$search
Determining the heuristic value by the euclidean distance between two states, the expected step costs to get from one state to the other and the difference between the orientation of the two states multiplied by some cost factor. (NOTE: choosing this angular difference cost might overestimate the heuristic value.). More...
#include <Heuristic.h>
Public Member Functions | |
EuclStepCostHeuristic (double cell_size, int num_angle_bins, double step_cost, double diff_angle_cost, double max_step_width) | |
virtual double | getHValue (const PlanningState &from, const PlanningState &to) const |
virtual | ~EuclStepCostHeuristic () |
Private Attributes | |
const double | ivDiffAngleCost |
const double | ivMaxStepWidth |
longest step width | |
const double | ivStepCost |
Determining the heuristic value by the euclidean distance between two states, the expected step costs to get from one state to the other and the difference between the orientation of the two states multiplied by some cost factor. (NOTE: choosing this angular difference cost might overestimate the heuristic value.).
Definition at line 85 of file Heuristic.h.
footstep_planner::EuclStepCostHeuristic::EuclStepCostHeuristic | ( | double | cell_size, | |
int | num_angle_bins, | |||
double | step_cost, | |||
double | diff_angle_cost, | |||
double | max_step_width | |||
) |
Definition at line 65 of file Heuristic.cpp.
footstep_planner::EuclStepCostHeuristic::~EuclStepCostHeuristic | ( | ) | [virtual] |
Definition at line 77 of file Heuristic.cpp.
double footstep_planner::EuclStepCostHeuristic::getHValue | ( | const PlanningState & | from, | |
const PlanningState & | to | |||
) | const [virtual] |
Implements footstep_planner::Heuristic.
Definition at line 82 of file Heuristic.cpp.
const double footstep_planner::EuclStepCostHeuristic::ivDiffAngleCost [private] |
Definition at line 99 of file Heuristic.h.
const double footstep_planner::EuclStepCostHeuristic::ivMaxStepWidth [private] |
longest step width
Definition at line 102 of file Heuristic.h.
const double footstep_planner::EuclStepCostHeuristic::ivStepCost [private] |
Definition at line 98 of file Heuristic.h.