feat/cost_trajectory_interface

src/modules/trajectory_generation/domain/CMakeLists.txt

@@ -9,20 +9,25 @@ find_package(Eigen3 REQUIRED)
 set(SPLINE_GENERATION spline_generation)
 set(TRAJECTORY_GENERATION trajectory_generation)
 set(GRAPH_GENERATION graph_generation)
+set(COST_CALCULATION cost_calculation)
 
 # Store all .cpp and .hpp files in a variable
 file(GLOB spline_cpp_files "${SPLINE_GENERATION}/*.cpp")
 file(GLOB trajectory_cpp_files "${TRAJECTORY_GENERATION}/*.cpp")
 file(GLOB graph_cpp_files "${GRAPH_GENERATION}/*.cpp")
+file(GLOB cost_cpp_files "${COST_CALCULATION}/*.cpp")
+
 
 file(GLOB spline_hpp_files "${SPLINE_GENERATION}/*.hpp")
 file(GLOB trajectory_hpp_files "${TRAJECTORY_GENERATION}/*.hpp")
 file(GLOB graph_hpp_files "${GRAPH_GENERATION}/*.hpp")
+file(GLOB cost_hpp_files "${COST_CALCULATION}/*.hpp")
 
 # Add library
 add_library(${SPLINE_GENERATION} ${spline_cpp_files})
 add_library(${TRAJECTORY_GENERATION} ${trajectory_cpp_files})
 add_library(${GRAPH_GENERATION} ${graph_cpp_files})
+add_library(${COST_CALCULATION} ${cost_cpp_files})
 
 # Link Dependencies
 target_link_libraries(${TRAJECTORY_GENERATION} ${SPLINE_GENERATION})
@@ -33,6 +38,7 @@ target_link_libraries(${GRAPH_GENERATION} ${TRAJECTORY_GENERATION})
 ament_target_dependencies(${SPLINE_GENERATION} common_domain)
 ament_target_dependencies(${TRAJECTORY_GENERATION} common_domain)
 ament_target_dependencies(${GRAPH_GENERATION} common_domain)
+ament_target_dependencies(${COST_CALCULATION} common_domain)
 
 # Export target and also its dependencies so that you don't have to call 
 # find_package() for each of the dependencies
@@ -42,6 +48,8 @@ ament_export_targets(${TRAJECTORY_GENERATION}Targets HAS_LIBRARY_TARGET)
 ament_export_dependencies(common_domain)
 ament_export_targets(${GRAPH_GENERATION}Targets HAS_LIBRARY_TARGET)
 ament_export_dependencies(common_domain)
+ament_export_targets(${COST_CALCULATION}Targets HAS_LIBRARY_TARGET)
+ament_export_dependencies(common_domain)
 
 # Specify the include directories to enable cmake to build and install
 target_include_directories(${SPLINE_GENERATION} PUBLIC  
@@ -56,6 +64,10 @@ target_include_directories(${GRAPH_GENERATION} PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/${GRAPH_GENERATION}>  
     $<INSTALL_INTERFACE:include/${GRAPH_GENERATION}>  # <prefix>/include/mylib
 )
+target_include_directories(${COST_CALCULATION} PUBLIC  
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/${COST_CALCULATION}>  
+    $<INSTALL_INTERFACE:include/${COST_CALCULATION}>  # <prefix>/include/mylib
+)
 
 # Install all header files to the desired location
 install(
@@ -70,6 +82,10 @@ install(
         FILES ${graph_hpp_files}
         DESTINATION include/${GRAPH_GENERATION}
 )
+install(
+        FILES ${cost_hpp_files}
+        DESTINATION include/${COST_CALCULATION}
+)
 
 # Install the library
 install(TARGETS ${SPLINE_GENERATION}
@@ -87,5 +103,10 @@ install(TARGETS ${GRAPH_GENERATION}
         LIBRARY DESTINATION lib/
         INCLUDES DESTINATION include/
 )
+install(TARGETS ${COST_CALCULATION}
+        EXPORT ${COST_CALCULATION}Targets
+        LIBRARY DESTINATION lib/
+        INCLUDES DESTINATION include/
+)
 
 ament_package()

src/modules/trajectory_generation/domain/cost_calculation/i_cost_calculator.hpp

@@ -0,0 +1,18 @@
+#ifndef TRAJECTORY_GENERATION__COST_CALCULATION__I_COST_CALCULATOR_HPP
+#define TRAJECTORY_GENERATION__COST_CALCULATION__I_COST_CALCULATOR_HPP
+
+
+namespace trajectory_generation::cost_calculation {
+
+    class ICostCalculator {
+        public:
+        /**
+         * @brief Get the overall cost for an object
+         * 
+         * @return double 
+         */
+        virtual double get_cost() const = 0;
+    };
+}
+
+#endif /*TRAJECTORY_GENERATION__COST_CALCULATION__I_COST_CALCULATOR_HPP*/