const_step_cost_estimator.cpp

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#include <vigir_footstep_planning_default_plugins/step_cost_estimators/const_step_cost_estimator.h>



namespace vigir_footstep_planning
{
ConstStepCostEstimator::ConstStepCostEstimator()
  : StepCostEstimatorPlugin("const_step_cost_estimator")
{
}

bool ConstStepCostEstimator::loadParams(const vigir_generic_params::ParameterSet& params)
{
  if (!StepCostEstimatorPlugin::loadParams(params))
    return false;

  params.getParam("const_step_cost_estimator/step_cost", const_step_cost, 0.1);
  return true;
}

bool ConstStepCostEstimator::getCost(const State& /*left_foot*/, const State& /*right_foot*/, const State& /*swing_foot*/, double& cost, double& cost_multiplier, double& risk, double& risk_multiplier) const
{
  cost = const_step_cost;
  cost_multiplier = 1.0;
  risk = 0.0;
  risk_multiplier = 1.0;
  return true;
}
}

#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(vigir_footstep_planning::ConstStepCostEstimator, vigir_footstep_planning::StepCostEstimatorPlugin)