Public Member Functions | Private Member Functions | Private Attributes | Static Private Attributes
footstep_planner::PathCostHeuristic Class Reference

Determining the heuristic value by calculating a 2D path from each grid cell of the map to the goal and using the path length as expected distance. More...

#include <PathCostHeuristic.h>

Inheritance diagram for footstep_planner::PathCostHeuristic:
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List of all members.

Public Member Functions

bool calculateDistances (const PlanningState &from, const PlanningState &to)
 Calculates for each grid cell of the map a 2D path to the cell (to.x, to.y). For forward planning 'to' is supposed to be the goal state, for backward planning 'to' is supposed to be the start state.
virtual double getHValue (const PlanningState &current, const PlanningState &to) const
 PathCostHeuristic (double cell_size, int num_angle_bins, double step_cost, double diff_angle_cost, double max_step_width, double inflation_radius)
void updateMap (gridmap_2d::GridMap2DPtr map)
virtual ~PathCostHeuristic ()

Private Member Functions

void resetGrid ()

Private Attributes

double ivDiffAngleCost
int ivGoalX
int ivGoalY
boost::shared_ptr
< SBPL2DGridSearch > 
ivGridSearchPtr
double ivInflationRadius
gridmap_2d::GridMap2DPtr ivMapPtr
double ivMaxStepWidth
unsigned char ** ivpGrid
double ivStepCost

Static Private Attributes

static const int cvObstacleThreshold = 200

Detailed Description

Determining the heuristic value by calculating a 2D path from each grid cell of the map to the goal and using the path length as expected distance.

The heuristic value consists of the following factors:

+ The expected distance retreived from the 2D path.

+ The expected path costs.

+ The difference between the orientation of the two states multiplied by some cost factor.

Definition at line 45 of file PathCostHeuristic.h.


Constructor & Destructor Documentation

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

Definition at line 26 of file PathCostHeuristic.cpp.

Definition at line 43 of file PathCostHeuristic.cpp.


Member Function Documentation

Calculates for each grid cell of the map a 2D path to the cell (to.x, to.y). For forward planning 'to' is supposed to be the goal state, for backward planning 'to' is supposed to be the start state.

Definition at line 104 of file PathCostHeuristic.cpp.

double footstep_planner::PathCostHeuristic::getHValue ( const PlanningState current,
const PlanningState to 
) const [virtual]
Returns:
The estimated costs needed to reach the state 'to' from within the current state.

Implements footstep_planner::Heuristic.

Definition at line 51 of file PathCostHeuristic.cpp.

Definition at line 174 of file PathCostHeuristic.cpp.

Definition at line 135 of file PathCostHeuristic.cpp.


Member Data Documentation

Definition at line 71 of file PathCostHeuristic.h.

Definition at line 76 of file PathCostHeuristic.h.

Definition at line 80 of file PathCostHeuristic.h.

Definition at line 81 of file PathCostHeuristic.h.

boost::shared_ptr<SBPL2DGridSearch> footstep_planner::PathCostHeuristic::ivGridSearchPtr [private]

Definition at line 84 of file PathCostHeuristic.h.

Definition at line 78 of file PathCostHeuristic.h.

Definition at line 83 of file PathCostHeuristic.h.

Definition at line 77 of file PathCostHeuristic.h.

Definition at line 73 of file PathCostHeuristic.h.

Definition at line 75 of file PathCostHeuristic.h.


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


footstep_planner
Author(s): Johannes Garimort, Armin Hornung
autogenerated on Sat Jun 8 2019 20:21:05