vigir_footstep_planning::MapStepCostEstimator Class Reference

#include <map_step_cost_estimator.h>

Inheritance diagram for vigir_footstep_planning::MapStepCostEstimator:

Public Member Functions
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
	MapStepCostEstimator ()

Protected Member Functions
void	insert (const std::vector< double > &key, const std::pair< double, double > &entry)
void	loadFromFile (const std::string &filename)
template<class T >
void	read (std::ifstream &in, T &value)

Protected Attributes
double	angle_bin_size
double	cell_size
boost::unordered_map< StepCostKey, std::pair< double, double > >	cost_map
float	max_x
float	max_y
float	max_yaw
float	min_x
float	min_y
float	min_yaw
uint32_t	num_angle_bin

Detailed Description

Definition at line 42 of file map_step_cost_estimator.h.

Constructor & Destructor Documentation

vigir_footstep_planning::MapStepCostEstimator::MapStepCostEstimator

(

)

Definition at line 7 of file map_step_cost_estimator.cpp.

Member Function Documentation

bool vigir_footstep_planning::MapStepCostEstimator::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

Definition at line 25 of file map_step_cost_estimator.cpp.

void vigir_footstep_planning::MapStepCostEstimator::insert ( const std::vector< double > &  key, const std::pair< double, double > &  entry  )

protected

Definition at line 69 of file map_step_cost_estimator.cpp.

void vigir_footstep_planning::MapStepCostEstimator::loadFromFile ( const std::string &  filename )

protected

Definition at line 74 of file map_step_cost_estimator.cpp.

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

override

Definition at line 12 of file map_step_cost_estimator.cpp.

template<class T >

void vigir_footstep_planning::MapStepCostEstimator::read ( std::ifstream &  in, T &  value  )

inlineprotected

Definition at line 57 of file map_step_cost_estimator.h.

Member Data Documentation

double vigir_footstep_planning::MapStepCostEstimator::angle_bin_size

protected

Definition at line 70 of file map_step_cost_estimator.h.

double vigir_footstep_planning::MapStepCostEstimator::cell_size

protected

Definition at line 68 of file map_step_cost_estimator.h.

boost::unordered_map<StepCostKey, std::pair<double, double> > vigir_footstep_planning::MapStepCostEstimator::cost_map

protected

Definition at line 73 of file map_step_cost_estimator.h.

float vigir_footstep_planning::MapStepCostEstimator::max_x

protected

Definition at line 63 of file map_step_cost_estimator.h.

float vigir_footstep_planning::MapStepCostEstimator::max_y

protected

Definition at line 64 of file map_step_cost_estimator.h.

float vigir_footstep_planning::MapStepCostEstimator::max_yaw

protected

Definition at line 65 of file map_step_cost_estimator.h.

float vigir_footstep_planning::MapStepCostEstimator::min_x

protected

Definition at line 63 of file map_step_cost_estimator.h.

float vigir_footstep_planning::MapStepCostEstimator::min_y

protected

Definition at line 64 of file map_step_cost_estimator.h.

float vigir_footstep_planning::MapStepCostEstimator::min_yaw

protected

Definition at line 65 of file map_step_cost_estimator.h.

uint32_t vigir_footstep_planning::MapStepCostEstimator::num_angle_bin

protected

Definition at line 69 of file map_step_cost_estimator.h.

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

• map_step_cost_estimator.h
• map_step_cost_estimator.cpp