NominalConfigurationRanker.hpp

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#ifndef AIKIDO_DISTANCE_NOMINALCONFIGURATIONRANKER_HPP_
#define AIKIDO_DISTANCE_NOMINALCONFIGURATIONRANKER_HPP_
 
#include "aikido/distance/ConfigurationRanker.hpp"
 
namespace aikido {
namespace distance {
 
AIKIDO_DECLARE_POINTERS(NominalConfigurationRanker)
 
class NominalConfigurationRanker : public ConfigurationRanker
{
public:
  NominalConfigurationRanker(
      statespace::dart::ConstMetaSkeletonStateSpacePtr metaSkeletonStateSpace,
      ::dart::dynamics::ConstMetaSkeletonPtr metaSkeleton,
      const statespace::CartesianProduct::State* nominalConfiguration,
      std::vector<double> weights = std::vector<double>());
 
  NominalConfigurationRanker(
      statespace::dart::ConstMetaSkeletonStateSpacePtr metaSkeletonStateSpace,
      ::dart::dynamics::ConstMetaSkeletonPtr metaSkeleton,
      std::vector<double> weights = std::vector<double>());
 
protected:
  double evaluateConfiguration(
      const statespace::dart::MetaSkeletonStateSpace::State* solution)
      const override;
 
  const statespace::dart::MetaSkeletonStateSpace::ScopedState
      mNominalConfiguration;
};
 
} // namespace distance
} // namespace aikido
 
#endif // AIKIDO_DISTANCE_NOMINALCONFIGURATIONRANKER_HPP_