footstep_planner::EuclStepCostHeuristic Class Reference

Determining the heuristic value by the euclidean distance between two states, the expected step costs to get from one state to the other and the difference between the orientation of the two states multiplied by some cost factor. (NOTE: choosing this angular difference cost might overestimate the heuristic value.) More...

#include <Heuristic.h>

Inheritance diagram for footstep_planner::EuclStepCostHeuristic:

List of all members.

Public Member Functions
	EuclStepCostHeuristic (double cell_size, int num_angle_bins, double step_cost, double diff_angle_cost, double max_step_width)
virtual double	getHValue (const PlanningState &from, const PlanningState &to) const
virtual	~EuclStepCostHeuristic ()
Private Attributes
const double	ivDiffAngleCost
const double	ivMaxStepWidth
	longest step width
const double	ivStepCost

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Detailed Description

Determining the heuristic value by the euclidean distance between two states, the expected step costs to get from one state to the other and the difference between the orientation of the two states multiplied by some cost factor. (NOTE: choosing this angular difference cost might overestimate the heuristic value.)

Definition at line 85 of file Heuristic.h.

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Constructor & Destructor Documentation

footstep_planner::EuclStepCostHeuristic::EuclStepCostHeuristic	(	double	cell_size,
		int	num_angle_bins,
		double	step_cost,
		double	diff_angle_cost,
		double	max_step_width
	)

Definition at line 65 of file Heuristic.cpp.

footstep_planner::EuclStepCostHeuristic::~EuclStepCostHeuristic

(

)

[virtual]

Definition at line 77 of file Heuristic.cpp.

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Member Function Documentation

double footstep_planner::EuclStepCostHeuristic::getHValue	(	const PlanningState &	from,
		const PlanningState &	to
	)		const [virtual]

Returns:

The heuristically determined path costs to get from state 'from' to state 'to' where 'to' is supposed to be the goal of the planning task. (Costs are in meter.)

Implements footstep_planner::Heuristic.

Definition at line 82 of file Heuristic.cpp.

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Member Data Documentation

const double footstep_planner::EuclStepCostHeuristic::ivDiffAngleCost [private]

Definition at line 99 of file Heuristic.h.

const double footstep_planner::EuclStepCostHeuristic::ivMaxStepWidth [private]

longest step width

Definition at line 102 of file Heuristic.h.

const double footstep_planner::EuclStepCostHeuristic::ivStepCost [private]

Definition at line 98 of file Heuristic.h.

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

• Heuristic.h
• Heuristic.cpp