primitive.h

#pragma once
 
#include "proto/primitive.pb.h"
#include "software/ai/navigator/obstacle/robot_navigation_obstacle_factory.h"
#include "software/ai/navigator/trajectory/trajectory_path.h"
 
class Primitive
{
   public:
    virtual ~Primitive() = default;
 
    virtual std::pair<std::optional<TrajectoryPath>,
                      std::unique_ptr<TbotsProto::Primitive>>
    generatePrimitiveProtoMessage(
        const World &world,
        const std::set<TbotsProto::MotionConstraint> &motion_constraints,
        const std::map<RobotId, TrajectoryPath> &robot_trajectories,
        const RobotNavigationObstacleFactory &obstacle_factory) = 0;
 
    virtual void getVisualizationProtos(
        TbotsProto::ObstacleList &obstacle_list_out,
        TbotsProto::PathVisualization &path_visualization_out) const = 0;
 
    double getEstimatedPrimitiveCost() const
    {
        return estimated_cost;
    }
 
   protected:
    double estimated_cost = 0;
};