ProbabilisticMotionModel.h

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/*
 * Copyright (C) 2012 by
 *   MetraLabs GmbH (MLAB), GERMANY
 * and
 *   Neuroinformatics and Cognitive Robotics Labs (NICR) at TU Ilmenau, GERMANY
 * All rights reserved.
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 * Contact: info@mira-project.org
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#ifndef _MIRA_PROBABILISTICMOTIONMODEL_H_
#define _MIRA_PROBABILISTICMOTIONMODEL_H_

#include <transform/Pose.h>

namespace mira { namespace robot {


class ProbabilisticMotionModel
{
public:

    virtual ~ProbabilisticMotionModel() {}

    virtual Pose2 sampleMotion(const Pose2& startPose, const Pose2& p0, const Pose2& p1) const = 0;

    virtual void sampleMotion(const std::vector<Pose2>& startPoses,
                              const Pose2& p0, const Pose2& p1, std::vector<Pose2>& sampledPoses) const
    {
        sampledPoses.resize(startPoses.size());
        for(std::size_t i=0; i<startPoses.size(); ++i)
            sampledPoses[i] = sampleMotion(startPoses[i], p0, p1);
    }
};

typedef boost::shared_ptr<ProbabilisticMotionModel> ProbabilisticMotionModelPtr;


}} // namespace

#endif