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helper.h File Reference
#include <gridmap_2d/GridMap2D.h>
#include <angles/angles.h>
#include <tf/tf.h>
#include <math.h>
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namespace  footstep_planner


#define DEBUG_HASH   0
#define DEBUG_TIME   0


enum  footstep_planner::Leg { footstep_planner::RIGHT = 0, footstep_planner::LEFT = 1, footstep_planner::NOLEG = 2 }


double footstep_planner::angle_cell_2_state (int angle, int angle_bin_num)
 Calculate the respective (continuous) angle for a bin.
int footstep_planner::angle_state_2_cell (double angle, int angle_bin_num)
 Discretize a (continuous) angle into a bin.
unsigned int footstep_planner::calc_hash_tag (int x, int y, int theta, int leg, int max_hash_size)
double footstep_planner::cell_2_state (int value, double cell_size)
 Calculate the respective (continuous) state value for a cell. (Should be used to get a State from a discretized PlanningState.)
bool footstep_planner::collision_check (double x, double y, double theta, double height, double width, int accuracy, const gridmap_2d::GridMap2D &distance_map)
 Checks if a footstep (represented by its center and orientation) collides with an obstacle. The check is done by recursively testing if either the circumcircle of the foot, the inner circle of the foot or the area in between has an appropriate distance to the nearest obstacle.
double footstep_planner::cont_val (int length, double cell_size)
 Calculates the continuous value for a length discretized in cell size.
int footstep_planner::disc_val (double length, double cell_size)
 Discretize a (continuous) value into cell size.
double footstep_planner::euclidean_distance (int x1, int y1, int x2, int y2)
double footstep_planner::euclidean_distance (double x1, double y1, double x2, double y2)
double footstep_planner::euclidean_distance_sq (int x1, int y1, int x2, int y2)
double footstep_planner::euclidean_distance_sq (double x1, double y1, double x2, double y2)
double footstep_planner::grid_cost (int x1, int y1, int x2, int y2, float cell_size)
unsigned int footstep_planner::int_hash (int key)
bool footstep_planner::pointWithinPolygon (int x, int y, const std::vector< std::pair< int, int > > &edges)
 Crossing number method to determine whether a point lies within a polygon or not.
int footstep_planner::round (double r)
 Rounding half towards zero.
int footstep_planner::state_2_cell (float value, float cell_size)
 Discretize a (continuous) state value into a cell. (Should be used to discretize a State to a PlanningState.)


static const double footstep_planner::FLOAT_CMP_THR = 0.0001
static const double footstep_planner::TWO_PI = 2 * M_PI

Define Documentation

#define DEBUG_HASH   0

Definition at line 27 of file helper.h.

#define DEBUG_TIME   0

Definition at line 28 of file helper.h.

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Author(s): Johannes Garimort, Armin Hornung
autogenerated on Tue Oct 15 2013 10:06:52