step_cost_heuristic.h
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00001 //=================================================================================================
00002 // Copyright (c) 2018, Alexander Stumpf, TU Darmstadt
00003 // Based on http://wiki.ros.org/footstep_planner by Johannes Garimort and Armin Hornung
00004 // All rights reserved.
00005 
00006 // Redistribution and use in source and binary forms, with or without
00007 // modification, are permitted provided that the following conditions are met:
00008 //     * Redistributions of source code must retain the above copyright
00009 //       notice, this list of conditions and the following disclaimer.
00010 //     * Redistributions in binary form must reproduce the above copyright
00011 //       notice, this list of conditions and the following disclaimer in the
00012 //       documentation and/or other materials provided with the distribution.
00013 //     * Neither the name of the Simulation, Systems Optimization and Robotics
00014 //       group, TU Darmstadt nor the names of its contributors may be used to
00015 //       endorse or promote products derived from this software without
00016 //       specific prior written permission.
00017 
00018 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00019 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00020 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00021 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00022 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00023 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00024 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00025 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00026 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00027 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00028 //=================================================================================================
00029 
00030 #ifndef VIGIR_FOOTSTEP_PLANNING_STEP_COST_HEURISTIC_H__
00031 #define VIGIR_FOOTSTEP_PLANNING_STEP_COST_HEURISTIC_H__
00032 
00033 #include <vigir_footstep_planning_lib/math.h>
00034 
00035 #include <vigir_footstep_planning_plugins/plugins/heuristic_plugin.h>
00036 
00037 
00038 
00039 namespace vigir_footstep_planning
00040 {
00048 class StepCostHeuristic
00049   : public HeuristicPlugin
00050 {
00051 public:
00052   StepCostHeuristic();
00053 
00054   bool loadParams(const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet()) override;
00055 
00056   double getHeuristicValue(const State& from, const State& to, const State& start, const State& goal) const override;
00057 
00058 protected:
00059   double step_cost_;
00060   double diff_angle_cost_;
00061 
00063   double max_step_dist_x_inv_;
00064   double max_step_dist_y_inv_;
00065 };
00066 }
00067 
00068 #endif


vigir_footstep_planning_default_plugins
Author(s): Alexander Stumpf
autogenerated on Thu Jun 6 2019 18:38:06