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 <path_cost_heuristic.h>

Inheritance diagram for vigir_footstep_planning::PathCostHeuristic:

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Public Member Functions
bool	calculateDistances (const State &from, const State &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...

double	getHeuristicValue (const State &from, const State &to, const State &start, const State &goal) const override

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

	PathCostHeuristic ()

void	updateMap (vigir_gridmap_2d::GridMap2DPtr map)

	~PathCostHeuristic ()

Protected Member Functions
void	resetGrid ()

Protected Attributes
double	ivAngleBinSize

double	ivCellSize

double	ivDiffAngleCost

int	ivGoalX

int	ivGoalY

boost::shared_ptr< SBPL2DGridSearch >	ivGridSearchPtr

double	ivInflationRadius

vigir_gridmap_2d::GridMap2DPtr	ivMapPtr

double	ivMaxStepWidth

int	ivNumAngleBins

unsigned char **	ivpGrid

double	ivStepCost

Static Protected Attributes
static const int	cvObstacleThreshold = 200

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 57 of file path_cost_heuristic.h.

Constructor & Destructor Documentation

vigir_footstep_planning::PathCostHeuristic::PathCostHeuristic ( )

Definition at line 9 of file path_cost_heuristic.cpp.

vigir_footstep_planning::PathCostHeuristic::~PathCostHeuristic ( )

Definition at line 17 of file path_cost_heuristic.cpp.

Member Function Documentation

bool vigir_footstep_planning::PathCostHeuristic::calculateDistances	(	const State &	from,
		const State &	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 83 of file path_cost_heuristic.cpp.

double vigir_footstep_planning::PathCostHeuristic::getHeuristicValue	(	const State &	from,
		const State &	to,
		const State &	start,
		const State &	goal
	)		const

override

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

Definition at line 40 of file path_cost_heuristic.cpp.

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

override

TODO ivInflationRadius

Definition at line 23 of file path_cost_heuristic.cpp.

void vigir_footstep_planning::PathCostHeuristic::resetGrid ( )

protected

Definition at line 146 of file path_cost_heuristic.cpp.

void vigir_footstep_planning::PathCostHeuristic::updateMap ( vigir_gridmap_2d::GridMap2DPtr map )

Definition at line 111 of file path_cost_heuristic.cpp.

Member Data Documentation

const int vigir_footstep_planning::PathCostHeuristic::cvObstacleThreshold = 200

staticprotected

Definition at line 84 of file path_cost_heuristic.h.

double vigir_footstep_planning::PathCostHeuristic::ivAngleBinSize

protected

Definition at line 90 of file path_cost_heuristic.h.

double vigir_footstep_planning::PathCostHeuristic::ivCellSize

protected

Definition at line 88 of file path_cost_heuristic.h.

double vigir_footstep_planning::PathCostHeuristic::ivDiffAngleCost

protected

Definition at line 93 of file path_cost_heuristic.h.

int vigir_footstep_planning::PathCostHeuristic::ivGoalX

protected

Definition at line 97 of file path_cost_heuristic.h.

int vigir_footstep_planning::PathCostHeuristic::ivGoalY

protected

Definition at line 98 of file path_cost_heuristic.h.

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

protected

Definition at line 101 of file path_cost_heuristic.h.

double vigir_footstep_planning::PathCostHeuristic::ivInflationRadius

protected

Definition at line 95 of file path_cost_heuristic.h.

vigir_gridmap_2d::GridMap2DPtr vigir_footstep_planning::PathCostHeuristic::ivMapPtr

protected

Definition at line 100 of file path_cost_heuristic.h.

double vigir_footstep_planning::PathCostHeuristic::ivMaxStepWidth

protected

Definition at line 94 of file path_cost_heuristic.h.

int vigir_footstep_planning::PathCostHeuristic::ivNumAngleBins

protected

Definition at line 89 of file path_cost_heuristic.h.

unsigned char** vigir_footstep_planning::PathCostHeuristic::ivpGrid

protected

Definition at line 86 of file path_cost_heuristic.h.

double vigir_footstep_planning::PathCostHeuristic::ivStepCost

protected

Definition at line 92 of file path_cost_heuristic.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation