#include <map_step_cost_estimator.h>
Public Member Functions | |
bool | getCost (const State &left_foot, const State &right_foot, const State &swing_foot, double &cost, double &cost_multiplier, double &risk, double &risk_multiplier) const override |
bool | loadParams (const vigir_generic_params::ParameterSet ¶ms=vigir_generic_params::ParameterSet()) override |
MapStepCostEstimator () | |
Protected Member Functions | |
void | insert (const std::vector< double > &key, const std::pair< double, double > &entry) |
void | loadFromFile (const std::string &filename) |
template<class T > | |
void | read (std::ifstream &in, T &value) |
Protected Attributes | |
double | angle_bin_size |
double | cell_size |
boost::unordered_map < StepCostKey, std::pair < double, double > > | cost_map |
float | max_x |
float | max_y |
float | max_yaw |
float | min_x |
float | min_y |
float | min_yaw |
uint32_t | num_angle_bin |
Definition at line 42 of file map_step_cost_estimator.h.
Definition at line 7 of file map_step_cost_estimator.cpp.
bool vigir_footstep_planning::MapStepCostEstimator::getCost | ( | const State & | left_foot, |
const State & | right_foot, | ||
const State & | swing_foot, | ||
double & | cost, | ||
double & | cost_multiplier, | ||
double & | risk, | ||
double & | risk_multiplier | ||
) | const [override] |
Definition at line 25 of file map_step_cost_estimator.cpp.
void vigir_footstep_planning::MapStepCostEstimator::insert | ( | const std::vector< double > & | key, |
const std::pair< double, double > & | entry | ||
) | [protected] |
Definition at line 69 of file map_step_cost_estimator.cpp.
void vigir_footstep_planning::MapStepCostEstimator::loadFromFile | ( | const std::string & | filename | ) | [protected] |
Definition at line 74 of file map_step_cost_estimator.cpp.
bool vigir_footstep_planning::MapStepCostEstimator::loadParams | ( | const vigir_generic_params::ParameterSet & | params = vigir_generic_params::ParameterSet() | ) | [override] |
Definition at line 12 of file map_step_cost_estimator.cpp.
void vigir_footstep_planning::MapStepCostEstimator::read | ( | std::ifstream & | in, |
T & | value | ||
) | [inline, protected] |
Definition at line 57 of file map_step_cost_estimator.h.
double vigir_footstep_planning::MapStepCostEstimator::angle_bin_size [protected] |
Definition at line 70 of file map_step_cost_estimator.h.
double vigir_footstep_planning::MapStepCostEstimator::cell_size [protected] |
Definition at line 68 of file map_step_cost_estimator.h.
boost::unordered_map<StepCostKey, std::pair<double, double> > vigir_footstep_planning::MapStepCostEstimator::cost_map [protected] |
Definition at line 73 of file map_step_cost_estimator.h.
float vigir_footstep_planning::MapStepCostEstimator::max_x [protected] |
Definition at line 63 of file map_step_cost_estimator.h.
float vigir_footstep_planning::MapStepCostEstimator::max_y [protected] |
Definition at line 64 of file map_step_cost_estimator.h.
float vigir_footstep_planning::MapStepCostEstimator::max_yaw [protected] |
Definition at line 65 of file map_step_cost_estimator.h.
float vigir_footstep_planning::MapStepCostEstimator::min_x [protected] |
Definition at line 63 of file map_step_cost_estimator.h.
float vigir_footstep_planning::MapStepCostEstimator::min_y [protected] |
Definition at line 64 of file map_step_cost_estimator.h.
float vigir_footstep_planning::MapStepCostEstimator::min_yaw [protected] |
Definition at line 65 of file map_step_cost_estimator.h.
uint32_t vigir_footstep_planning::MapStepCostEstimator::num_angle_bin [protected] |
Definition at line 69 of file map_step_cost_estimator.h.