HRICS_distance2d.h

#ifndef HRICS_DISTANCE2D_H
#define HRICS_DISTANCE2D_H

#include "API/planningAPI.hpp"
#include "Logging/Logger.h"
#include "HRICS_CF_VirtualCostFunction.h"

namespace HRICS {
namespace CF{

class Distance2D :public VirtualCostFunction
{
    MOVE3D_STATIC_LOGGER;
public:
    using VirtualCostFunction::getCost;

    Distance2D(CostFunctionCommon *commonCF,double min, double max, double low,double up,double maxToMeanRatio, FunctionShape shape);
    virtual ~Distance2D();

    static std::string getName(){return "Distance2D";}

    double getCost();
    double getCost(double d);

    void setMaxToMeanRatio(double a);
    double getMaxToMeanRatio(){return _maxToMeanRatio;}

    void setMaxCost(double max){_maxCost = max;}
    void setMinCost(double min){_minCost = min;}
    double getMaxCost(){return _maxCost;}
    double getMinCost(){return _minCost;}

private:

    double _ignore_threshold;
    double _minCost; 
    double _maxCost; 
    double _maxToMeanRatio; 

};

} // namespace CF
} // namespace HRICS

#endif // HRICS_DISTANCE2D_H