step_cost_estimator.h
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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_PLUGINS_STEP_COST_ESTIMATOR_H__
00030 #define VIGIR_FOOTSTEP_PLANNING_PLUGINS_STEP_COST_ESTIMATOR_H__
00031 
00032 #include <ros/ros.h>
00033 
00034 #include <vigir_footstep_planning_plugins/plugin_aggregators/extended_plugin_aggregator.h>
00035 #include <vigir_footstep_planning_plugins/plugins/step_cost_estimator_plugin.h>
00036 
00037 
00038 
00039 namespace vigir_footstep_planning
00040 {
00041 class StepCostEstimator
00042   : public ExtendedPluginAggregator<StepCostEstimator, StepCostEstimatorPlugin>
00043 {
00044 public:
00045   StepCostEstimator();
00046 
00047   bool loadParams(const vigir_generic_params::ParameterSet& params) override;
00048 
00049   bool getCost(const State& left_foot, const State& right_foot, const State& swing_foot, double& cost, double& risk) const;
00050   bool getCost(const State& left_foot, const State& right_foot, const State& swing_foot, float& cost, float& risk) const;
00051 
00052 protected:
00053   double max_risk_;
00054 };
00055 }
00056 
00057 #endif


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