JointAvoidanceConfigurationRanker.hpp

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#ifndef AIKIDO_DISTANCE_JOINTAVOIDANCECONFIGURATIONRANKER_HPP_
#define AIKIDO_DISTANCE_JOINTAVOIDANCECONFIGURATIONRANKER_HPP_
 
#include "aikido/distance/ConfigurationRanker.hpp"
 
namespace aikido {
namespace distance {
 
class JointAvoidanceConfigurationRanker : public ConfigurationRanker
{
public:
  JointAvoidanceConfigurationRanker(
      statespace::dart::ConstMetaSkeletonStateSpacePtr metaSkeletonStateSpace,
      ::dart::dynamics::ConstMetaSkeletonPtr metaSkeleton,
      std::vector<double> weights = std::vector<double>());
 
protected:
  void setupJointLimits();
 
  double evaluateConfiguration(
      const statespace::dart::MetaSkeletonStateSpace::State* solution)
      const override;
 
  std::vector<std::size_t> mUnboundedLowerLimitsIndices;
 
  std::vector<std::size_t> mUnboundedUpperLimitsIndices;
 
  statespace::dart::MetaSkeletonStateSpace::ScopedState mLowerLimitsState;
 
  statespace::dart::MetaSkeletonStateSpace::ScopedState mUpperLimitsState;
};
 
} // namespace distance
} // namespace aikido
 
#endif // AIKIDO_DISTANCE_JOINTAVOIDANCECONFIGURATIONRANKER_HPP_