00001 //================================================================================================= 00002 // Copyright (c) 2017, Alexander Stumpf, TU Darmstadt 00003 // All rights reserved. 00004 00005 // Redistribution and use in source and binary forms, with or without 00006 // modification, are permitted provided that the following conditions are met: 00007 // * Redistributions of source code must retain the above copyright 00008 // notice, this list of conditions and the following disclaimer. 00009 // * Redistributions in binary form must reproduce the above copyright 00010 // notice, this list of conditions and the following disclaimer in the 00011 // documentation and/or other materials provided with the distribution. 00012 // * Neither the name of the Simulation, Systems Optimization and Robotics 00013 // group, TU Darmstadt nor the names of its contributors may be used to 00014 // endorse or promote products derived from this software without 00015 // specific prior written permission. 00016 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 //================================================================================================= 00028 00029 #ifndef VIGIR_FOOTSTEP_PLANNING_BOUNDARY_STEP_COST_ESTIMATOR_H 00030 #define VIGIR_FOOTSTEP_PLANNING_BOUNDARY_STEP_COST_ESTIMATOR_H 00031 00032 #include <vigir_footstep_planning_plugins/plugins/step_cost_estimator_plugin.h> 00033 00034 00035 00036 namespace vigir_footstep_planning 00037 { 00038 class BoundaryStepCostEstimator 00039 : public StepCostEstimatorPlugin 00040 { 00041 public: 00042 BoundaryStepCostEstimator(); 00043 00044 bool loadParams(const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet()) override; 00045 00046 bool getCost(const State& left_foot, const State& right_foot, const State& swing_foot, double& cost, double& cost_multiplier, double& risk, double& risk_multiplier) const override; 00047 00048 protected: 00049 double max_diff_z; // maximum amount for step up/down 00050 double long_step_dist; // all larger distances are treated as long distance [m] 00051 double min_yaw_seperation_enlargement; // min yaw before seperation must be increased 00052 double yaw_enlarged_min_seperation; // min separation needed when foot turned in 00053 double cost_roll_abs; // cost for roll angle (absolute) [1/rad] 00054 double cost_pitch_abs; // cost for pitch angle (absolute) [1/rad] 00055 double cost_yaw_rel; // cost for yaw angle (relative to previous foot) [1/rad] 00056 double cost_height_diff_rel; // cost for height diff (relative to previous foot) [1/m] 00057 }; 00058 } 00059 00060 #endif