WorkspaceMetric.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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#ifndef RL_PLAN_WORKSPACEMETRIC_H
#define RL_PLAN_WORKSPACEMETRIC_H
 
#include <rl/math/Real.h>
#include <rl/math/Transform.h>
 
namespace rl
{
    namespace plan
    {
        class WorkspaceMetric
        {
        public:
            typedef ::rl::math::Real Distance;
            
            typedef ::std::size_t Size;
            
            struct Value
            {
                Value();
                
                Value(const ::rl::math::Transform* first, void* second);
                
                const ::rl::math::Transform* first;
                
                void* second;
            };
            
            WorkspaceMetric(::rl::math::Real* distanceWeight, bool* alternativeDistanceComputation);
            
            virtual ~WorkspaceMetric();
            
            Distance operator()(const Value& lhs, const Value& rhs) const;
            
        protected:
            
        private:
            bool* alternativeDistanceComputation;
            
            ::rl::math::Real* distanceWeight;
        };
    }
}
 
#endif // RL_PLAN_WORKSPACEMETRIC_H