cost_system_cost_function.hpp

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/*
 * Copyright (C) 2022 LEIDOS.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */
 
#ifndef __ARBITRATOR_INCLUDE_COST_SYSTEM_COST_FUNCTION_HPP__
#define __ARBITRATOR_INCLUDE_COST_SYSTEM_COST_FUNCTION_HPP__
 
#include <rclcpp/rclcpp.hpp>
#include <map>
#include <string>
#include <carma_ros2_utils/carma_lifecycle_node.hpp>
 
#include "cost_function.hpp"
 
namespace arbitrator
{
    class CostSystemCostFunction : public CostFunction
    {
        public:
            CostSystemCostFunction() {};
 
            void init(std::shared_ptr<carma_ros2_utils::CarmaLifecycleNode> nh);
 
            double compute_total_cost(const carma_planning_msgs::msg::ManeuverPlan& plan);
 
            double compute_cost_per_unit_distance(const carma_planning_msgs::msg::ManeuverPlan& plan);
        private:
            carma_ros2_utils::ClientPtr<carma_planning_msgs::srv::ComputePlanCost> cost_system_sc_;
            bool initialized_ = false;
    };
}
 
#endif //__ARBITRATOR_INCLUDE_COST_SYSTEM_COST_FUNCTION_HPP__