An abstract super class providing methods necessary to be used as heuristic function within the FootstepPlanner. More...

#include <Heuristic.h>

Inheritance diagram for footstep_planner::Heuristic:

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Public Types
enum	HeuristicType { EUCLIDEAN =0, EUCLIDEAN_STEPCOST =1, PATH_COST =2 }

Public Member Functions
HeuristicType	getHeuristicType () const

virtual double	getHValue (const PlanningState &from, const PlanningState &to) const =0

	Heuristic (double cell_size, int num_angle_bins, HeuristicType type)

virtual	~Heuristic ()

Detailed Description

An abstract super class providing methods necessary to be used as heuristic function within the FootstepPlanner.

Definition at line 34 of file Heuristic.h.

Member Enumeration Documentation

Definition at line 37 of file Heuristic.h.

footstep_planner::Heuristic::Heuristic	(	double	cell_size,
		int	num_angle_bins,
		HeuristicType	type
	)

Definition at line 25 of file Heuristic.cpp.

footstep_planner::Heuristic::~Heuristic ( )

virtual

Definition at line 33 of file Heuristic.cpp.

HeuristicType footstep_planner::Heuristic::getHeuristicType ( ) const

inline

Definition at line 50 of file Heuristic.h.

virtual double footstep_planner::Heuristic::getHValue	(	const PlanningState &	from,
		const PlanningState &	to
	)		const

pure 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.)

double footstep_planner::Heuristic::ivCellSize

protected

Definition at line 53 of file Heuristic.h.

const HeuristicType footstep_planner::Heuristic::ivHeuristicType

protected

Definition at line 56 of file Heuristic.h.

int footstep_planner::Heuristic::ivNumAngleBins

protected

Definition at line 54 of file Heuristic.h.

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