Public Types | Public Member Functions | Protected Attributes
footstep_planner::Heuristic Class Reference

An abstract super class providing methods necessary to be used as heuristic function within the FootstepPlanner. More...

#include <Heuristic.h>

Inheritance diagram for footstep_planner::Heuristic:
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List of all members.

Public Types

enum  HeuristicType { EUCLIDEAN = 0, EUCLIDEAN_STEPCOST = 1, PATH_COST = 2 }

Public Member Functions

HeuristicType getHeuristicType () const
virtual double getHValue (const PlanningState &from, const PlanningState &to) const =0
 Heuristic (double cell_size, int num_angle_bins, HeuristicType type)
virtual ~Heuristic ()

Protected Attributes

double ivCellSize
const HeuristicType ivHeuristicType
int ivNumAngleBins

Detailed Description

An abstract super class providing methods necessary to be used as heuristic function within the FootstepPlanner.

Definition at line 34 of file Heuristic.h.


Member Enumeration Documentation

Enumerator:
EUCLIDEAN 
EUCLIDEAN_STEPCOST 
PATH_COST 

Definition at line 37 of file Heuristic.h.


Constructor & Destructor Documentation

footstep_planner::Heuristic::Heuristic ( double  cell_size,
int  num_angle_bins,
HeuristicType  type 
)

Definition at line 25 of file Heuristic.cpp.

Definition at line 33 of file Heuristic.cpp.


Member Function Documentation

Definition at line 50 of file Heuristic.h.

virtual double footstep_planner::Heuristic::getHValue ( const PlanningState from,
const PlanningState to 
) const [pure virtual]
Returns:
The heuristically determined path costs to get from state 'from' to state 'to' where 'to' is supposed to be the goal of the planning task. (Costs are in meter.)

Implemented in footstep_planner::EuclStepCostHeuristic, footstep_planner::EuclideanHeuristic, and footstep_planner::PathCostHeuristic.


Member Data Documentation

Definition at line 53 of file Heuristic.h.

Definition at line 56 of file Heuristic.h.

Definition at line 54 of file Heuristic.h.


The documentation for this class was generated from the following files:


footstep_planner
Author(s): Johannes Garimort, Armin Hornung
autogenerated on Sat Jun 8 2019 20:21:05