#include <boundary_step_cost_estimator.h>

Inheritance diagram for vigir_footstep_planning::BoundaryStepCostEstimator:

Public Member Functions
	BoundaryStepCostEstimator ()

bool	getCost (const State &left_foot, const State &right_foot, const State &swing_foot, double &cost, double &cost_multiplier, double &risk, double &risk_multiplier) const override

bool	loadParams (const vigir_generic_params::ParameterSet &params=vigir_generic_params::ParameterSet()) override

Protected Attributes
double	cost_height_diff_rel

double	cost_pitch_abs

double	cost_roll_abs

double	cost_yaw_rel

double	long_step_dist

double	max_diff_z

double	min_yaw_seperation_enlargement

double	yaw_enlarged_min_seperation

Detailed Description

Definition at line 38 of file boundary_step_cost_estimator.h.

Constructor & Destructor Documentation

vigir_footstep_planning::BoundaryStepCostEstimator::BoundaryStepCostEstimator ( )

Definition at line 9 of file boundary_step_cost_estimator.cpp.

Member Function Documentation

bool vigir_footstep_planning::BoundaryStepCostEstimator::getCost	(	const State &	left_foot,
		const State &	right_foot,
		const State &	swing_foot,
		double &	cost,
		double &	cost_multiplier,
		double &	risk,
		double &	risk_multiplier
	)		const

override

TODO: expensive!

Definition at line 31 of file boundary_step_cost_estimator.cpp.

bool vigir_footstep_planning::BoundaryStepCostEstimator::loadParams ( const vigir_generic_params::ParameterSet & params = vigir_generic_params::ParameterSet() )

override

Definition at line 14 of file boundary_step_cost_estimator.cpp.