Determining the heuristic value by the euclidean distance between two states, the expected step costs to get from one state to the other and the difference between the orientation of the two states multiplied by some cost factor. (NOTE: choosing this angular difference cost might overestimate the heuristic value.) More...
#include <Heuristic.h>
Public Member Functions | |
| EuclStepCostHeuristic (double cell_size, int num_angle_bins, double step_cost, double diff_angle_cost, double max_step_width) | |
| virtual double | getHValue (const PlanningState &from, const PlanningState &to) const |
| virtual | ~EuclStepCostHeuristic () |
 Public Member Functions inherited from footstep_planner::Heuristic | |
| HeuristicType | getHeuristicType () const |
| Heuristic (double cell_size, int num_angle_bins, HeuristicType type) | |
| virtual | ~Heuristic () |
Private Attributes | |
| const double | ivDiffAngleCost |
| const double | ivMaxStepWidth |
| longest step width More... | |
| const double | ivStepCost |
Additional Inherited Members | |
| Public Types inherited from footstep_planner::Heuristic | |
| enum | HeuristicType { EUCLIDEAN =0, EUCLIDEAN_STEPCOST =1, PATH_COST =2 } |
| Protected Attributes inherited from footstep_planner::Heuristic | |
| double | ivCellSize |
| const HeuristicType | ivHeuristicType |
| int | ivNumAngleBins |
Detailed Description
Determining the heuristic value by the euclidean distance between two states, the expected step costs to get from one state to the other and the difference between the orientation of the two states multiplied by some cost factor. (NOTE: choosing this angular difference cost might overestimate the heuristic value.)
Definition at line 82 of file Heuristic.h.
Constructor & Destructor Documentation
| footstep_planner::EuclStepCostHeuristic::EuclStepCostHeuristic | ( | double | cell_size, |
| int | num_angle_bins, | ||
| double | step_cost, | ||
| double | diff_angle_cost, | ||
| double | max_step_width | ||
| ) |
Definition at line 62 of file Heuristic.cpp.
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virtual |
Definition at line 74 of file Heuristic.cpp.
Member Function Documentation
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virtual |
- Returns
- The heuristically determined path costs to get from state 'from' to state 'to' where 'to' is supposed to be the goal of the planning task. (Costs are in meter.)
Implements footstep_planner::Heuristic.
Definition at line 79 of file Heuristic.cpp.
Member Data Documentation
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private |
Definition at line 96 of file Heuristic.h.
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private |
longest step width
Definition at line 99 of file Heuristic.h.
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private |
Definition at line 95 of file Heuristic.h.
The documentation for this class was generated from the following files: