include
jsk_footstep_planner
grid_state.h
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#ifndef JSK_FOOTSTEP_PLANNER_GRID_STATE_H_
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#define JSK_FOOTSTEP_PLANNER_GRID_STATE_H_
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namespace
jsk_footstep_planner
{
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class
GridState
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{
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public
:
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typedef
boost::shared_ptr<GridState>
Ptr
;
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GridState
(
int
x,
int
y) :
index_x_
(
x
),
index_y_
(
y
)
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{
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}
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inline
virtual
int
indexX
() {
return
index_x_
; }
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inline
virtual
int
indexY
() {
return
index_y_
; }
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inline
virtual
int
getOccupancy
() {
return
0; }
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inline
virtual
bool
setOccupancy
(
int
occ_) {
return
false
; }
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inline
virtual
float
getCost
() {
return
0.0; }
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inline
virtual
bool
setCost
(
float
c_) {
return
false
; }
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inline
virtual
bool
isValid
() {
return
true
; }
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// for boost unordered_map
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bool
operator==
(
const
GridState
& other)
const
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{
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return
((
index_x_
== other.
index_x_
) &&
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(
index_y_
== other.
index_y_
));
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}
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protected
:
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int
index_x_
;
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int
index_y_
;
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};
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class
OccupancyGridState
:
public
GridState
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{
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public
:
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typedef
boost::shared_ptr<OccupancyGridState>
Ptr
;
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OccupancyGridState
(
int
x,
int
y) :
GridState
(
x
,
y
),
occupancy_
(0)
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{
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}
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inline
virtual
int
getOccupancy
() {
return
occupancy_
; }
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inline
virtual
bool
setOccupancy
(
int
occ_)
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{
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occupancy_
= occ_;
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return
true
;
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}
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inline
virtual
bool
isValid
()
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{
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if
(
occupancy_
== 0) {
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return
true
;
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}
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return
false
;
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}
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protected
:
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int
occupancy_
;
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};
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class
CostedGridState
:
public
OccupancyGridState
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{
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public
:
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typedef
boost::shared_ptr<CostedGridState>
Ptr
;
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CostedGridState
(
int
x,
int
y) :
OccupancyGridState
(
x
,
y
),
cost_
(0.0)
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{
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}
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inline
virtual
float
getCost
()
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{
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return
cost_
;
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}
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inline
virtual
bool
setCost
(
float
c_)
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{
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cost_
= c_;
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return
true
;
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}
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inline
virtual
bool
isValid
() {
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// TODO update for using cost
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if
(
occupancy_
== 0) {
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return
true
;
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}
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return
false
;
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}
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protected
:
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float
cost_
;
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};
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// for boost unordered_map
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inline
size_t
hash_value
(
const
GridState::Ptr
&
s
)
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{
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return
(std::abs(
s
->indexX() + 32000) << 16) + std::abs(
s
->indexY() + 32000);
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}
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}
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#endif
jsk_footstep_planner::CostedGridState::getCost
virtual float getCost()
Definition:
grid_state.h:66
jsk_footstep_planner::OccupancyGridState::setOccupancy
virtual bool setOccupancy(int occ_)
Definition:
grid_state.h:41
jsk_footstep_planner::GridState::indexX
virtual int indexX()
Definition:
grid_state.h:12
jsk_footstep_planner::OccupancyGridState::OccupancyGridState
OccupancyGridState(int x, int y)
Definition:
grid_state.h:36
boost::shared_ptr
jsk_footstep_planner::GridState::index_x_
int index_x_
Definition:
grid_state.h:27
jsk_footstep_planner::OccupancyGridState::getOccupancy
virtual int getOccupancy()
Definition:
grid_state.h:40
jsk_footstep_planner::CostedGridState::isValid
virtual bool isValid()
Definition:
grid_state.h:75
jsk_footstep_planner
Definition:
ann_grid.h:50
jsk_footstep_planner::GridState::Ptr
boost::shared_ptr< GridState > Ptr
Definition:
grid_state.h:8
jsk_footstep_planner::GridState::setCost
virtual bool setCost(float c_)
Definition:
grid_state.h:18
y
double y
jsk_footstep_planner::OccupancyGridState::occupancy_
int occupancy_
Definition:
grid_state.h:54
jsk_footstep_planner::CostedGridState::cost_
float cost_
Definition:
grid_state.h:83
jsk_footstep_planner::GridState::getCost
virtual float getCost()
Definition:
grid_state.h:17
jsk_footstep_planner::CostedGridState::Ptr
boost::shared_ptr< CostedGridState > Ptr
Definition:
grid_state.h:60
jsk_footstep_planner::OccupancyGridState::isValid
virtual bool isValid()
Definition:
grid_state.h:46
jsk_footstep_planner::CostedGridState
Definition:
grid_state.h:57
jsk_footstep_planner::GridState
Definition:
grid_state.h:5
jsk_footstep_planner::GridState::indexY
virtual int indexY()
Definition:
grid_state.h:13
jsk_footstep_planner::OccupancyGridState::Ptr
boost::shared_ptr< OccupancyGridState > Ptr
Definition:
grid_state.h:34
jsk_footstep_planner::GridState::GridState
GridState(int x, int y)
Definition:
grid_state.h:9
jsk_footstep_planner::GridState::operator==
bool operator==(const GridState &other) const
Definition:
grid_state.h:21
pose_array.s
s
Definition:
pose_array.py:22
jsk_footstep_planner::CostedGridState::CostedGridState
CostedGridState(int x, int y)
Definition:
grid_state.h:62
jsk_footstep_planner::GridState::getOccupancy
virtual int getOccupancy()
Definition:
grid_state.h:15
jsk_footstep_planner::OccupancyGridState
Definition:
grid_state.h:31
x
double x
jsk_footstep_planner::hash_value
size_t hash_value(const FootstepState::Ptr &s)
Definition:
footstep_state.h:286
jsk_footstep_planner::GridState::setOccupancy
virtual bool setOccupancy(int occ_)
Definition:
grid_state.h:16
jsk_footstep_planner::GridState::index_y_
int index_y_
Definition:
grid_state.h:28
jsk_footstep_planner::GridState::isValid
virtual bool isValid()
Definition:
grid_state.h:19
jsk_footstep_planner::CostedGridState::setCost
virtual bool setCost(float c_)
Definition:
grid_state.h:70
jsk_footstep_planner
Author(s): Ryohei Ueda
autogenerated on Wed Jan 24 2024 04:05:30