PathCostHeuristic.h

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// SVN $HeadURL$
// SVN $Id$

/*
 * A footstep planner for humanoid robots
 *
 * Copyright 2010-2011 Johannes Garimort, Armin Hornung, University of Freiburg
 * http://www.ros.org/wiki/footstep_planner
 *
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, version 3.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef FOOTSTEP_PLANNER_PATHCOSTHEURISTIC_H_
#define FOOTSTEP_PLANNER_PATHCOSTHEURISTIC_H_

#include <footstep_planner/Heuristic.h>
#include <gridmap_2d/GridMap2D.h>
#include <sbpl/headers.h>


namespace footstep_planner
{
class PathCostHeuristic : public Heuristic
{
public:
  PathCostHeuristic(double cell_size, int num_angle_bins,
                    double step_cost, double diff_angle_cost,
                    double max_step_width, double inflation_radius);
  virtual ~PathCostHeuristic();

  virtual double getHValue(const PlanningState& current,
                           const PlanningState& to) const;

  bool calculateDistances(const PlanningState& from, const PlanningState& to);

  void updateMap(gridmap_2d::GridMap2DPtr map);

private:
  static const int cvObstacleThreshold = 200;

  unsigned char** ivpGrid;

  double ivStepCost;
  double ivDiffAngleCost;
  double ivMaxStepWidth;
  double ivInflationRadius;

  int ivGoalX;
  int ivGoalY;

  gridmap_2d::GridMap2DPtr ivMapPtr;
  boost::shared_ptr<SBPL2DGridSearch> ivGridSearchPtr;

  void resetGrid();
};
}
#endif  // FOOTSTEP_PLANNER_PATHCOSTHEURISTIC_H_