Heuristic.h

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/*
 * A footstep planner for humanoid robots
 *
 * Copyright 2010-2011 Johannes Garimort, Armin Hornung, University of Freiburg
 * http://www.ros.org/wiki/footstep_planner
 *
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, version 3.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef FOOTSTEP_PLANNER_HEURISTIC_H_
#define FOOTSTEP_PLANNER_HEURISTIC_H_

#include <footstep_planner/helper.h>
#include <footstep_planner/PlanningState.h>


namespace footstep_planner
{
class Heuristic
{
public:
  enum HeuristicType { EUCLIDEAN=0, EUCLIDEAN_STEPCOST=1, PATH_COST=2 };

  Heuristic(double cell_size, int num_angle_bins, HeuristicType type);
  virtual ~Heuristic();

  virtual double getHValue(const PlanningState& from,
                           const PlanningState& to) const = 0;

  HeuristicType getHeuristicType() const { return ivHeuristicType; }

protected:
  double ivCellSize;
  int    ivNumAngleBins;

  const HeuristicType ivHeuristicType;
};


class EuclideanHeuristic : public Heuristic
{
public:
  EuclideanHeuristic(double cell_size, int num_angle_bins);
  virtual ~EuclideanHeuristic();

  virtual double getHValue(const PlanningState& from,
                           const PlanningState& to) const;
};


class EuclStepCostHeuristic : public Heuristic
{

public:
  EuclStepCostHeuristic(double cell_size, int num_angle_bins,
                        double step_cost, double diff_angle_cost,
                        double max_step_width);
  virtual ~EuclStepCostHeuristic();

  virtual double getHValue(const PlanningState& from,
                           const PlanningState& to) const;

private:
  const double ivStepCost;
  const double ivDiffAngleCost;

  const double ivMaxStepWidth;
};
}
#endif  // FOOTSTEP_PLANNER_HEURISTIC_H_