task.hpp

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  \file    task.h

  \author  Peter Pastor
  \date    Jun 10, 2010

**********************************************************************/

#ifndef TASK_H_
#define TASK_H_

#include <boost/shared_ptr.hpp>

//#include <ros/node_handle.h>

#include <Eigen/Core>
#include "policy.hpp"

namespace stomp_motion_planner

{

class Task
{

public:

    Task(){};
    virtual ~Task(){};

    virtual bool initialize(/*ros::NodeHandle& node_handle,*/ int num_time_steps) = 0;

    virtual bool execute(std::vector<Eigen::VectorXd>& parameters, Eigen::VectorXd& costs, const int iteration_number, bool resample = false) = 0;

    virtual bool getPolicy(boost::shared_ptr<stomp_motion_planner::Policy>& policy) = 0;

    virtual bool setPolicy(const boost::shared_ptr<stomp_motion_planner::Policy> policy) = 0;

    virtual bool getControlCostWeight(double& control_cost_weight) = 0;

};

}
#endif /* TASK_H_ */