HRICS_Visibility.hpp

#ifndef HRICS_VISIBILITY_H
#define HRICS_VISIBILITY_H

/*
 *  HRICS_Visbility.h
 *  BioMove3D
 *
 *  Created by Jim Mainprice on 30/04/10.
 *  Copyright 2010 LAAS/CNRS. All rights reserved.
 *
 */

namespace HRICS
{
    class Visibility 
        {
        public:
                Visibility(Robot* R);
    
    
    double getWorkspaceCost(const Eigen::Vector3d& WSPoint);
    
    double getOldWorkspaceCost(const Eigen::Vector3d& WSPoint);
                
                double akinVisibilityCost(const Eigen::Vector3d& WSPoint);
                
                std::vector<double> getGaze();
                
                Eigen::Vector2d get2dPointAlongGaze(double dist);
                
        private:
                Robot* m_Human;
                
                double m_Cost;
                
                std::vector<double> m_VectGaze;
                
                bool m_DrawGaze;
        };
}

#endif