance::DistanceMetricPtr mDistanceMetric;
};
 
} // namespace distance
} // namespace aikido
 
#endif // AIKIDO_DISTANCE_CONFIGURATIONRANKER_HPP_