constraint_evaluator.h

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/*******************************
 *                             *
 *  Author: Rein Appeldoorn    *
 *  Date:   2013-03-06         *
 *                             *
 *******************************/
 
#ifndef cb_global_planner_CONSTRAINT_EVALUATOR_H_
#define cb_global_planner_CONSTRAINT_EVALUATOR_H_
 
#include "exprtk/exprtk.hpp"
 
#include <string>
 
namespace cb_global_planner
{
 
class ConstraintEvaluator
{
 
public:
    ConstraintEvaluator();
 
    bool init(const std::string& constraint);
 
    bool evaluate(const double& x, const double& y);
 
    inline std::string getConstraint() { return constraint_; }
 
private:
    std::string constraint_;
    exprtk::symbol_table<double> symbol_table_;
    exprtk::expression<double> expression_;
    double x_,y_;
    bool initialized_;
 
};
 
}
#endif