Determining the heuristic value by calculating a 2D path from each grid cell of the map to the goal and using the path length as expected distance. More...

#include <PathCostHeuristic.h>

Inheritance diagram for footstep_planner::PathCostHeuristic:

[legend]

List of all members.

Public Member Functions
bool	calculateDistances (const PlanningState &from, const PlanningState &to)
	Calculates for each grid cell of the map a 2D path to the cell (to.x, to.y). For forward planning 'to' is supposed to be the goal state, for backward planning 'to' is supposed to be the start state.
virtual double	getHValue (const PlanningState &current, const PlanningState &to) const
	PathCostHeuristic (double cell_size, int num_angle_bins, double step_cost, double diff_angle_cost, double max_step_width, double inflation_radius)
void	updateMap (gridmap_2d::GridMap2DPtr map)
virtual	~PathCostHeuristic ()
Private Member Functions
void	resetGrid ()
Private Attributes
double	ivDiffAngleCost
int	ivGoalX
int	ivGoalY
boost::shared_ptr < SBPL2DGridSearch >	ivGridSearchPtr
double	ivInflationRadius
gridmap_2d::GridMap2DPtr	ivMapPtr
double	ivMaxStepWidth
unsigned char **	ivpGrid
double	ivStepCost
Static Private Attributes
static const int	cvObstacleThreshold = 200

Detailed Description

Determining the heuristic value by calculating a 2D path from each grid cell of the map to the goal and using the path length as expected distance.

The heuristic value consists of the following factors:

+ The expected distance retreived from the 2D path.

+ The expected path costs.

+ The difference between the orientation of the two states multiplied by some cost factor.

Definition at line 48 of file PathCostHeuristic.h.

Constructor & Destructor Documentation

footstep_planner::PathCostHeuristic::PathCostHeuristic	(	double	cell_size,
		int	num_angle_bins,
		double	step_cost,
		double	diff_angle_cost,
		double	max_step_width,
		double	inflation_radius
	)

Definition at line 29 of file PathCostHeuristic.cpp.

footstep_planner::PathCostHeuristic::~PathCostHeuristic ( ) [virtual]

Definition at line 46 of file PathCostHeuristic.cpp.

Member Function Documentation

bool footstep_planner::PathCostHeuristic::calculateDistances	(	const PlanningState &	from,
		const PlanningState &	to
	)

Calculates for each grid cell of the map a 2D path to the cell (to.x, to.y). For forward planning 'to' is supposed to be the goal state, for backward planning 'to' is supposed to be the start state.

Definition at line 107 of file PathCostHeuristic.cpp.