Determining the heuristic value by calculating a 2D path from each grid cell of the map to the goal and using the path length as expected distance. More...

#include <PathCostHeuristic.h>

Inheritance diagram for footstep_planner::PathCostHeuristic:

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Public Member Functions
bool	calculateDistances (const PlanningState &from, const PlanningState &to)
	Calculates for each grid cell of the map a 2D path to the cell (to.x, to.y). For forward planning 'to' is supposed to be the goal state, for backward planning 'to' is supposed to be the start state. More...

virtual double	getHValue (const PlanningState &current, const PlanningState &to) const

	PathCostHeuristic (double cell_size, int num_angle_bins, double step_cost, double diff_angle_cost, double max_step_width, double inflation_radius)

void	updateMap (gridmap_2d::GridMap2DPtr map)

virtual	~PathCostHeuristic ()

Public Member Functions inherited from footstep_planner::Heuristic
HeuristicType	getHeuristicType () const

	Heuristic (double cell_size, int num_angle_bins, HeuristicType type)

virtual	~Heuristic ()

Private Member Functions
void	resetGrid ()

Private Attributes
double	ivDiffAngleCost

int	ivGoalX

int	ivGoalY

boost::shared_ptr< SBPL2DGridSearch >	ivGridSearchPtr

double	ivInflationRadius

gridmap_2d::GridMap2DPtr	ivMapPtr

double	ivMaxStepWidth

unsigned char **	ivpGrid

double	ivStepCost

Static Private Attributes
static const int	cvObstacleThreshold = 200

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 calculating a 2D path from each grid cell of the map to the goal and using the path length as expected distance.

The heuristic value consists of the following factors:

The expected distance retreived from the 2D path.
The expected path costs.
The difference between the orientation of the two states multiplied by some cost factor.

Definition at line 45 of file PathCostHeuristic.h.

Constructor & Destructor Documentation

footstep_planner::PathCostHeuristic::PathCostHeuristic	(	double	cell_size,
		int	num_angle_bins,
		double	step_cost,
		double	diff_angle_cost,
		double	max_step_width,
		double	inflation_radius
	)

Definition at line 26 of file PathCostHeuristic.cpp.

footstep_planner::PathCostHeuristic::~PathCostHeuristic ( )

virtual

Definition at line 43 of file PathCostHeuristic.cpp.

Member Function Documentation

bool footstep_planner::PathCostHeuristic::calculateDistances	(	const PlanningState &	from,
		const PlanningState &	to
	)

Calculates for each grid cell of the map a 2D path to the cell (to.x, to.y). For forward planning 'to' is supposed to be the goal state, for backward planning 'to' is supposed to be the start state.

Definition at line 104 of file PathCostHeuristic.cpp.

double footstep_planner::PathCostHeuristic::getHValue	(	const PlanningState &	current,
		const PlanningState &	to
	)		const

virtual

Returns: The estimated costs needed to reach the state 'to' from within the current state.

Implements footstep_planner::Heuristic.

Definition at line 51 of file PathCostHeuristic.cpp.

void footstep_planner::PathCostHeuristic::resetGrid ( )

private

Definition at line 174 of file PathCostHeuristic.cpp.

void footstep_planner::PathCostHeuristic::updateMap ( gridmap_2d::GridMap2DPtr map )

Definition at line 135 of file PathCostHeuristic.cpp.

Member Data Documentation

const int footstep_planner::PathCostHeuristic::cvObstacleThreshold = 200

staticprivate

Definition at line 71 of file PathCostHeuristic.h.

double footstep_planner::PathCostHeuristic::ivDiffAngleCost

private

Definition at line 76 of file PathCostHeuristic.h.

int footstep_planner::PathCostHeuristic::ivGoalX

private

Definition at line 80 of file PathCostHeuristic.h.

int footstep_planner::PathCostHeuristic::ivGoalY

private

Definition at line 81 of file PathCostHeuristic.h.

boost::shared_ptr<SBPL2DGridSearch> footstep_planner::PathCostHeuristic::ivGridSearchPtr

private

Definition at line 84 of file PathCostHeuristic.h.

double footstep_planner::PathCostHeuristic::ivInflationRadius

private

Definition at line 78 of file PathCostHeuristic.h.

gridmap_2d::GridMap2DPtr footstep_planner::PathCostHeuristic::ivMapPtr

private

Definition at line 83 of file PathCostHeuristic.h.

double footstep_planner::PathCostHeuristic::ivMaxStepWidth

private

Definition at line 77 of file PathCostHeuristic.h.

unsigned char** footstep_planner::PathCostHeuristic::ivpGrid

private

Definition at line 73 of file PathCostHeuristic.h.

double footstep_planner::PathCostHeuristic::ivStepCost

private

Definition at line 75 of file PathCostHeuristic.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation