BeliefPoint.hpp

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Copyright (c) 2017, Shushman Choudhury
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Authors: Shushman Choudhury <shushmanchoudhury@gmail.com>

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#ifndef BATCHING_POMP_CSPACEBELIEF_BELIEFPOINT_HPP_
#define BATCHING_POMP_CSPACEBELIEF_BELIEFPOINT_HPP_

#include <ompl/base/State.h>
#include <Eigen/Dense>
#include <functional>

namespace batching_pomp {
namespace cspacebelief {


struct BeliefPoint {

  Eigen::VectorXd stateValues;
  double value;

  BeliefPoint():value(0.0){}
  BeliefPoint(const ompl::base::State* _state, 
              unsigned int _dims, double _val)
  :value{_val}
  {
    double *values = _state->as<ompl::base::RealVectorStateSpace::StateType>()->values;
    stateValues = Eigen::Map<Eigen::VectorXd>(values,_dims);
  }

  double getValue()
  {
    return value;
  }

  bool operator==(const BeliefPoint& bp) const
  {
    return (stateValues==bp.stateValues);
  }

  bool operator!=(const BeliefPoint& bp) const
  {
    return (stateValues!=bp.stateValues);
  }
};

} //namespace cspacebelief
} //namespace batching_pomp

#endif //BATCHING_POMP_CSPACEBELIEF_BELIEFPOINT_HPP_