footstep_planner::Heuristic Class Reference

An abstract super class providing methods necessary to be used as heuristic function within the FootstepPlanner. More...

#include <Heuristic.h>

Inheritance diagram for footstep_planner::Heuristic:

List of all members.

Public Types
enum	HeuristicType { EUCLIDEAN = 0, EUCLIDEAN_STEPCOST = 1, PATH_COST = 2 }
Public Member Functions
HeuristicType	getHeuristicType () const
virtual double	getHValue (const PlanningState &from, const PlanningState &to) const =0
	Heuristic (double cell_size, int num_angle_bins, HeuristicType type)
virtual	~Heuristic ()
Protected Attributes
double	ivCellSize
const HeuristicType	ivHeuristicType
int	ivNumAngleBins

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Detailed Description

An abstract super class providing methods necessary to be used as heuristic function within the FootstepPlanner.

Definition at line 37 of file Heuristic.h.

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Member Enumeration Documentation

enum footstep_planner::Heuristic::HeuristicType

Enumerator:

EUCLIDEAN
EUCLIDEAN_STEPCOST
PATH_COST

Definition at line 40 of file Heuristic.h.

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Constructor & Destructor Documentation

footstep_planner::Heuristic::Heuristic	(	double	cell_size,
		int	num_angle_bins,
		HeuristicType	type
	)

Definition at line 28 of file Heuristic.cpp.

footstep_planner::Heuristic::~Heuristic

(

)

[virtual]

Definition at line 36 of file Heuristic.cpp.

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Member Function Documentation

HeuristicType footstep_planner::Heuristic::getHeuristicType

(

)

const [inline]

Definition at line 53 of file Heuristic.h.

virtual double footstep_planner::Heuristic::getHValue	(	const PlanningState &	from,
		const PlanningState &	to
	)		const [pure 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.)

Implemented in footstep_planner::EuclStepCostHeuristic, footstep_planner::EuclideanHeuristic, and footstep_planner::PathCostHeuristic.

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Member Data Documentation

double footstep_planner::Heuristic::ivCellSize [protected]

Definition at line 53 of file Heuristic.h.

const HeuristicType footstep_planner::Heuristic::ivHeuristicType [protected]

Definition at line 59 of file Heuristic.h.

int footstep_planner::Heuristic::ivNumAngleBins [protected]

Definition at line 57 of file Heuristic.h.

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

• Heuristic.h
• Heuristic.cpp