heuristic.cpp
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00001 #include <vigir_footstep_planning_plugins/plugin_aggregators/heuristic.h>
00002 
00003 
00004 
00005 namespace vigir_footstep_planning
00006 {
00007 Heuristic::Heuristic()
00008   : ExtendedPluginAggregator<Heuristic, HeuristicPlugin>("Heuristic")
00009 {
00010 }
00011 
00012 double Heuristic::getHeuristicValue(const State& from, const State& to, const State& start, const State& goal) const
00013 {
00014   double h = 0.0;
00015 
00016   for (HeuristicPlugin::Ptr plugin : getPlugins())
00017   {
00018     if (plugin)
00019       h += plugin->getHeuristicValue(from, to, start, goal);
00020   }
00021 
00022   return h;
00023 }
00024 }


vigir_footstep_planning_plugins
Author(s): Alexander Stumpf
autogenerated on Sat Jul 15 2017 02:48:02