vigir_footstep_planning::StepCostHeuristic Class Reference

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 <step_cost_heuristic.h>

List of all members.

Public Member Functions
double	getHeuristicValue (const State &from, const State &to, const State &start, const State &goal) const override
bool	loadParams (const vigir_generic_params::ParameterSet &params=vigir_generic_params::ParameterSet()) override
	StepCostHeuristic ()
Protected Attributes
double	diff_angle_cost_
double	max_step_dist_x_inv_
	longest step width
double	max_step_dist_y_inv_
double	step_cost_

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Detailed Description

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 48 of file step_cost_heuristic.h.

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Constructor & Destructor Documentation

vigir_footstep_planning::StepCostHeuristic::StepCostHeuristic

(

)

Definition at line 7 of file step_cost_heuristic.cpp.

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Member Function Documentation

double vigir_footstep_planning::StepCostHeuristic::getHeuristicValue	(	const State &	from,
		const State &	to,
		const State &	start,
		const State &	goal
	)		const [override]

Definition at line 26 of file step_cost_heuristic.cpp.

bool vigir_footstep_planning::StepCostHeuristic::loadParams

(

const vigir_generic_params::ParameterSet &

params = vigir_generic_params::ParameterSet()

)

[override]

Definition at line 12 of file step_cost_heuristic.cpp.

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Member Data Documentation

double vigir_footstep_planning::StepCostHeuristic::diff_angle_cost_ [protected]

Definition at line 60 of file step_cost_heuristic.h.

double vigir_footstep_planning::StepCostHeuristic::max_step_dist_x_inv_ [protected]

longest step width

Definition at line 63 of file step_cost_heuristic.h.

double vigir_footstep_planning::StepCostHeuristic::max_step_dist_y_inv_ [protected]

Definition at line 64 of file step_cost_heuristic.h.

double vigir_footstep_planning::StepCostHeuristic::step_cost_ [protected]

Definition at line 59 of file step_cost_heuristic.h.

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

• step_cost_heuristic.h
• step_cost_heuristic.cpp