TrajectoryFamily.h

Go to the documentation of this file.

/*
 * Copyright (C) by
 *   MetraLabs GmbH (MLAB), GERMANY
 *  and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
 *
 * Redistribution and modification of this code is strictly prohibited.
 *
 * IN NO EVENT SHALL "MLAB" OR "NICR" BE LIABLE TO ANY PARTY FOR DIRECT,
 * INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF
 * THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLAB" OR
 * "NICR" HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 * "MLAB" AND "NICR" SPECIFICALLY DISCLAIM ANY WARRANTIES, INCLUDING,
 * BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 * FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER IS
 * ON AN "AS IS" BASIS, AND "MLAB" AND "NICR" HAVE NO OBLIGATION TO
 * PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS OR MODIFICATIONS.
 */

#ifndef _MIRA_PILOT_TRAJECTORYFAMILY_H_
#define _MIRA_PILOT_TRAJECTORYFAMILY_H_

#include <serialization/adapters/std/vector>

#include <transform/Velocity.h>

#include <pilot/Objective.h>
#include <robot/Trajectory.h>

namespace mira { namespace pilot {


class TrajectoryInfo
{
public:

    TrajectoryInfo() {}

public:

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.member("Trajectory", trajectory, "");
        r.member("Costs", costs, "");
        r.member("Permit", permit, "");
    }

public:
    robot::PoseVelocityTrajectory trajectory;

    double costs;
    Objective::Permit permit;
};

typedef std::vector<TrajectoryInfo> TrajectoryFamily;


} } // namespace

#endif