vigir_footstep_planning::BoundaryStepCostEstimator Class Reference

#include <boundary_step_cost_estimator.h>

List of all members.

Public Member Functions
	BoundaryStepCostEstimator ()
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
bool	loadParams (const vigir_generic_params::ParameterSet &params=vigir_generic_params::ParameterSet()) override
Protected Attributes
double	cost_height_diff_rel
double	cost_pitch_abs
double	cost_roll_abs
double	cost_yaw_rel
double	long_step_dist
double	max_diff_z
double	min_yaw_seperation_enlargement
double	yaw_enlarged_min_seperation

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Detailed Description

Definition at line 38 of file boundary_step_cost_estimator.h.

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Constructor & Destructor Documentation

vigir_footstep_planning::BoundaryStepCostEstimator::BoundaryStepCostEstimator

(

)

Definition at line 9 of file boundary_step_cost_estimator.cpp.

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Member Function Documentation

bool vigir_footstep_planning::BoundaryStepCostEstimator::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]

TODO: expensive!

TODO: expensive!

Definition at line 31 of file boundary_step_cost_estimator.cpp.

bool vigir_footstep_planning::BoundaryStepCostEstimator::loadParams

(

const vigir_generic_params::ParameterSet &

params = vigir_generic_params::ParameterSet()

)

[override]

Definition at line 14 of file boundary_step_cost_estimator.cpp.

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Member Data Documentation

double vigir_footstep_planning::BoundaryStepCostEstimator::cost_height_diff_rel [protected]

Definition at line 56 of file boundary_step_cost_estimator.h.

double vigir_footstep_planning::BoundaryStepCostEstimator::cost_pitch_abs [protected]

Definition at line 54 of file boundary_step_cost_estimator.h.

double vigir_footstep_planning::BoundaryStepCostEstimator::cost_roll_abs [protected]

Definition at line 53 of file boundary_step_cost_estimator.h.

double vigir_footstep_planning::BoundaryStepCostEstimator::cost_yaw_rel [protected]

Definition at line 55 of file boundary_step_cost_estimator.h.

double vigir_footstep_planning::BoundaryStepCostEstimator::long_step_dist [protected]

Definition at line 50 of file boundary_step_cost_estimator.h.

double vigir_footstep_planning::BoundaryStepCostEstimator::max_diff_z [protected]

Definition at line 49 of file boundary_step_cost_estimator.h.

double vigir_footstep_planning::BoundaryStepCostEstimator::min_yaw_seperation_enlargement [protected]

Definition at line 51 of file boundary_step_cost_estimator.h.

double vigir_footstep_planning::BoundaryStepCostEstimator::yaw_enlarged_min_seperation [protected]

Definition at line 52 of file boundary_step_cost_estimator.h.

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

• boundary_step_cost_estimator.h
• boundary_step_cost_estimator.cpp