constraint_evaluator.hpp

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#ifndef CONSTRAINT_EVALUATOR_H_
#define CONSTRAINT_EVALUATOR_H_

#include "Chomp/chompTrajectory.hpp"
#include "OrientationConstraint.hpp"

//namespace stomp_motion_planner
//{
class ConstraintEvaluator
{
public:
  ConstraintEvaluator();
  virtual ~ConstraintEvaluator();

  virtual bool getCost(const std::vector<Eigen::Tranform3d>& frame, const Eigen::VectorXd& full_trajectory_joint_pos, double& cost)=0;
};

class OrientationConstraintEvaluator: public ConstraintEvaluator
{
public:
  OrientationConstraintEvaluator(const motion_planning_msgs::OrientationConstraint &oc,
                                 const StompRobotModel& robot_model);
  
  virtual ~OrientationConstraintEvaluator();
  bool getCost(const std::vector<KDL::Frame>& frame, const Eigen::VectorXd& full_trajectory_joint_pos, double& cost);

private:
  double absolute_roll_tolerance_, absolute_pitch_tolerance_, absolute_yaw_tolerance_;
  double roll_weight_, pitch_weight_, yaw_weight_;
  btMatrix3x3 nominal_orientation_, nominal_orientation_inverse_;
  bool body_fixed_orientation_constraint_;
  int frame_number_;
  double weight_;
  void getRPYDistance(const btMatrix3x3 &orientation_matrix, double &roll, double &pitch, double &yaw) const;
};
//}

#endif /* CONSTRAINT_EVALUATOR_H_ */