#include <travel_time_step_cost_estimator.h>

Inheritance diagram for vigir_footstep_planning::TravelTimeStepCostEstimator:

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

	TravelTimeStepCostEstimator ()

Protected Attributes
double	a_sway_inv

double	a_swing_inv

double	b_sway_inv

double	b_swing_inv

double	const_sway_time

double	const_swing_time

Detailed Description

Definition at line 38 of file travel_time_step_cost_estimator.h.

Constructor & Destructor Documentation

vigir_footstep_planning::TravelTimeStepCostEstimator::TravelTimeStepCostEstimator ( )

Definition at line 7 of file travel_time_step_cost_estimator.cpp.

Member Function Documentation

bool vigir_footstep_planning::TravelTimeStepCostEstimator::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 32 of file travel_time_step_cost_estimator.cpp.

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

override

Definition at line 12 of file travel_time_step_cost_estimator.cpp.