CoordinationArmVehicleSolver.h

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#ifndef __ARMVEHICLESOLVER_H__
#define __ARMVEHICLESOLVER_H__
 
#include "ActionManager.h"
#include "TPIK.h"
#include <eigen3/Eigen/Dense>
#include <iostream>
#include <vector>
 
namespace tpik {
class CoordinationArmVehicleSolver {
public:
    CoordinationArmVehicleSolver(const std::shared_ptr<ActionManager> actionManager, const std::shared_ptr<TPIK> tpik, const std::shared_ptr<PriorityLevel> vehiclePriorityLevel);
    bool SetAction(const std::string action, bool transition);
    const Eigen::VectorXd ComputeDecoupledVelocities();
 
private:
    std::shared_ptr<ActionManager> actionManager_; 
    std::shared_ptr<TPIK> tpik_; 
    std::vector<std::shared_ptr<PriorityLevel>> hierarchy_; 
    std::vector<std::shared_ptr<PriorityLevel>> hierarchyArm_; 
    std::shared_ptr<PriorityLevel> vehiclePriorityLevel_; 
};
}
#endif