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:
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 |
Detailed Description
An abstract super class providing methods necessary to be used as heuristic function within the FootstepPlanner.
Definition at line 34 of file Heuristic.h.
Member Enumeration Documentation
Definition at line 37 of file Heuristic.h.
Constructor & Destructor Documentation
| footstep_planner::Heuristic::Heuristic | ( | double | cell_size, |
| int | num_angle_bins, | ||
| HeuristicType | type | ||
| ) |
Definition at line 25 of file Heuristic.cpp.
| footstep_planner::Heuristic::~Heuristic | ( | ) | [virtual] |
Definition at line 33 of file Heuristic.cpp.
Member Function Documentation
| HeuristicType footstep_planner::Heuristic::getHeuristicType | ( | ) | const [inline] |
Definition at line 50 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.
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 56 of file Heuristic.h.
int footstep_planner::Heuristic::ivNumAngleBins [protected] |
Definition at line 54 of file Heuristic.h.
The documentation for this class was generated from the following files: