Added default state evaluator that treats all states equally (#94)

* Added default state evaluator that treats all states equally * Removed solution input parameter to pass checks
swri-robotics · Jun 29, 2022 · 3260ec7 · 3260ec7
1 parent b7faabb
commit 3260ec7
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/descartes_light/core/include/descartes_light/core/state_evaluator.h b/descartes_light/core/include/descartes_light/core/state_evaluator.h
@@ -42,7 +42,10 @@ class StateEvaluator
   StateEvaluator(StateEvaluator&&) noexcept = default;
   StateEvaluator& operator=(StateEvaluator&&) noexcept = default;
 
-  virtual std::pair<bool, FloatType> evaluate(const State<FloatType>& solution) const = 0;
+  virtual std::pair<bool, FloatType> evaluate(const State<FloatType>& /*solution*/) const
+  {
+    return std::make_pair<bool, FloatType>(true, static_cast<FloatType>(0.0));
+  };
 };
 
 using StateEvaluatorF = StateEvaluator<float>;