policy.hpp

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#ifndef POLICY_H_
#define POLICY_H_

#include <vector>

#include <Eigen/Core>

namespace stomp_motion_planner
{

class Policy
{
public:

    Policy(){};
    virtual ~Policy(){};

    virtual bool setNumTimeSteps(const int num_time_steps) = 0;

    virtual bool getNumTimeSteps(int& num_time_steps) = 0;

    virtual bool getNumDimensions(int& num_dimensions) = 0;

    virtual bool getNumParameters(std::vector<int>& num_params) = 0;

    virtual bool getBasisFunctions(std::vector<Eigen::MatrixXd>& basis_functions) = 0;

    virtual bool getControlCosts(std::vector<Eigen::MatrixXd>& control_costs) = 0;

    virtual bool updateParameters(const std::vector<Eigen::MatrixXd>& updates) = 0;

    virtual bool getParameters(std::vector<Eigen::VectorXd>& parameters) = 0;

    virtual bool setParameters(const std::vector<Eigen::VectorXd>& parameters) = 0;

    virtual bool computeControlCosts(const std::vector<Eigen::MatrixXd>& control_cost_matrices, const std::vector<std::vector<Eigen::VectorXd> >& parameters,
                                     const double weight, std::vector<Eigen::VectorXd>& control_costs) = 0;

    virtual bool computeControlCosts(const std::vector<Eigen::MatrixXd>& control_cost_matrices, const std::vector<Eigen::VectorXd>& parameters,
                             const std::vector<Eigen::VectorXd>& noise, const double weight, std::vector<Eigen::VectorXd>& control_costs) = 0;

};

}

#endif /* POLICY_H_ */