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_MAP_STEP_COST_ESTIMATOR_H 00030 #define VIGIR_FOOTSTEP_PLANNING_MAP_STEP_COST_ESTIMATOR_H 00031 00032 #include <fstream> 00033 00034 #include <vigir_footstep_planning_plugins/plugins/step_cost_estimator_plugin.h> 00035 00036 #include <vigir_footstep_planning_default_plugins/step_cost_estimators/step_cost_key.h> 00037 00038 00039 00040 namespace vigir_footstep_planning 00041 { 00042 class MapStepCostEstimator 00043 : public StepCostEstimatorPlugin 00044 { 00045 public: 00046 MapStepCostEstimator(); 00047 00048 bool loadParams(const vigir_generic_params::ParameterSet& params = vigir_generic_params::ParameterSet()) override; 00049 00050 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; 00051 00052 protected: 00053 void insert(const std::vector<double> &key, const std::pair<double, double> &entry); 00054 00055 void loadFromFile(const std::string &filename); 00056 00057 template <class T> void read(std::ifstream &in, T &value) 00058 { 00059 in.read((char*) &value, sizeof(value)); 00060 } 00061 00062 // boundaries 00063 float min_x, max_x; 00064 float min_y, max_y; 00065 float min_yaw, max_yaw; 00066 00067 // resolution 00068 double cell_size; 00069 uint32_t num_angle_bin; 00070 double angle_bin_size; 00071 00072 // map 00073 boost::unordered_map<StepCostKey, std::pair<double, double> > cost_map; 00074 }; 00075 } 00076 00077 #endif